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Crouzet 801400SMI21, User Manual And Safety Notice, Page: 1 / 162

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Crouzet 801400SMI21 User Manual And Safety Notice Download Page 1

SMI21 

 

1 

 

 

 
 

SMI21 DCmind Brushless Motors 

 
 

User Manual and Safety Notice  

 
 
 

 

 

 

Important Notes 

 

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This manual is part of the product. 

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Read and follow the instructions in this manual. 

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Keep this manual in a safe place. 

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Give this manual and any other documents relating to the product to anyone that uses the product. 

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Read and be sure to comply with all the safety instructions and the section "Before you Begin - 
Safety-Related Information". 

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Please consult the latest catalogue to find out about the product's technical specifications. 

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We reserve the right to make modifications without prior notification. 

Summary of Contents for 801400SMI21

Page 1: ...afe place Give this manual and any other documents relating to the product to anyone that uses the product Read and be sure to comply with all the safety instructions and the section Before you Begin...

Page 2: ...3 2 Options 12 3 2 1 Holding brake 12 3 2 2 Gearboxes 12 3 2 3 Other 12 4 Accessories 12 4 1 Starter Kit 12 4 2 Extra Stoppers 12 5 Installation 13 5 1 Overview of the Installation Procedure 15 5 2 El...

Page 3: ...3 10 7 Updating the Firmware 44 11 Application programs 46 11 1 Description 46 11 2 Description of the Monitoring Part 47 11 3 Valve Group 48 11 3 1 Valve 4 positions Application Program 48 11 3 2 Val...

Page 4: ...Inputs in C100 Programs 143 12 3 2 Types of Outputs in C100 Programs 143 12 3 3 Description of the Various Tabs 144 12 3 4 Expert Program C101 149 13 Saving Parameters 156 14 Diagnostics and Troublesh...

Page 5: ...re identified by warning symbols Depending on how serious the situation is the safety instructions are split into 3 risk categories DANGER DANGER indicates a directly dangerous situation which if the...

Page 6: ...lied with options such as Different gearboxes A failsafe holding brake Different motor output shaft versions 1 4 Identification Label The label contains the following data 1 Product family code 2 Prod...

Page 7: ...ctronic base PRODUCT REFERENCE 8 0 X X X X X X Motor Type of stator 14 30mm brushless stator 18 50 mm brushless stator 28 50 mm brushless stator high torque Gearbox adaptation 00 no gearbox 10 RAD10 g...

Page 8: ...electronic equipment in the whole installation 2 2 Use in Compliance with Industry Practice As demonstrated in these instructions this product is a component designed for use in industrial environmen...

Page 9: ...e motor depending on its intended use Do not touch unprotected live parts Only use electrically isolated tools AC voltages can be connected to unused conductors in the motor cable Isolate unused condu...

Page 10: ...scribed in this manual has a central role must be carefully and meticulously checked prior to commissioning to ensure it is working properly Failure to comply with these precautions can result in deat...

Page 11: ...ximum permissible axial force Failure to comply with these precautions can result in death serious injury or damage to equipment The maximum press fit force is limited by the maximum permissible axial...

Page 12: ...d in the catalogue are planetary gearboxes which combine compact size and robust design and worm gearboxes that allow a shaft output at right angles to the motor shaft 3 2 3 Other Other types of adapt...

Page 13: ...equipment to fail Keep people with implants such as pacemakers away from the motor Do not place sensitive equipment in the immediate vicinity of the motor Failure to comply with these precautions can...

Page 14: ...oads If subjected to stress the motor can be damaged or even fall Do not use the motor as a step Prevent the motor from being used in any way other than its intended purpose by installing guards or di...

Page 15: ...nstalling the motor power supply leads When planning the wiring take account of the fact that the motor power supply leads must be kept separate from line supplies or cables carrying signals Comply wi...

Page 16: ...tructions Avoid any direct contact between the skin or sealing materials and the cleaning product used Flange mounting surface The mounting surface must be stable flat and clean In regards to installa...

