MIP Getting Started (englisch, PDF 789 KB) Version
Contents
1. feo i p Gain factor MIF50 f 0 Fositian Regulation i Automatically start at power on Gain P I Gain Gain D all oUt g f me Max position error Max pulse length speed 2000 qc zoo qcy ms Enable acceleration feed forward Press the autotune button below to find the regulation gains automatically A Default values 1 Autotune x Annuler The MIP offers the possibility to perform an autotuning of the regulation gains The autotuning is great help but optimal regulation parameters can t be guaranteed in all cases During autotuning the motor performs some rotations in both directions The autotuning will shake your drive and accelerate the motor with currents up to the given maximum Don t start the autotuning if your system cannot move freely and is likely to cause damage Avoid doing the autotuning near to a mechanical stop Press the lt Autotune gt button This will bring you to the Autotune panel in the regulation tab of MIP Studio The autotuning of the regulation gains is based on a modified Hooke amp Jeeves search algorithm To find the optimal gains an evaluation movement is executed and a cost function based on the regulation error is computed The search algorithm executes successive trials with different set of gains in order to minimize the cost function Please read the online help O for more information on the autotuning June 2004 Edition Subject2. Input 2 Om oo Error S Referenced Input 3 Mean Command Input 4 A Input 5 Position Unit rotor deg ae ma Rd Error O Ri ae Warning Absolute feod Si Warning ESI Current i a von noe SE ESET i 1 eo T Velocity endless move Recorder Jims l position amp velocity SA cd Auiostan EEEE Aoscue S CEERI IS T ceive E EE ae aS MIP Studio Wi maxonmotor com ee ees V1 15 2004 Regul Home Profile Sequence More Find home Bo F MIP Studio the ultimate tool for putting your MIP motion controller into operation 7 motion and i o control W Index Index distance unknown definition of program sequences Velocity hoo a l ac ms a gt Ge ee a lt real time recording and graph plotting Current ao faima j q s i E written by O Silvestre pt ofset EE E ee Posiion DMN ES E D a Define position Posion eea N Before you can work with MIP Studio you will need to establish the communication with the MIP controller In most cases the MIP controller and MIP Studio will not communicate in a first time because the default factory settings for the communication are not compatible with MIP Studio for compatibility with past firmware versions the factory settings are for Text menu mode at 19 200 baud 12 maxon motor control June 2004 Edition Subject to change maxon motor Positioning Controller MIP User s Manual Step 4 To overcome this problem MIP Studio has
3. Backplane O MIP 100 V1 0 38 mm Picture 3 Pin Allocation MIP 100 Backplane order code 245963 June 2004 Edition Subject to change maxon motor control 1 1 maxon motor User s Manual Positioning Controller MIP Step 3 Start the MIP Studio application Select the item MIP Studio in the Windows start menu or double click on the MIP Studio link on the desktop to start the MIP Studio program MIP Studio is an intuitive graphical user interface that will help you configure and optimize your MIP motion controller With MIP Studio you can automatically identify the motor parameters tune the gains of the control loops record runtime variables in real time write motion sequences for test purposes etc We strongly recommend using MIP Studio for prime trials since you will learn a lot about your drive system before you switch to another working mode The MIP Studio screen may look a little bit complicated in the first time but you will quickly get familiar with it and appreciate having everything under control The screen is divided in panels Some panels are always visible some are accessible with tabs Regul Home Profile Sequence More The online help accessible with the toolbar button or with the contextual help 63 will give valuable information B MIP studio V1 15 Emergency cme Position Velocity Current Axis Info in hdust b j Position f js Be Moving nd ps Input 1 H ALT Cte Vel
4. MIP50 amp MIP100 Make sure that the supply voltage is between 24 and 48 VDC 20 Voltage higher than 48 VDC or wrong polarity will destroy the unit gt pee Bep D Electrostatic Sensitive Device ESD Handle only in static safe work stations gt June 2004 Edition Subject to change maxon motor control 3 maxon motor User s Manual Positioning Controller MIP 2 Technical data MIP10 SET_ MIP20 SET__ MIP50 MIP100 Supply voltage 20 9 24 VDC 9 24 VDC 24 48 VDC 24 48 VDC Power amplifier 4 Quadrant PWM 60 kHz Peak current Imax 2A 5s 2 4 A 5s 11 A 5s 15 A 5s 3 A 200 ms 13 A 200 ms 20 A 200 ms Current limit digitally adjustable External chokes not required required if motor inductance lt 0 16 mH lt 0 09 mH Control PID positioning control 1 kHz sampling PI current control 8 kHz sampling Max speed 1000 qc ms Maximum speed rom 15 000 000 encoder resolution but no more than 65 000 rpm e g 30 000 rom 500 imp turn 58 593 rom 256 imp turn I O polarity configurable by jumper for high or low logic Digital inputs Stop Enable Reference Left Right limits and ESD protected 8 standard inputs Logic levels High active 12 24 VDC typ 7 mA 24 V Low active 0 1 5 VDC typ 2 mA Analog inputs 2x0 5V 2x0 5V 2x0 5V 1x0 5V ESD protected 24 V switching current max 100 mA each GND switching current total 450 mA Other outputs 1 x PWM 50 kHz
5. free adjustable duty Encoder input 1 x incremental encoder RS422 5 V channel A A B B N Max input frequency 250 kHz Communication RS232 amp RS485 max 57 600 Baud Metal housing 132x114x31 mm Single eurocard 3HE 8TE Connector 3 x 9 pol DSUB 96 Pin 160 Pin COM Encoder Power Motor DIN 41612 DIN 41612 1 x 25 pol DSUB I O oe iat laches O Operating temperature 0 40 C 4 maxon motor control June 2004 Edition Subject to change maxon motor Positioning Controller MIP User s Manual 3 Getting started This document is a step by step procedure for installing and configuring your MIP motion controller If you follow this procedure you should quickly be able to work with your MIP controller Please take the time to read this document since it will answer most of the common questions This installation procedure is based on a new start up tool named MIP Studio that should greatly simplify the first steps with your MIP motion controller Step 1 Install the software Install the software from the MIP CD ROM The CD ROM contains all necessary information and tools for installing and operating the MIP motion controllers manuals firmware and tools Windows DLLs System requirements Win95 Win98 Win ME Windows NT 4 Windows 2000 XP Pentium processor 64 MB RAM 50 MB free storage space on hard disk Screen resolution 1024 x 768 pixels at 256 colors Follow the next instructions to instal
