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CS-Lab SimDrive M4-H040K, User Manual

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CS-Lab SimDrive M4-H040K User Manual Download Page 11

 

3.

 

PINs description on drive connectors 

3.1

 

Connectors arrangement (M4-…040K model) 

 
 
 
 

 

 
 
 

3.2

 

Connectors arrangement (M4-…075K model) 

 

 

 

 

CN1 – Signal connector 

CN5 

CAN and 

configuration 

 

CN1 – Signal connector 

CN3 – Power output stage connector 

CN2 – Configuration connector 

CN3 – power output stage connector  

CN4 

CAN connector 

 simDrive™ AC Servo Drive - 

U

SER 

G

UIDE

 

  11 

Summary of Contents for SimDrive M4-H040K

Page 1: ...Applies to hardware version v1 Applies to firmware version v2 00 Rev 1 0 copyright 2014 CS Lab s c...

Page 2: ...onfiguration connector model M4 040K 15 4 I O circuits internal construction 16 4 1 1 Encoder inputs 16 4 1 2 HALL sensors inputs 16 4 1 3 STEP DIR control signals inputs 16 4 1 4 Digital inputs IN0 I...

Page 3: ...r tuning 35 5 6 1 Initial settings of PID regulator 35 5 6 2 Manual PID regulator tuning procedure 36 5 6 3 Automatic PID regulator tuning procedure 39 5 7 Torque scan function csTorqueScan 41 6 Drive...

Page 4: ...e speed electrical power drive systems Safety requirements Electrical thermal and energy EN 61800 3 Adjustable speed electrical power drives systems EMC requirements and specific test methods EN 61000...

Page 5: ...gnal type of position speed defining STEP DIR Differential signal Max STEP signal frequency 4 MHz Max encoder signal frequency 8 MHz Encoder type incremental TTL 4 Encoder signal type Differential PC...

Page 6: ...rives read chapter 5 2 2 Connection through the CAN bus If the motor supplier is CS Lab s c company load configuration template for the particular model available on www cs lab eu and save the configu...

Page 7: ...ch it on and connect with the drive Open PID regulators tuning window and ensure that the needed values in there are safe for the first run look at chapter 5 6 1 Initial settings of PID regulator Enab...

Page 8: ...er is also optional but we recommend Alarm Reset Servo ON and E Stop signals connection The drive has HOME signal and encoder index synchronization function It means that you can have precise homing e...

Page 9: ...2 1 Brushless motors AC BLDC simDrive AC Servo Drive USER GUIDE 9...

Page 10: ...2 2 Brushed motors DC 10 simDrive AC Servo Drive User Guide...

Page 11: ...040K model 3 2 Connectors arrangement M4 075K model CN1 Signal connector CN5 CAN and configuration CN1 Signal connector CN3 Power output stage connector CN2 Configuration connector CN3 power output st...

Page 12: ...B Input 17 HALL_C HALL sensor C Input 18 5V Out 5V Output for encoder and HALL sensors power supply 19 GND GND 0V of encoder and HALL sensors 20 GND GND 0V of logic power supply 21 STEP Step signal ne...

Page 13: ...d outputs there are default functions assigned in square brackets The sign means that input output in reversed logic that is 0V is an active state and 24V is inactive state Connection made in accordan...

Page 14: ...N bus housing Shield Wire shielding PIN number Signal Description 1 HV Power supply of power output stage 2 HV Power supply of power output stage 3 PE Ground 4 W Motor power supply W phase 5 V Motor p...

Page 15: ...Description 1 2 RxD RS232 diagnostics and configuration 3 TxD RS232 diagnostics and configuration 4 CAN H CAN bus H signal 5 GND GND 0V 6 7 8 9 CAN L CAN bus L signal housing Shield Wire shielding Fro...

Page 16: ...4 I O circuits internal construction 4 1 1 Encoder inputs 4 1 2 HALL sensors inputs 4 1 3 STEP DIR control signals inputs 16 simDrive AC Servo Drive User Guide...

Page 17: ...4 1 4 Digital inputs IN0 IN5 4 1 5 Digital outputs OUT0 OUT2 simDrive AC Servo Drive USER GUIDE 17...

Page 18: ...erienced users will be able to set the simDrive device properly To configure the drive we need csServoManager configuration utility available free on http www cs Lab eu while a converter and a cable c...

Page 19: ...finishes you can click on windows start menu and find simDrive Software Package Install USB Serial Converter After driver installer launching you should follow the screen information After a short tim...

Page 20: ...onnection with a drive After we start the csServoManager we will see a window where we choose a drive to connect with and interface language as well First click Scan button You will see all detected d...

Page 21: ...on menu click Communication and change the address into 105 o Save the configuration in non volatile memory Configuration Save in flash memory o End the connection the first icon on the left on a tool...

Page 22: ...Save Parameters Save settings to a file Configuration Save to flash memory IMPORTANT Settings file save in non volatile memory You should click the icon after you make changed the drive s configurati...