Page 17: ...ases lead to encoder system failures and generate unexpected motor movements Use conductive parts e g antistatic straps or other appropriate measures to avoid a static charge due to movement Failure t...

Page 18: ...he end product range of application For the power supply to the power part we recommend using a double insulated stabilized power supply The motor is not protected against polarity reversals on the po...

Page 19: ...arc Failure to comply with these precautions can result in injury or damage to equipment CAUTION IRREPARABLE PRODUCT DAMAGE CAUSED BY REVERSED POLARITY Incorrect connection of the power can result in...

Page 20: ...e any damage Do not continue with the test if there is anybody or any obstacle in the danger zone Failure to comply with these precautions can result in death serious injury or damage to equipment CAU...

Page 21: ...TO ELECTROSTATIC DISCHARGES Electrostatic discharges ESD on the USB B to USB A micro connector can in some cases lead to deterioration or destruction of some system components and generate unexpected...

Page 22: ...ully released before initiating a movement Check that the USB micro connector s protective stopper has been replaced correctly WARNING UNEXPECTED MOVEMENT As a result of incorrect wiring or other erro...

Page 23: ...e temperature when performing a test Failure to comply with these precautions can result in injury or damage to equipment CAUTION VOLTAGE SURGES During braking phases the motor generates voltage surge...

Page 24: ...o Easy to use even by a layman thanks to simplified application programs that are quick to get up and running o Wide choice of expert programs covering a wide range of applications o USB connection vi...

Page 25: ...is DCmind Soft software is needed the first time the motor is used and for debugging It is used for Selecting the motor operating program o Position o Speed o Torque o Quick and easy starting using pr...

Page 26: ...mpedance In1 to In4 RIN DIG 57 Input impedance I5 to I6 RIN ANA PWM 69 Low logic level on inputs In1 to In4 VIL DIG 0 2 V High logic level on inputs In1 to In4 VIH DIG 4 50 V Low logic level on inputs...

Page 27: ...5 Analog setpoint or PWM or Digital Blue 6 Input no 6 Analog setpoint or PWM or Digital Orange 7 Logic ground 0 VDC Black 8 Logic ground 0 VDC White Black 9 Output no 1 Digital or PWM Brown 10 Output...

Page 28: ...wer supply 12 VDC 48 VDC Brown Power ground 0 VDC Blue The power supply cable is UL approved Style 2517 105 C 300 V 500 mm long as standard When a cable extension is used the cable cross section size...

Page 29: ...is not protected against polarity reversals on the power cable A polarity reversal can damage the product irreversibly 9 1 1 Ballast Circuit When the motor brakes the kinetic energy stored in the ine...

Page 30: ...voltage surges at the motor terminals Figure 5 9 1 1 2 Determining the Size of the R12 Resistor RBallast The higher the braking current the lower the resistor value Typical values are around several...

Page 31: ...ircuit to protect it The voltage breaking capacity usually selected is between 10 and 20 of the supply voltage E g For 24 VDC the voltage breaking capacity would be 28 VDC List of components for the u...

Page 32: ...e set to STOP mode Protection against undervoltages When the supply voltage falls below 8 V the product automatically switches to ERROR mode In ERROR mode the motor is no longer controlled To reset th...

Page 33: ...or The stopper has a retainer to keep it attached to the motor Figure 6 Figure 7 Insert the USB cable and install the drivers as instructed Take care never to touch the connector or contacts inside th...

Page 34: ...SMI21 34 Incorrect stopper fitting Figure 9 Figure 10 Correct stopper fitting Figure 11 Figure 12...

Page 35: ...SMI21 35 9 4 Input Output Connection 9 4 1 Equivalent Input Diagram NPN digital inputs Figure 13 Analog PWM digital inputs Figure 14...

Page 36: ...ution The output level is the same as the motor supply voltage if V DC 48V then Out1 Out2 Out3 Out4 48 V In the event of rejection this voltage increases accordingly and can rise up to 57 V maximum vo...