6. gt We Winding 2 gt W2 Winding 3 gt W3 e Connect the Hall sensor brushless DC motor only If you use a brushless DC motor you have to connect the hall sensor Connect the following cables to the following MIP backplane terminals Hall sensor 1 a19 Vhar 15 V gt a20 Hall sensor2 b19 GND gt a2l Hallsensor3 c19 8 maxon motor control June 2004 Edition Subject to change maxon motor Positioning Controller MIP User s Manual f Connect the RS232 or RS485 communication cable Connect the RS232 communication lines to the following MIP backplane terminals PC COM MIP backplane 9 pin DSUB Pin2 RxD al6 TxD Pin 3 TxD 16 RxD Pin5 GND c14 GND or connect the R8485 communication lines to the following MIP backplane terminals RS485 gt als RS485 gt C15 g Connect the Stop input Connect the following terminals using a Stop switch with opening contact Terminal b4 Input Stop Terminal b10 Vio 24 VDC If the Stop input is floating the error number 40 is generated at system start up red LED is on If the error appears despite of the correct wiring you have to check that the I O polarity for the digital input group 2 is configured for high active logic Please refer to the MIP50 Hardware Reference or MIP100 Hardware Reference for configuring the polarity of the inputs Remark If you do not have a voltage of 24 VDC available in your system you can either connect the Stop input to
7. maxon motor maxon motor control Positioning Controller MIP Order Number 111091 200629 246244 251669 User s Manual V3 52 June 2004 Edition MIP Positioning Controller Getting started AAAA A A AIA AIRA MIP 10 SET 111091 MIP 20 SET 251669 MIP 50 E 200629 MIP 100 E 246244 Advantages Features Digital Fully digital position soeed and current torque control Digital trimming without potentiometers Flexible MIP50 MIP100 drive both electronically commuted brushless EC motors and brush DC motors Extendable Build up networks of up to 64 drives with the RS485 serial bus User friendly The control modes and command set are uniform through all the MIP family of motion controllers Interfaces Digital and analog inputs and outputs for process control Commands can be send using the RS232 or RS485 interface or as a binary combination on the digital inputs Software compatible Delivered with advanced setup and tuning tools Windows 32 Bit DLLs as well as sample programs for Visual C Borland C Visual Basic Delphi and LabView maxon motor ag Erunigstrasse 220 PO Box 263 CH 6072 Sachseln Tel 041 666 1500 Fax 041 666 1650 www maxonmotor com maxon motor User s Manual Positioning Controller MIP Table of contents t ode MMS WTO MS eaae e Se EEEE EE EEE SE E E uceolasesenss 3 CICA a E E E A A E E sawousaotenotecensieseaeseretes ewe udiedee 4 a Gemo S edea EE aR EEEa E TE EE EE EE O ee
8. The feed forward requires the system parameter total inertia to be correctly identified An interesting test is to set all gains to 0 and do a relative movement with only the acceleration feed forward June 2004 Edition Subject to change maxon motor control 25 maxon motor User s Manual Positioning Controller MIP c Manual tuning of the regulator If the result of the autotuning is not satisfactory you have to tune the gains manually The search for adequate regulation gains is an iterative process Change the gains manually in the regulation tab start a relative movement and analyze the record Hints for position gains Start values Integral Gain 0 Proportional Gain 2 x Differential Gain Overshoot Reduce the Proportional Gain or Increase the Differential Gain Position Error Increase the Proportional Gain and the Differential Gain Integral gain When the P and D gains are optimized increase the integral gain until the static position error is small enough Step 15 Define the homing parameters The Homing sheet defines the homing parameters Permanent System Parameters of MIPSO Communication Drive Security Regulation Homing Aux encoder Extend Homing Home trigger l also search encoder index search velocity search velocity i 0 fgc ms J300 ram Current threshold mechanical stop 400 m Offset movement Fosition after homing FOU qc o
9. a file by pressing the lt save gt or lt load gt buttons This is very useful for the configuration of series The used file format CSV comma separated values can be edited with Excel or any text editor 18 maxon motor control June 2004 Edition Subject to change Positioning Controller MIP maxon motor User s Manual The Communication sheet contains the MIP communication parameters and the working mode see image in Step 10 Since the communication parameters were automatically Note changes done to the communication parameters only come into effect after a reboot of Step 11 Check the communication parameters configured in Step 6 they should be already correct the MIP controller Step 12 Define the drive characteristics The Drive sheet contains the ch Permanent System Parameters of MIPS0 aracteristics of the drive system Communication Drive Security Regulation Homing Aux encoder Extend Motor Power supply jag M Max continuous current fono mA Constants Speed constant a l 250 rams Total inertia fes acme Encoder and gear Encoder resolution a Jj Eoo irpulse turn Gear ratio or Rotor turns rmm f n 1 Velocity profile Max velocity 15000 rpm Min acceleration time 500 ms Type of acceleration f Constant Sinusoidal A zj Defaultvalues Sall So Type of motor f EC brushless Max peak current jrooo0
10. button You will be asked to reset the MIP controller that you want to configure Reset it If nothing happens it means that there is a problem with your hardware set up return to Step 4 or the selected PC communication settings false COM port false physical bus return to Step 5 If the reset is detected but the configuration fails it is probably an address conflict problem in a RS485 network Start the download tool to configure the slave addresses If the configuration works the communication should be established and the Communication checklist dialog should close Go to Step 8 14 maxon motor control June 2004 Edition Subject to change maxon motor Positioning Controller MIP User s Manual Step 7 Communication checklist panel 4 Download new firmware If the configuration worked but the communication still can t be established may be the MIP controller has a bad firmware loaded in it s flash memory The name of the file that is loaded is displayed If the name doesn t match with the hardware version Mxx_yyy bin where xx is the MIP number 10 20 50 100 and yyy is the version number you have to download a new firmware If the red LED blinks continuously it means that there is no valid firmware in the controller s memory Start the download tool see Step 9 for a description After the download is finished restart the communication with the lt Start com gt button and return to Step 6 Step 8 Check the firmwa