Page 23: ...window for PID regulators tuning Configuration Motor parameters Motor parameters settings Configuration IO Signals Drive s digital inputs and outputs configuration Tests window It s not used in normal...

Page 24: ...rter CSMIO IP CAN Connection through LAN network a PC communicates via CSMIO IP controller in this case CAN bus drive connection with CSMIO IP controller is required 5 2 4 3 Port Sign Description COMx...

Page 25: ...le memory Changes made in the drive configuration will be lost after power supply disconnection if we don t press the icon on our toolbar or Save in flash memory in Settings menu Sometimes we do not w...

Page 26: ...t refresh frequency Auto scale automatic manual scale of the chart Y axis Max Min min max values settings for Y axis if manual scale of Y axis is enabled Under the chart control group there are curren...

Page 27: ...value means that internal motion planner in a drive finished operation and is in idle state Encoder position Encoder position counter Reference position Controller position counter that is counter dir...

Page 28: ...r id current Brushed motors d vector current Its values should be close to 0 Vector iq current Current consumed by a motor that provides a torque id Vector reg error Current id vector adjustment devia...

Page 29: ...here are different types of brushless motors AC Generally we differentiate two types of them synchronous with permanent magnets and asynchronous simDrive servo drive just like most other servo drives...

Page 30: ...not have to enter it With future software versions the parameter can be important for sensorless methods of determining an angle of a rotor a motor commutation L Motor winding resistance In current so...

Page 31: ...we enter here should be actual resolution manufacturers usually inform about of the value because they don t include a quadrature decoder Incorrect value won t cause the motor damage but it won t be...

Page 32: ...tion is expressed by the formula In our example we enter X 20 and Y 1 We are going to multiply the input signal by 20 Obviously using this function we can divide the input signal if there is such a ne...

Page 33: ...on option It s good to clear all current settings first before the configuration For inputs we select 0 input and we click on 5 input while holding Shift key at the same time Click on all this way sel...

Page 34: ...nputs in csServoManager Digital input number Default function Default polarization 0 Homing input Reversed 1 Servo ON Normal 2 Reset Normal 3 4 5 5 5 3 Digital outputs functions Function Description A...

Page 35: ...menu Configuration PID tuning or click on the icon on the toolbar 5 6 1 Initial settings of PID regulator Optimal initial values for various motor types may differ significantly however in the table...

Page 36: ...Due to very small accelerations the motion can be a bit ponderous and unequal but it s normal o When you hear squeaks or you get an overload or short circuit alarm you should decrease PID current con...

Page 37: ...lowly by 25 If we get an alarm state during the current controller tuning then you should decrease the gain value by 25 and press Reset and again o We tune the Ki parameter of current controller the s...

Page 38: ...of velocity controller as well To keep the changes saved after power supply is off press icon on a toolbar after you done the changes or select Save to flash from Configuration menu Remember to appro...

Page 39: ...to tune the PID manually Autotuning function is available in a PID tuning window and to open it click Configuration PID tuning from a menu or click icon on the toolbar and go to Autotuning tab Usuall...

Page 40: ...so oscillations are more likely to happen Less rigidity the positioning is worst but oscillations are less likely to happen The autotuning procedure requires a motor to be in motion and mechanically m...

Page 41: ...earlier Make sure that power outputs stage power supply HV is enable and a drive is ready if it is in alarm state scanning won t start Set Ampl Slider to 1 value and Phase to 0 Click Scan button and w...

Page 42: ...ration of csTorqueScan function constant mechanical load is required If a machine mechanics doesn t assure that for example an axis drive is on a straight tooth bar the measurement should be done on a...

Page 43: ...persists then you assure better cooling for the driver and a control cabinet Following error velocity controller Rotational speed of a motor differs too much from the set speed It means to high revs o...

Page 44: ...ad out error default settings loaded CRC32 control value in device memory was incompatible and default settings were loaded It means drive s settings loss and or non volatile memory of a device malfun...

Page 45: ...lows 1 Make sure that simDrive servo driver is connected through RS232 COM port updates through CAN bus is not supported 2 Select your language and press Start 3 Wait until the uploader will detect th...

Page 46: ...ows down moreover we are already nervous and we overreact stepping on the gas or brake to the limit time and time again As a result we will still pass the chased car being most of the time far away fr...

Page 47: ...ry Motor position 1 Error 0 1 1 The output 10 1 10 Motor position 5 Error 0 5 5 The output 10 5 50 Motor position 5 Error 0 5 5 The output 10 5 50 As you can see above correction is greater the larger...

Page 48: ...ts sudden rapid movements The D reacts the stronger the faster a position error changes If the error increases fast the D control will react towards strongly If the error decreases quickly then the D...

Page 49: ...pt so when we want to mill a square we get a diamond shape There is no way to correct these inaccuracies as after we switch the power on the gantry s both side drives are like stuck together In a syst...

Page 50: ...r position counter Following error Motor load current absorbed by a motor Hall sensors state Drive state Digital inputs and outputs state Power output stage temperature Alarms shown as easy control le...

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