Page 37: ...adapt its operation to the application 10 2 System Required The HMI is compatible with the following operating systems Windows XP Family Professional with Framework version 3 5 minimum supplied on USB...

Page 38: ...ooth is disabled on the PC The USB drivers must always be installed upstream Figure 18 Steps 1 and 2 Figure 19 Steps 3 and 4 Once installation is complete the PC software can be launched directly via...

Page 39: ...ailable a minimum version of Framework is supplied on the USB stick in the programming kit To install version 3 5 of Framework supplied on the USB stick run the dotnetfx35 exe file and follow the inst...

Page 40: ...MI21 40 Figure 23 Figure 24 Once installation of Framework 3 5 is complete try again to install the DCmind Soft HMI referring to the Installation of the Crouzet DCmind Soft HMI section in this documen...

Page 41: ...can refine the motor operation by accessing all the adjustment parameters via the expert program linked to the application program and changing the pre filled values Expert programs The expert program...

Page 42: ...site http www crouzet com Description of the tabs on the main menu bar Figure 27 Motor Information window Figure 28 The Help tab contains the SMI21 DCmind Brushless motors user manual in pdf format La...

Page 43: ...tect button to start the automatic motor search If a motor is connected to the PC it is automatically detected and the following window appears Figure 30 Figure 31 Click OK the motor is now connected...

Page 44: ...product not working Power up the motor and click Bootloader in the main menu bar entire memory completely rewritten the following window appears Figure 32 A warning message appears asking to confirm t...

Page 45: ...ck the Open button updating begins Figure 35 When the update is complete the following window appears meaning that loading has been successful Figure 36 Location of the hex file being loaded Loading p...

Page 46: ...MI21 46 11 APPLICATION PROGRAMS 11 1 Description Select an application group from the list of application programs then one of the icons corresponding to your application Figure 37 Figure 38 Figure 39...

Page 47: ...f the connection between the HMI and the motor green for connected and red for not connected It gives in real time once a second the value of the various measurements taken on the motor voltage temper...

Page 48: ...y To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configure the motor 11 3 1 1 Inputs Outputs Configuration Refer to the I O Conne...

Page 49: ...or if 1 error detected 11 3 1 2 Application Settings The user can give a 4 character name in Project name which is stored in the motor and appears in the Motor Information window If it has been saved...

Page 50: ...ser can press the STOP button at any time to stop the application quickly To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configur...

Page 51: ...s stored in the motor and appears in the Motor Information window If it has been saved on the PC by the user this name is used by default For more details see the Saving Parameters paragraph The Numbe...

Page 52: ...ation quickly To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configure the motor 11 4 1 1 Inputs Outputs Configuration Refer to t...

Page 53: ...tion on the real torque value in PWM Cyclical ratio 0 torque 0 mNm Cyclical ratio 100 torque 1 Nm OUT3 If 0 motor running if 1 motor stopped OUT4 If 0 error detected if 1 no error 11 4 1 2 Application...

Page 54: ...he settings are complete press the Load Program button to configure the motor 11 4 2 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs IN1 If 0 Stop if 1 Run IN2 If 0 motor run...

Page 55: ...Cyclical ratio 100 torque 1 Nm OUT3 If 0 motor running if 1 motor stopped OUT4 If 0 error detected if 1 no error 11 4 2 2 Application Settings The user can give a 4 character name in Project name whi...

Page 56: ...nce the settings are complete press the Load Program button to configure the motor 11 5 1 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs IN1 to IN5 32 possible combinations...

Page 57: ...the motor direction of rotation used to reach the stop selected above forward CW rotation by default To protect the application and prevent the mechanical stop being reached each time it returns to po...

Page 58: ...be reloaded Once the settings are complete press the Load Program button to configure the motor 11 5 2 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs IN1 If 0 Stop if 1 Run...