11. mA Total resistance yi ohm Feed forward tactor 699 097 m fqc ms2 1 rotor turn 2000 ac 1 load turn or 1 mrm 2000 gc Maximal acceleration current 699 m Maximal acceleration 1 c ms2 Dimensioning 1 Identity Annuler a Enter the parameters that are pointed out All the parameters that have an asterisk can be automatically identified see sub step b speed constant total inertia and resistance For a correct identification the value of the supply voltage and the encoder resolution must be correctly set The total inertia is required if you use the feed forward in the position control loop and also serves to compute the current required during the acceleration The total electrical resistance is used when computing the voltage budget with the lt Dimensioning gt button June 2004 Edition Subject to change maxon motor control 1 9 maxon motor User s Manual Positioning Controller MIP b Automatic identification of the motor Press the lt ldentify gt button This will bring you to the Identify motor parameters panel in the More tab of MIP Studio This step is optional Always have in mind that the identification process will shake your drive and accelerate the motor with currents up to the given maximum Don t start the identification if your system cannot move freely and is likely to cause damage Avoid doing the ident
12. 5 Step 1 MSANE ORWIG sies a ERT E T EEA E E E OAE Eri 5 Step 2 SGL yOu IA VY AS enee a a a a SE TE a E EEE 6 Step 3 Stait the MIP Studio APP CAUON ssssianinenvesscawiisinssstanseitesusaianndeuidanniaheatinnsiita a aaa Eaa ia aaia 12 Step 4 Communication checklist panel 1 Hardware Set Up ccccccssssecceeceeseeceeeeeeeseceeseeeeceeeeeeaees 13 Step 5 Communication checklist panel 2 PC communication settings ccceeeeeeeeeeeeeeeeeeeeeeeeeeeeaes 14 Step 6 Communication checklist panel 3 MIP communication settings cccccccceeeeeeaesseeeeeeeeeees 14 Step 7 Communication checklist panel 4 Download new firMWaALle cccccesseeceeeeeesseceeeeeseceeeeeeeees 15 Step 8 CHECK the TIMMIW al CAV CT SION iis iincnsinnstiircnanisdasitan atiasiestananitinssisauiwncluuidantaiibslanmsattaninn dlahetasianasagailelny snawtahestinwaniinnes 15 Step 9 DOW MOA the TINIMWANES sssrinin a a EEE i S T A EA iA 16 Step 10 Configure the system parameters cccccccsssseccceceessececceesecceeeeeeeeceeeeeeeseceeeeseaaeceesseaaeeeetseaeeeess 18 Step 11 Check the communication parameters ccccccccceeeccceeceesecceeeeeeeeceeeceeeesceeseeaeecesessaaeeeeeesaeeeeess 19 Step 12 Define the drive characteristics ccccccccssssecceeceesseceecceesseccecsaeseceeeeeeesceeeseeegeceeessaaseceessaeaeeeees 19 Step 13 Define the safety SCMINGS sicccswisnisnnidaiiasaunscndidanisitinesicnnideiiniaasasinsiaiesbanusansutsusiawde
13. Reference or the MIP20 SET Hardware reference 6 maxon motor control June 2004 Edition Subject to change maxon motor Positioning Controller MIP User s Manual Contact grips black motor a i red motor P3 MIP encoder cable Order Number 134795 A P1 MIP Motor Power Cable A Order Number 108088 T E EK a E L maxon motor EEP T MIP10 Banana plugs Power supply red 24 VDC 9 24VDC black Gnd min 2 A P4 MIP RS232 cable Order Number 133367 Test connector I O minimum wiring If you don t use the test connector connect Pin 1 Vs with Pin 6 STOP using a switch with an opening contact Picture 1 MIP10 SET MIP20 SET wiring A N Electro Magnetic Compatibility EMC The power stage of the MIP works with pulse width modulation PWM which means there is a square wave voltage with fixed frequency 60 kHz and variable duty cycle running on the motor lines The edges of this square wave can cause electromagnetic interference When cabling your apparatus machine take care not to lay the motor cable along other sensitive signals like the signals of the encoder or the Hall sensors especially over long distances In case of EMI problems use a shielded motor cable ground one side of the shield and connect the other side to the motor housing June 2004 Edition Subject to change maxon motor control maxon motor User s Manual Positioning
14. a communication checklist dialog that will automatically configure the MIP controller with the selected communication settings This dialog will automatically appear after 4 seconds each time the communication with the MIP controller is lost co x d Communication checklist Hardware setup ls the MIP controller switched on green LED A ls the RESET line released red led must blink during 2 seconds at power on Is the communication cable correctly connected 7 PC communication settings Are the PC comunication settings correct 2 Slave Fort Baudrate Physical bus Timeout Trials fi g come 57600 R5485 AUTO_ CONTROL io0 ms E 5 Update Show protocol errors MIF Communication settings Are the MIP communication settings correct According ta the PC communication settings the MIP must be configured as follows slave address Slave 1 startup mode MlPbus mode R5485 bus baudrate 57600 for R5485 O MlPous mode RS485 Cant w Slave x Configure Eha C Slave 1 Download tool Does the MIP contain a correct firmware 7 Download a Start com 9 Hint for optimal performance use the MIP firmware w 3 50 or higher Note you can also open the communication checklist by clicking on the lt Configure communication gt toolbar button Slave fi esd X Communication checklist panel 1 Hardware set up This panel gives advice for checking if the
15. hardware is ready for communication 1 Make sure that the voltage and the wiring of the power supply are correct Switch on the power supply and check the green and red LEDs of the MIP Case 1 The green LED lights up and the red LED blinks during 2 seconds Go to the next step Case 2 The green LED doesn t light up Check the wiring and the voltage of the power supply Case 3 The green LED lights up and the red LED lights up without blinking Check if the RESET line is released 2 Make sure that the communication cable is correctly connected June 2004 Edition Subject to change maxon motor control 13 maxon motor User s Manual Positioning Controller MIP Step 5 Communication checklist panel 2 PC communication settings This panel lets you define the communication settings used by the MIP Studio program e slave number of the connected MIP controller 1 to 127 usually 1 e serial communication port used on the PC COM 1 e communication baudrate typical 57600 e physical bus electrical standard s RS232 3 wire cable RxD TxD GND RS485 with AUTO CONTROL the RS232 to RS485 converter or the RS485 card automatically selects the direction of the data flow on the half duplex RS485 bus use this mode with maxon s CV24 converter order code 246398 RS485 with RTS CONTROL the PC uses the RTS line to control the direction of the data flow of the RS232 to RS485 converter e time out when waiting for the