Page 59: ...m Cyclical ratio 100 torque maximum torque OUT3 If 0 motor running if 1 motor stopped OUT4 If 0 error detected if 1 no error 11 5 2 2 Application Settings The user can give a 4 character name in Proje...

Page 60: ...l torque In6 Speed Speed Speed if In1 In2 In3 0 Nominal torque Key Digital type input Analog or PWM type input 12 1 2 Types of Outputs in V100 Programs For all expert speed programs 4 configurable out...

Page 61: ...rograms whether in speed position or torque mode It can be used to choose between the various types of application and expert programs In our example we have chosen the Speed V100 category in the Expe...

Page 62: ...containing a concise description of the various speed profiles that are created using this expert mode Figure 48 Summary description of the profiles that can be created using this expert mode speed c...

Page 63: ...SMI21 63 12 1 3 3 Inputs Tab This tab is used to configure the various inputs in this expert mode digital input polarity value control type maximum and minimum control limit etc Figure 49...

Page 64: ...nd modify the speed control loop coefficients It is common to all the speed expert programs Figure 51 Output 1 type parameter settings Output 2 type parameter settings Output 3 type parameter settings...

Page 65: ...Action for the overtorque error can be configured Setting the parameters associated with torque control Summary description of torque control Overvoltage threshold settings if this value is exceeded a...

Page 66: ...alog or PWM control Set the nominal and maximum torque parameters for the application safety via the HMI 12 1 4 2 Inputs Tab Parameters Digital input 1 Used to set the On Off input polarity Figure 52...

Page 67: ...puts Figure 55 Setpoint input 5 Used to select the control type for the acceleration deceleration setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Figure...

Page 68: ...Hall pulses per revolution 4 pairs of poles Figure 58 Setting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output and the torque value correspo...

Page 69: ...ting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a...

Page 70: ...t for which the motor runs at 1000 RPM 200 500 or 1000 Hz Figure 66 State of digital output 2 Real direction Used to find out the motor direction of rotation Figure 67 State of digital output 3 Motor...

Page 71: ...running in reverse CCW at maximum speed setpoint defined in In6 Figure 70 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this...

Page 72: ...n in the example below ensure correct product operation in the majority of cases Figure 74 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 m...

Page 73: ...on setpoint on input 5 at 800 RPM s this gives us the following graphic representation recording time of 10 seconds Figure 77 Note The display scales can be changed with the mouse wheel Other function...

Page 74: ...rovide torque up to the value CMAX for the maximum duration tMAX Thereafter if the application torque is still higher than CNOMINAL the motor torque is limited to the value CNOMINAL until the applicat...

Page 75: ...tMAX Figure 80 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Figure 81...

Page 76: ...trol Set torque limiting with analog or PWM control 12 1 5 2 Inputs Tab Parameters Digital input 1 Used to set the On Off input polarity Figure 82 Digital input 2 Used to set the Direction of rotation...

Page 77: ...er inputs Figure 85 Setpoint input 5 Used to select the control type for the torque limiting setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Figure 86 S...

Page 78: ...Hall pulses per revolution 4 pairs of poles Figure 88 Setting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output and the torque value correspo...

Page 79: ...ting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a...

Page 80: ...t for which the motor runs at 1000 RPM 200 500 or 1000 Hz Figure 96 State of digital output 2 Real direction Used to find out the motor direction of rotation Figure 97 State of digital output 3 Motor...

Page 81: ...unning in reverse CCW at maximum speed setpoint defined in In6 Figure 100 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this o...

Page 82: ...in the example below ensure correct product operation in the majority of cases Figure 104 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 m...

Page 83: ...limit on input 5 at 1000 mN m this gives us the following graphic representation recording time of 5 seconds Figure 107 Note The display scales can be changed with the mouse wheel Other functions are...

Page 84: ...vervoltage detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Figure 1...

Page 85: ...f digital inputs 1 to 3 Used to choose the type of speed setpoint applied at the motor input If no input is active the setpoint will be that applied to input 6 If one of these 3 inputs is active the s...

Page 86: ...the maximum and minimum limits for this setpoint An inverted scale can be used Figure 113 Setting the acceleration and braking ramps These values are fixed via the HMI and cannot be changed by inputs...

Page 87: ...ll pulses per revolution 4 pairs of poles Figure 115 Setting the parameters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output and the torque value correspon...

Page 88: ...ing the parameters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a c...

Page 89: ...for which the motor runs at 1000 RPM 200 500 or 1000 Hz Figure 123 State of digital output 2 Real direction Used to find out the motor direction of rotation Figure 124 State of digital output 3 Motor...

Page 90: ...unning in reverse CCW at maximum speed setpoint defined in In6 Figure 127 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this o...

Page 91: ...in the example below ensure correct product operation in the majority of cases Figure 131 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 m...

Page 92: ...0 RPM and a priority speed on input 3 at 3000 RPM this gives us the following graphic representation recording time of 10 seconds Figure 134 Note The display scales can be changed with the mouse wheel...

Page 93: ...vide torque up to the value CMAX for the maximum duration tMAX Thereafter if the application torque is still higher than CNOMINAL the motor torque is limited to the value CNOMINAL until the applicatio...

Page 94: ...e 137 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Figure 138 Procedure...

Page 95: ...PWM control Set the acceleration deceleration phase parameters via the HMI 12 1 7 2 Inputs Tab Parameters Combinations of digital inputs 1 to 3 Used to select the type of speed setpoint applied at the...

Page 96: ...d fix the maximum and minimum limits for this setpoint An inverted scale can be used Figure 140 Setting the acceleration and braking ramps These values are fixed via the HMI and cannot be changed by i...

Page 97: ...ll pulses per revolution 4 pairs of poles Figure 142 Setting the parameters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output and the torque value correspon...

Page 98: ...ters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a cyclical ratio...

Page 99: ...for which the motor runs at 1000 RPM 200 500 or 1000 Hz Figure 150 State of digital output 2 Real direction Used to find out the motor direction of rotation Figure 151 State of digital output 3 Motor...

Page 100: ...running in reverse CCW at speed of 4000 rpm Figure 154 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this output must be ident...

Page 101: ...n in the example below ensure correct product operation in the majority of cases Figure 158 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10...

Page 102: ...us the following graphic representation recording time of 30 seconds Speed 1 is at 0 RPM Figure 161 Note The display scales can be changed with the mouse wheel Other functions are available by right...

Page 103: ...e detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Figure 163 12 1 7...

Page 104: ...ming ON OFF 1 to 6 proportional positions Homing ON OFF In3 Position 3 In4 Position 4 In5 Homing Homing Speed ramps Switch 1 limit stop Switch 1 limit stop Switch 1 limit stop In6 ON OFF ON OFF Speed...

Page 105: ...tand by target reached if 1 Real torque centered on 50 00 error detected 01 homing not performed OR not completed 10 motor stopped AND homing completed 11 motor running positioning Digital PWM Digital...

Page 106: ...f 2 ways With 1 limit switch by retrieving information from one of the inputs By detecting overtorque when the motor is at a mechanical stop N B The default motor direction of rotation is forward CW 1...

Page 107: ...detected the motor is in the mechanical zero position To avoid the motor coming into contact with the END1 mechanical stop each time it returns to the reference position Offset 1 can be set in encode...

Page 108: ...en the mechanical zero and the software zero The motor then travels in the opposite direction to find the 2nd mechanical stop END2 The END2 mechanical stop is detected in a similar way The motor is in...

Page 109: ...changes state the Switch 1 stop is detected The motor is in the mechanical zero position To avoid the motor coming into contact with the switch each time it returns to the reference position Offset 1...

Page 110: ...difference in position between the mechanical zero and the software zero The motor then travels in the opposite direction to find the 2nd mechanical stop END2 When the application torque increases to...

Page 111: ...Offset 1 can be set in encoder pulses which gives us the difference in position between the mechanical zero and the software zero The motor then travels in the opposite direction to find the 2nd stop...