16. low speed the braking duration is usually shorter d Dimensioning your drive system After having identified the motor characteristics we recommend checking the dimensioning of your drive system by using the lt Dimensioning gt button Dimensioning e x x Motor speed constant Torque constant Total inertia Total resistance 394 081 rpm 24 2310 m mA l ofcrn2 3 89364 ohm Application Max velocity Max acceleration Maximal load torque 6000 e ABE posg 1500 Gone CurrentL4 Voltage Yoltagel worst case Accel EMF eg EMF bi Load F F Ipeak z Total Total Feak supply 38 30 Margin Exit Color code Green OK Orange care Red BAD Margin 220 lt 20 lt 0 Type in the maximal load torque at the motor shaft not at the gear s output and click on the Compute button You can measure the real load torque with the motor identification see previous page The Current AF column gives the current budget The total current must not exceed the defined peak current or the drive will not be able to accelerate as desired The Voltage V column gives the voltage budget The total voltage must not exceed the power supply voltage or the drive will not be able to reach the desired maximum velocity The Voltage V worst case column gives the voltage budget under worst case conditions i e maximal velocity and peak current as defined in the system pa
17. resulting from inaccuracies or omissions in the present manual 2 maxon motor control June 2004 Edition Subject to change maxon motor Positioning Controller MIP User s Manual 1 Safety instructions Skilled Personnel Only experienced skilled personnel shall perform installation and starting of the equipment Statutory Regulations The user must ensure that the motor controller and the components belonging to it are assembled and connected according to local statutory regulations Load Disconnected For primary operation the motor should be free running i e with the load disconnected Additional Safety Equipment Electronic apparatus is basically not fail safe Machines and apparatus must therefore be fitted with independent monitoring and safety equipment It must be ensured that if the equipment breaks down is operated incorrectly the control unit breaks down or cables break etc the drive or the complete apparatus is kept in a safe operating mode Repairs Repairs may only be made by authorized personnel or by the manufacturer It is dangerous for the user to open the unit or make repairs to it Danger Do ensure that during the installation no apparatus is connected to the electrical supply After switching on do not touch any live parts Max Supply Voltage MIP10 amp MIP20 Make sure that the supply voltage is between 9 and 24 VDC 20 Voltage higher than 24 VDC or wrong polarity will destroy the unit
18. to change maxon motor control 23 maxon motor User s Manual Positioning Controller MIP a Autotuning of the current regulator First tune the current regulator Regul Home Profile Sequence More Select Current regulator Default gains and E ISE2 cost function in the Autotune panel hijo Execute the autotuning This can take a few ao aim 2 Current 3200 mA minutes while you can follow the evolution of the gains and the cost function in the Recorder panel Position gains BFE Position koo S CSS fe uj Regulation ON J Enable feed forward Autotune gf Fine Current gt Default gains ISE ISE ms current rise Autotune Current at 14 41 26 At the end the initial gains used as starting point for the search the old gains and the optimized gains are shown in a window If the improvement factor is gt 1 0 the new gains i a are automatically saved to the system parameters Before 80 25 start 50 25 135 104 End 142 3 52 159 Trials 25 Improvement 2 6 Costfunction ISE ISE 2ms current rise Cost You can check the performance with a current square test Click the lt Current square test gt button in the Current gains panel Velocity endless move Absolute joo rotor rpm f P Recorder Jims position amp velocity bd Cd Auto start 500 6000 Relative hoo ft rotor rom gt Regul Home Profile Sequence More Current g
19. 108977 MIP Test connector b Connect the MIP encoder cable Connect the MIP encoder cable Order code 134795 to the 9 pin DSUB connector P3 of the MIP The opposite side has to be connected to the 10 pin connector of the encoder cable c Connect the MIP motor power cable Connect the motor power cable Order code 108088 to the 9 pin DSUB connector P1 of the MIP On the opposite side the banana plugs have to be connected to the power supply 9 24 VDC min 2 A Connect the two small connectors with the motor terminals and check the polarity red black Warning The control unit has no protection against wrong polarity or voltages higher than 24 VDC There is also no protection against a short circuit of the motor connections d Connect the RS232 cable Connect the RS232 cable Order code 133367 to the 9 pin DSUB connector P4 of the MIP The opposite side has to be connected to a free RS232 port of your computer e Connect the MIP Test connector Plug in the MIP Test connector to the I O connector P2 If you do not use the MIP Test connector you have to wire the input STOP Pin 6 with the supply voltage Vs Pin 1 using a switch with opening contact If this wiring is missing an error is generated at system start up Red LED is on ERROR 40 Stop active Note If you do not use the maxon motor cables you have to do the wiring according to the connecior pin description given in the MIP10 SET Hardware
20. 5 maxon motor mason motor ag CH 6072 5 achseln The reset baudrate is used to send the Reset command if your MIP is already working in the A com MIPbus mode In this case you don t have to reset plea the MIP manually Reset Baudrate 19200 Download Baudrate 57600 The download baudrate is used for the download Bus Arbitration SUTO_CONTROL itself For the bus arbitration refer to the explanations in Step 5 Timeout fe 100 Trials 4 b Set the MIP controller into the boot mode Click on the button lt B gt Set Slave into BootMode or press the keys lt ALT B gt Now reset the MIP controller either by pressing the reset push button or by switching the power supply off and then on After the reset of the MIP the following message HipD ownload EJ should appear If this is not the case there is a communication problem check the cabling and the E communication settings 1 MIP is now in Booth ode c Download the firmware version to the MIP 1 Click the button lt D gt Download Firmware or press the keys lt ALT D gt 2 Select the latest firmware binary file bin in the Open File dialog The firmware files are located in the directory maxon motor MIP Firmware Select M10_xxx bin for MIP10 M20_xxx bin for MIP20 M50_xxx bin for MIP50 and M100_xxx bin for MIP 100 xxx symbolizes the version number 16 maxon motor control June 2004 Edition Subject to change maxon motor Positioning