Page 112: ...ograms whether in speed position or torque mode It can be used to choose between the various types of application and expert programs In our example we have chosen the Position P100 category in the Ex...

Page 113: ...concise description of the various position profiles that are created using this expert mode Figure 172 Summary description of the profiles that can be created using this expert mode positioning with...

Page 114: ...1st stop Figure 173 12 2 4 4 Inputs Tab This tab is used to configure the various inputs in this expert mode digital input polarity setting the parameters for the 4 target positions position maximum...

Page 115: ...and configure the various outputs in this expert mode position type 5 to type 9 Figure 175 Output 5 type parameter settings Output 6 type parameter settings Output 7 type parameter settings Output 9...

Page 116: ...ts nominal and maximum torque torque peak authorization and the power supply overvoltage threshold SEQ Figure ARABIC 185 This tab is used to view the selected parameters in graphic form This zone is u...

Page 117: ...or the overtorque error can be configured Figure 177 Setting the action to be taken when an overtorque error is encountered If an error is detected that could jeopardize motor safety the motor is auto...

Page 118: ...2 Homing Tab Parameters Set the difference in position in pulses between the mechanical stops and the application total stroke limits stop 1 END1 represents the stroke start stop 2 END2 represents th...

Page 119: ...SMI21 119 Set the direction of rotation for the first stop search END1 N B By default the motor runs forward CW Figure 182...

Page 120: ...sed to set the Position 1 input polarity Figure 183 Digital input 2 Used to set the Position 2 input polarity Figure 184 Digital input 3 Used to set the Position 3 input polarity Figure 185 Digital in...

Page 121: ...speed profiles to be followed acceleration ramp speed step and deceleration ramp trapezoidal profile Figure 187 Digital input 5 Used to set the Start Homing input polarity Figure 188 Digital input 6 U...

Page 122: ...190 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing completed in progress or not performed Figure 191 State of digital output 3 Motor runnin...

Page 123: ...194 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing completed in progress or not performed Figure 195 State of digital output 3 Motor runnin...

Page 124: ...torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Braking torque supplie...

Page 125: ...torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Braking torque supplie...

Page 126: ...Hall sensors changes state 80140_SMI21 and 80180_SMI21 motors have 12 Hall pulses per revolution 2 pairs of poles The 80280_SMI21 motor has 24 Hall pulses per revolution 4 pairs of poles Figure 204 St...

Page 127: ...values given in the example below ensure correct product operation in the majority of cases Figure 208 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling inte...

Page 128: ...tion 2 0 points acceleration ramp 400 rpm sec speed step 1000 rpm deceleration ramp 100 rpm sec This gives us the following graphic representation Figure 211 Note The display scales can be changed wit...

Page 129: ...ovide torque up to the value CMAX for the maximum duration tMAX Thereafter if the application torque is still higher than CNOMINAL the motor torque is limited to the value CNOMINAL until the applicati...

Page 130: ...an tMAX Figure 214 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor stops and no holding torque is applied freewheeling Figure 215 P...

Page 131: ...ses and the maximum speed that must not be exceeded between each point via the HMI 12 2 6 2 Homing Tab Parameters Set the polarity of the switch wired on digital input In6 Figure 216 Set the differenc...

Page 132: ...rmitted time for the homing phase If this value is exceeded an error will be generated Time limited to 300 s Figure 220 Set the direction of rotation for the first stop search N B By default the motor...

Page 133: ...ters Information concerning the polarity of the switch wired on digital input 6 This polarity is selected in the Homing tab see above Figure 222 Select the number of position setpoints to be preset se...

Page 134: ...225 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing completed in progress or not performed Figure 226 State of digital output 3 Motor runnin...

Page 135: ...229 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing completed in progress or not performed Figure 230 State of digital output 3 Motor runnin...

Page 136: ...torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Braking torque supplie...

Page 137: ...torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Braking torque supplie...

Page 138: ...Hall sensors changes state 80140_SMI21 and 80180_SMI21 motors have 12 Hall pulses per revolution 2 pairs of poles The 80280_SMI21 motor has 24 Hall pulses per revolution 4 pairs of poles Figure 239 St...

Page 139: ...values given in the example below ensure correct product operation in the majority of cases Figure 243 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling inte...

Page 140: ...c Position 2 0 points acceleration ramp 400 rpm sec speed step 1000 rpm deceleration ramp 100 rpm sec This gives us the following graphic representation Note The display scales can be changed with the...

Page 141: ...ovide torque up to the value CMAX for the maximum duration tMAX Thereafter if the application torque is still higher than CNOMINAL the motor torque is limited to the value CNOMINAL until the applicati...

Page 142: ...AX Figure 248 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Figure 249 P...

Page 143: ...ue ramp In6 Torque Torque if In1 In2 In3 0 Key Digital type input Analog or PWM type input Forthcoming programs 12 3 2 Types of Outputs in C100 Programs For all expert torque programs we have 2 config...

Page 144: ...her in speed position or torque mode It can be used to choose between the various types of application and expert programs In our example we have chosen the Torque C100 category in the Expert Programs...

Page 145: ...this expert mode Figure 251 12 3 3 3 Inputs Tab This tab is used to configure the various inputs in this expert mode digital input polarity value control type maximum and minimum control limit etc Su...

Page 146: ...ure 252 12 3 3 4 Outputs Tab This tab is used to select and configure the various outputs in this expert mode torque type 2 and type 10 Output 2 type parameter settings Output 10 type parameter settin...

Page 147: ...Figure 254 12 3 3 6 Limits Tab This tab can be used to set the power supply overvoltage threshold Figure 255 This tab is used to view the selected parameters in graphic form This zone is used to Selec...

Page 148: ...code and the action to be taken by the motor following this error Figure 256 If an error is detected that could jeopardize motor safety the motor is automatically turned off and left freewheeling Proc...

Page 149: ...M control 12 3 4 2 Inputs Tab Parameters Digital input 1 Used to set the On Off input polarity Figure 257 Digital input 2 Used to set the Direction of Rotation input polarity Figure 258 Digital input...

Page 150: ...setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Figure 260 Setpoint input 6 Used to select the control type for the torque setpoint and fix the maximum...

Page 151: ...ting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a...

Page 152: ...running in reverse CCW at maximum speed setpoint defined in In6 Figure 266 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this...

Page 153: ...n in the example below ensure correct product operation in the majority of cases Figure 270 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10...

Page 154: ...setpoint on input 5 at 50 mN m s this gives us the following graphic representation recording time of 20 seconds Figure 273 Note The display scales can be changed with the mouse wheel Other functions...

Page 155: ...overvoltage detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Figure...

Page 156: ...ld upload the program to the motor This action is essential so that the motor can take account of the project name and the associated parameters The Project name parameter can be accessed by clicking...

Page 157: ...SMI21 157 Figure 280 Figure 281 Select the parameter backup file...

Page 158: ...s uploaded the HMI automatically launches the associated expert or application program in our example expert program V101 Figure 282 Press the Load Program button to load the MOT1 xml file parameters...

Page 159: ...on device Balance the transmission device Contact the after sales service Check the rigidity of the motor fixing Axial vibration Transmission device incorrectly aligned Transmission device being knock...

Page 160: ...ghtening torque WARNING UNEXPECTED MOVEMENT Exceeding the permissible ambient conditions can allow foreign bodies from the surrounding area to get in and lead to unexpected motor movements or damage t...

Page 161: ...he product Replace it with a motor with the same part number Install the new product as described in section 4 Installation Commission the product as described in section 5 Commissioning 15 5 Dispatch...

Page 162: ...Direction of rotation Positive or negative direction of rotation of the motor shaft The positive direction of rotation is clockwise rotation of the motor shaft when looking at the motor from the outp...

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