21. Controller MIP MIP50 200629 MIP100 246244 a Check the content of your material MIP 50 You need the following parts e Order code 200629 08 MIP 50 eurocard e Order code 199950 08 MIP 50 backplane or Order code 245963 00 MIP 100 backplane or Order code 282437 06008 MIP training board MIP100 You need the following parts e Order code 246244 0 MIP100 eurocard e Order code 245963 MIP 100 backplane or Order code 282437 MIP training board b Connect the encoder Connect the encoder wires to the following MIP backplane terminals Index c17 Index c18 Channel A gt al7 Channel A a18 Channel B gt b17 Channel B gt b18 Vcc 5V 20 b20 GND gt 21 b21 Remark You have to use an encoder with an RS422 line driver c Connect the power supplies Connect the power supply 24 48 VDC to the following MIP backplane terminals using thick cables 1 5 mm 10A 2 5 mm 20 A Power 24 48V gt P Power GND P Connect the supply voltage Vio 24 VDC for the digital outputs to the following MIP backplane terminals Vio 24V a10 b10 GND gt a9 b9 d Connect the motor windings The MIP 50 and the MIP 100 can be used for brush or brushless DC motors Connect the motor windings to the following MIP backplane terminals according to the type of your motor Brush DC motor Brushless DC motor Motor gt Wi Winding 1 gt W1 Motor
22. Controller MIP User s Manual 3 The dialog Download Parameter appears Ensure that the following options are selected Download Parameter E s sal X Download Segments Vv Download System Parameters MV Download Useri Parameters M Download User Parameters M Download Application System Parameter Keep Controller Settings m Use File Settings r Define New Settings C Slave Address fi Slave Address fi C Slave Address f C Group Address 128 Group Address 128 Group Address f 4 C Start up mode O MIPbus C Start up mode Tet Menu Startup mode MiPbus x C Physical Bus R5232 Physical Bus R5232 C Physical Bus P nar z conor e Download Segments Select all segments This will overwrite all the system and user parameters which is a good option if you are not sure what is stored in Flash memory If your are updating an already configured MIP controller and don t want to overwrite the system user parameters uncheck the respective segments e System Parameter for communication During the download you have the opportunity to update the system parameters that control the start up mode and the communication of the MIP controller lf your MIP controller is already configured keep the controller settings If you work with a customized binary file already configured for your application use the file settings If you need to change something define new se
23. Studio V1 11 7 BMeasureForm O ms to 175 ms fo lolx Time ms Frequency Hz U2 3 Slave fi E olels nixlol7 olll Q o EA deltat 175 f 5 7143 Reset Position HOE Position must Position Velocity must Must Is max 65499 max 65502 max 31 75 min 63499 min 63499 min 0 mean 64743 mean 64741 mean 11 362 Mean rms 64748 rms 64746 rms 15 508 Position Unit qc sdev 778 63 sdev 782 19 sdev 10 554 Error M Velocity Err Position Err Velocity Acson NES CIS IS a r max i max max Relative Sfo E min 2 min 5 min 1 9375 mean mean mean 0 014382 Velocity A endless move Recorder rms rms rms 0 48595 oun as CEES sdev sdev sdev 0 48573 ceive EE EE Regul Home Profile Sequence More Current gains Hal P E Curent MIE tray Position gains Bo suuyab A430 aA eosion a a y Regulation ON gf Enable feed forward 100 120 140 160 Autotune mf Fine 14 l Position Default gains i mm Time ms Horizontal cursor iv IAE2 IAE noise taxing MIS v You can see the result in the Recorder panel and judge the performance of the regulation By pressing the M key you will see statistical values like the rms value of the position error that will help for an objective performance analysis Note If your application requests strong acceleration enabling the acceleration feed forward can significantly reduce the positioning error during the acceleration phases
24. T an H enable clearing the high priority lt Stop gt error stop the current regulation atter braking Watchdog if enable system watchdog feature COM watchdog timeout 0 disabled W enable clearing the watchdog error lo ms don t generate lt watchdog gt error after a watchdog reset S Defaultvalues Annuler The default parameters offer a standard safety Carefully read the information displayed in the yellow help window in order to optimize the safety for your particular drive system Have a special attention for the parameter nr 37 Brake Gain since it is used to brake the drive when a motion error occurs See Step 12 c Also decide which behavior the STOP and HALT functions should have braking or switching off the current regulation Have in mind that when you switch off the current regulation on a MIP10 MIP20 the motor s winding is shorted which can result in very high braking current at high speed A software controlled braking is often a better choice 22 maxon motor control June 2004 Edition Subject to change maxon motor Positioning Controller MIP User s Manual Step 14 Define the regulation gains This Regulation sheet contains the regulation control parameters Permanent System Parameters of MIPSO n l x Communication Drive Security Regulation Homing AUX encoder Extend Current Requlation W Automatically start at power on Gain P Gain
25. Term e GrTerm DOS Section Text Menu Mode Operating Mode ASCII Command Description Simple communication protocol and commands for systems in connection with a PLC or a PC For advanced applications the MIPbus mode is preferred Interface e RS232 RS485 PC Tools e GraphTerm e GrTerm DOS Section ASCII Command Mode Description Efficient communication protocol and extensive command set ee single axis and multiple axes systems with a supervising unit e g PC or micro controller for process control PC Tools e MIP Studio e Mip WinCmdo e MIP_Cmdo DOS e MlPbus DLLs see MIP DLL Programming Manual Section MIPbus Mode Section MCI Command Set 28 maxon motor control June 2004 Edition Subject to change maxon motor Positioning Controller MIP User s Manual Operating Mode O Text Description Direct process control via switches or digital I Os of a PLC For simple and economically priced single axis positioning systems without supervising unit for process control or in combination with a PLC Interface e O RS232 RS485 for configuration and monitoring PC Tools GraphTerm GrTerm DOS Section I O Mode Operating Mode O MIP bus Description Direct process control via digital inputs and outputs Efficient communication protocol and extensive command set Interface I O RS232 RS485 not mandatory PC Tools MIP Studio Mip WinCmdo MipBus DLLs see MIP DLL Programming Manual Sec
26. ains AFA as eies e Curent SIS ima Position gains Malo P Sgi zigo 2 4000 2000 yu aung 2 000 Dut CYC E 1 266 4000 Peston a a Regulation ON gj Enable feed forward 6000 n 50 60 70 80 90 100 110 120 Autotune gi Fine f3 osnon effosteutgans zio e Time ms Horizontal cursor E i With EC motors you will notice short breaks in the current that correspond to the phase commutations this is absolutely normal The faster the rotor turns the more phase commutations you have On the MIP50 a flat integral term is a sign that the speed constant is correctly set in the system parameters 24 maxon motor control June 2004 Edition Subject to change maxon motor Positioning Controller MIP User s Manual Autotuning of the position regulator Now tune the position regulator Autotune i Fine Select Position regulator Default gains an amplitude factor of 1 0 and the IAE2 cost Position ro function and execute the autotune This will take a few minutes while you can follow the evolution of the gains and the cost function in the recorder area At the end the results are shown in a window lf the improvement factor is gt 1 0 then the optimized gains are automatically saved to the system parameters You can check the performance of the position regulation by ordering a position movement In the position panel define a relative movement and execute it BMIP
27. dinsauntawadaansictwiainaieabeangsieaaies 22 Step 14 Define the regulation gains o000nnnnnnennnnnoennnnnosennnressnnnrosnrrrrrsnnnrrerennrreosnnrrrrsnnrrrersnrrrnenennrernne 23 Step 15 Define the homing PAarAMEtelS cceesccccccsesecceeceesecceeceeeneceeseeeeseceeeceeeeeceeeeseaecesesaeeeeessaeaeeess 26 SIED 16 Testyourdrive Syste seserimis saa A a aa TAEA EE a A a aE E Aaa 27 Step 17 Select and configure the operating MOE ccceeccccceessecceeeeeeseceeeeeeeseceeseeeeceeesaaaeeeeeesaeeeeess 28 A ONES POCUCA E en ee eee A EAEE ES N 30 Important Notice The information contained in this manual refers to the firmware version 3 52 Since on MIP controllers the firmware resides in Flash memory you have the possibility to update the firmware of your card The latest edition of these short instructions additional documentation and software for the MIP may also be found in the Internet under www maxonmotor com category Service subdirectory Downloads Although maxon motor endeavors to maintain a high level of compatibility with past firmware versions some functions or features may behave differently or be missing in older version maxon motor ag or its represen tatives will not endorse any liability for damages malfunction of equipment loss of production etc resulting from incompatibility of different firmware versions Also maxon motor ag or its representatives will not be held for responsible for damages
28. ification near to a mechanical stop Regul Home Profile Sequence More The Current edit box limits the current that is used to identify the motor Typically this current Identify motor parameters should be twice the nominal continuous current A of the motor and less or equal to the peak Current mA Hf Alternate current q p Depending on the inertia MIP Studio will limit the current to a smaller value For a correct identification the power supply must be able to supply the maximum current at the given supply voltage without significant voltage drop If your system is not allowed to drift too much in one direction you may decide to alternate the direction of movement In some cases the alternate directions give better results because the trials are balanced When you are done with the settings press on the execute button e A first warning box asks you to verify that the supply voltage in the system parameters is correct Click lt No gt if this not the case and correct the value e A second warning box asks you if the motor is ready for movements e A third warning box asks you if the velocity should be limited during the trials Answer lt Yes gt if your system must not exceed the displayed speed If the limit is set too low the identification may give unsatisfactory results e Finally you are asked if the current regulator should be tuned If you press lt Yes gt the current regulator is automatically tuned pri
29. ion to stabilize with a given accuracy e How fast can the system move before a positioning error occurs e What are the correct homing parameters how accurate is the home trigger e ls the braking gain properly set for a safe braking at all speeds e Are the end switches far enough from the mechanical stops braking distance e How does the system react when the STOP input is activated For prototyping the built in sequencer lets you define complex sequences of movements and I O control even on a multiple axes system This feature can save a lot of development time The data export capabilities of the recorder makes it ideal for documenting purposes When the drive system is working to your satisfaction then only shall you switch to the final operating mode where in most cases you will work blind June 2004 Edition Subject to change maxon motor control 2 maxon motor User s Manual Positioning Controller MIP Step 17 Select and configure the operating mode The configuration of the operating mode is done by the system parameter Start up mode The choice of the operating depends on your application stand alone application supervision by a PC computer a PLC etc The following operating modes are available Description Text oriented menu system for primary installation configuration system check and optimization Not useful for the final application Interface e RS232 RS485 PC Tools e Graph
30. keys lt ALT B gt to set the MIP into the BootMode 3 Upload the flash memory content of the MIP Click on the button lt U gt or press the keys lt ALT U gt Enter a file name and press the Save button The dialog Upload from MIP appears Upload from MIP x Remark If the upload fails you have to decrease the download baudrate in the settings of the tool Upload File Hallo bin Upload Baudrate ABOU baud Addressed Slave al Uploading block from Os00c 02700 For configuring other controllers with the same firmware version and system parameters simply download your customized firmware file into the MIP controllers See Step 9 for the download procedure In this way you are sure that all controllers are identically configured 30 maxon motor control June 2004 Edition Subject to change
31. l the software package on your computer a Insert the CD ROM Insert the MIP CD ROM into the CD ROM drive of your computer b Start the installation program lt MIP_CD ROM exe gt Browse your CD ROM drive with the Windows explorer and double click the MIP_CD ROM exe item to start the installation program Alternatively select the entry Execute in the start menu and enter the command x MIP_CD ROM where x is the letter of your CD ROM drive c Follow the instructions during the installation program During the installation procedure you will be asked for an installation directory Recommendation C ProgramFiles maxonmotor MIP CD ROM d Check the new shortcuts and items in the start menu A new entry maxon motor MIP CD ROM is added to the start menu that gives access to all the software components Shortcuts to the most important MIP tools are added on your desktop June 2004 Edition Subject to change maxon motor control 5 maxon motor User s Manual Positioning Controller MIP Step 2 Set up your hardware MIP10 SET 111091 MIP20 SET 251669 a Check the content of your material You need the following parts e Order code 108971 MIP 10 in housing or Order code 251649 MIP 20 in housing e Order code 134795 MIP encoder cable e Order code 108088 MIP motor power cable e Order code 133367 MIP RS232 cable e Order code
32. nalog Input Reset Input Ref Dig Inp 1 l Outp Error gt Dig output 1 Dig output 4 ReS tcK RS485 RS232 TxD Enc A Enc A Hallsensor 1 Vrai 15 V GND order code 199950 maxon motor User s Manual Positioning Controller MIP O O maxon motor AG C b N l l O O ON o Ff N ok C E E E E E Backplane MIP 50 Vers 1 0 Picture 2 Pin Allocation MIP 50 Backplane June 2004 Edition Subject to change Positioning Controller MIP n c VRef GNDanatog Input Enable Input Right Dig inputs Dig input 6 n C T ee ae oe ee GND K_COM GND Dig output 3 Dig output 6 GND RS485 RS232 RxD Enc Index Enc Index Hall Sens 3 gt Vcc 5 V GND n c Vref GNDanatog Input Stop Input Left Dig input 2 Dig input 5 Dig input 8 a ee ene T GND gt Vio 24 V gt PWM Outp Dig output 2 Dig output 5 f Reservedrpo f Reservedrp Reservedrys Enc B Enc B Hall Sens 2 Voc 5 V GND Power GND Power GND Power Winding 1 Winding 2 Winding 3 maxon motor ee A T User s Manual O O maxon motor AG Anal inp 1 VRef GNDanatog Input Reset Input Ref Dig input 1 Dig input 4 Dig input 7 GND gt Vio 24 V Outp Error Dig output 1 Dig output 4 Reservedtcx RS485 RS232 TxD Enc A Enc A Hall Sens 1 gt Vhai 15 V GND
33. or to starting the identification If you press lt No gt the autotuning is skipped and the identification process is started straight note a good current regulation is required for a correct identification During the identification the following dialog shows the results of the identification after n trials If the results seem correct small standard deviation sigma for the speed constant and the resistance you can save them to the system parameters by pressing the lt Save gt button Motor parameters identification finished Trials speed constant Total resistance Load torque 5 255 64 rpm 1 82 ohm 1 73 mNm g 0 55 25 g 1 59 26 g 11 27 24 Torgue constant Total inertia 37 35 mNm A 3 85 q cm2 Normally the identified motor parameters should be preferred to the catalogue values since they incorporate the real measurement gain factor of the controller as well as the electrical resistance of the cabling and the real supply voltage 20 maxon motor control June 2004 Edition Subject to change maxon motor Positioning Controller MIP User s Manual c Computing the optimal Brake Gain Based on the identified motor parameters MIP Studio computes the theoretical Brake Gain in order to brake the motor within a given time The computation does not take the friction and the load torque into account and therefore is only accurate at high speed where the inertia plays the most significant role At
34. qc Auxillary encoder Type of encoder Encoder with signals A and Direction Gain ratio 00 n 1 S zj Default values Annuler 26 maxon motor control June 2004 Edition Subject to change maxon motor Positioning Controller MIP User s Manual Because the MIP controller works with an incremental angle encoder it is necessary to search an absolute reference after a power up or a reset of the system The search of this reference is called referencing or homing The homing function of the MIP is very flexible and can be adapted to your drive system Carefully read the information displayed in the yellow window and define your parameters You can also define the homing parameters in the Home tab of MIP Studio with the advantage that you can enter the values in various units and that you can immediately test the homing process The contextual help B gives valuable information Step 16 Test your drive system Before you switch to the final operating mode for your drive application we recommend testing your drive system with MIP Studio with the benefit that all runtime variables like the position the velocity the current or torque can be recorded in real time With MIP Studio you will learn a lot about your drive system e How much current is required for a requested movement e How does the load torque vary in function of the position non linear systems e How much time is required for the posit
35. rameters Click on the different fields to get an explanation in the yellow help window If you do not respect the current and voltage budgets negative margin you have the risk to get a positioning error error nr 20 when you order a movement with the maximum acceleration and speed It is good practice to have a margin of 20 for accommodating to voltage or load variations June 2004 Edition Subject to change maxon motor control 2 1 maxon motor User s Manual Positioning Controller MIP Step 13 Define the safety settings The Safety sheet defines the safety settings Permanent System Parameters of MIPSO E sal x Communication Drive Safety Regulation Homing Aux encoder Extend Hardware W check ENABLE input l Don t generate error if not moving i check internal Overload on digital outputs signal check encoder signals special hardware required ask maxon motor disable encoder signals monitoring software disable overcurrent protection MIP5SO MIP1 O00 Limits i check LEFT LIMIT input lf check RIGHT LIMIT input enable clearing lt Left limit gt error while limit switch still active enable clearing lt Right limit error while limit switch still active invert end switch amp home switch Lower sottware position limit Upper software position limit NOOO qc FO Enable NOOO qc JF Enable stop i stop the current regulation on STOP or HALT Brake gain l brake on STOP or HAL
36. re version Firmware version 3 51 brings a lot of improvements and some new features that are required by MIP Studio automatic identification of the motor parameters acceleration feed forward For new applications it is recommended to update to this firmware version If your MIP controller contains an older firmware and was never used before no changes done to the system parameters MIP Studio will display this warning The MIP firmware version is w 3 47 For optimal performance the MIP firmware must be w 3 51 or higher Do you want to download a new firmware Click lt Yes gt if you want to download a new firmware Go to Step 9 Note if your MIP controller was already used you can check the firmware version by clicking on the lt Read version gt toolbar button Slave fi gles el CD ee June 2004 Edition Subject to change maxon motor control 15 maxon motor User s Manual Positioning Controller MIP Step 9 Download the firmware Directly go to Step 10 if your firmware version is OK You can run the download tool at any time by clicking the lt MipDownload gt toolbar button Slave fi gles mxl lo a Configure the communication settings for MipDownload When called from MIP Studio the communication Settings settings are inherited from MIP Studio You can l change these settings if required R5232 Download Mode C R5485 Download Mode Select the correct COM port and physical bus RS232 or R848
37. slave s reply default 100 ms e number of trials in case of communication errors default 4 trials When you make changes to the communication settings you must click on the lt Update gt button to make the changes active Step 6 Communication checklist panel 3 MIP communication settings The communication settings of the MIP are stored in the non volatile Flash memory in a so called system parameter structure This step will automatically configure these parameters by using the boot mode The slave address the physical bus and the baudrate are filled according to the PC communication settings The only option you have is to choose between the MIPbus or the I O MIP bus start up modes Select I O mode only if you intend to command the MIP by using the digital inputs Otherwise select the standard MIP bus mode If you work with a RS485 network you can select the slave you want to configure Choose slave x if you can reset one slave at a time this is the case if the MIP controller has a reset push button In this case a universal address 254 will be used that will be recognized by any slave that you reset If your hardware set up makes it impossible to reset a single slave then you have to select an individual slave address This implies that all the slaves already have a unique address If this is not the case start the download tool to configure your network read the on line help Ez When you are ready click the lt Configure gt
38. the 15V output Terminal a20 or configure the inputs for low active logic and connect the Stop input to GND Terminal b9 O Electro Magnetic Compatibility EMC The power stage of the MIP works with pulse width modulation PWM which means there is a square wave voltage with fixed frequency 60 kHz and variable duty cycle running on the motor lines The edges of this square wave can cause electromagnetic interference When cabling your apparatus machine take care not to lay the motor cable along other sensitive signals like the signals of the encoder or the Hall sensors especially over long distances In case of EMI problems use a shielded motor cable ground one side of the shield and connect the other one to the motor housing June 2004 Edition Subject to change maxon motor control 9 GNDanatog Ref GNDanalog Inp Enable Inp Right Dig input 3 Dig input 6 n C GND K_COM GND Dig output 3 Dig output 6 GND RS485 RS232 RxD Enc Index Enc Index Hallsensor 3 gt Vec 5 V GND 1 0 maxon motor control Anal input 2 V Rei GNDanatog Input Stop Input Left Dig input 2 Dig input 5 Dig input 8 GND gt Vio 24 V gt PWM outp Dig output 2 Dig output 5 Re S tp0 ReS tp ReS tms Enc B Enc B Hallsensor 2 Vee 5 V GND Power GND Power Power GND Winding 1 Winding 2 Winding 3 Anal input 1 V Rei GNDa
39. tion I O Mode e To change the start up mode open the system parameters dialog by clicking the lt System parameters gt toolbar button Slave i les aloe e Select the operating mode in the Start up mode field e Save your system parameters to a file Click the lt Save gt button and save the file with a meaningful name If you later need to configure further MIP controllers for an identical drive system you can then easily reload the system parameters from this file e Close the system parameters dialog and click the lt reset gt button in the Reset panel of MIP Studio to activate the new working mode e Close MIP Studio and start the adequate PC tool for the new operating mode Text menu amp I O Text GraphTerm ASCII command GraphTerm for manual typing MiPbus amp I O MIPbus IP Studio Mip WinCmdo e Read the section of the MIP manual relative to the chosen operating mode June 2004 Edition Subject to change maxon motor control 29 maxon motor User s Manual Positioning Controller MIP 4 Series production Alternatively to only saving the system parameters to a file you can save the whole firmware including the system parameters in a single binary file This method is recommended for series configuration Follow these steps to upload the firmware 1 Start the tool MipDownload and configure the communication settings 2 Setthe MIP into the BootMode Click on the button lt B gt or press the
40. ttings 4 Click lt OK gt and the firmware download starts If you encounter failures during the download try a new download at a lower baudrate 5 After successful download you will be asked for new system parameter settings Click on the button lt Accept Settings gt to skip over this procedure d Quit the MipDownload tool Click on the lt Exit gt button and answer lt Yes gt to the question Reset all Slaves to quit the BootMode e Reconfigure the MIP communication settings Since MIP Studio frees the COM port when it launches the download tool you have to restart the communication in MIP Studio after a download Use the button to restart the communication lf the communication parameters don t match any more overwritten the communication checklist appears after 4 seconds Go to Step 6 June 2004 Edition Subject to change maxon motor control 1 maxon motor User s Manual Positioning Controller MIP Step 10 Configure the system parameters If the system parameters of your MIP controllers have never been changed first power on factory settings the System Parameters editing dialog will open automatically You can edit the system parameters at any time by clicking on the lt System parameters gt toolbar button Slave fi les aloe For a better overview the system parameters are organized in different sheets that are accessible with tabs You have to go through all the sheets to correctly configure
41. your drive system only the Extend sheet can be left out Permanent System Parameters of MIPS50 Communication Drive Security Regulation Homing Aux encoder Extend make Haba Parameter nr 1 Axis Type Byte Slave nr J oa m Meaning MP Defines which axis number is used for the MIP This Group address l value is also the slave s address in a MIPbus ps oO www maxonmotor com network Values Tete eae Default Start up mode all Physical bus 1 MIPbus mode On R5232 RS485 Remark 0 is reserved for the host system master RS232 baudrate all S232 format 57600 No parity 6 data bit 1 stop bit R5485 baudrate l fi 9200 The system parameters of this MIP have never been modified Please check all the system parameters to fit your application The most important parameters are pointed out g Defaultvalues To show the online parameter reference yellow window for a given parameter you have to set the focus in the edit box of the parameter or click on the help icon 21 and then click on the parameter area Physical bus Carefully read the online parameter reference It should answer E Rieg C RE4BE most of the common questions When the parameters are edited for the first time the most important parameters are pointed Sall out with the symbol Note You can save all the system parameters to a file or load all the system parameters from
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