DMM DYN2 Series Page 52 Specification Manual Download

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DYN2MS-02F-0116A17

Sent Packet (to DNY drive)
Function

Function Code

Data (Bytes)

Read_Drive_Config

0x08

1 (dummy)

Received Packet (from DYN drive)
Is_Config

0x1a

0 x x x x x x x

1 0 0 0 1 0 0 0

Bn-1

1 b6 b5 b4 b3 b2 b1 b0

Bn-2

1 x x x x x x x

Dummy bits

0 x x x x x x x

1 0 0 11 0 1 0

Bn-1

1 b6 b5 b4 b3 b2 b1 b0

Bn-2

1 x x x x x x x

Drive configuration data

Packet Length = 4

Function = 0x1a

Sent Packet (to DNY drive)
Function

Function Code

Data (Bytes)

Read_Drive_Status

0x09

1 (dummy)

Received Packet (from DYN drive)
Is_Status

0x19

0 x x x x x x x

1 0 0 0 1 0 0 0

Bn-1

1 b6 b5 b4 b3 b2 b1 b0

Bn-2

1 x x x x x x x

Dummy bits

0 x x x x x x x

1 0 0 11 0 0 1

Bn-1

1 b6 b5 b4 b3 b2 b1 b0

Bn-2

1 x x x x x x x

Drive status data

Packet Length = 4

Function = 0x19

Sent Packet (to DNY drive)
Function

Function Code

Data (Bytes)

Set_Drive_Config

0x07

Sent Packet (from DYN drive)

0 x x x x x x x

1 0 0 0 0 111

Bn-1

1 b6 b5 b4 b3 b2 b1 b0

Bn-2

1 x x x x x x x

Drive configuration setting

None

7.6 Packet Structure Examples

DYN232M

D Y N A C S E RV O S Y S T E M - R S 2 3 2 M O T I O N

DTPU

P O S I T I O N I N G

Summary of Contents for DYN2 Series

Page 1: ...Hardware Version Firmware Version AH10 AH10 DYN2MS 02F 0116A17 A1 7 This manual must be kept available for the user Copyright 2015 DMM Technology Corp DYN232M DYN232M D Y N A C S E RV O S Y S T E M R...

Page 2: ...be operated under correct circum stances and conditions Bodily harm or damage to equipment and system may result if specifications outlined in this document are not followed Take extra precaution when...

Page 3: ...s manual is available on the DMM Technology Corp website A physical copy or reference to the on line availability must be kept convenient to the servo drive user or operator for references Contact DMM...

Page 4: ...Communication 26 4 OPERATION 27 4 1 Position Servo Mode 27 4 2 Speed Servo Mode 31 4 3 Torque Servo Mode 33 4 4 RS232 Command Input Mode 34 4 5 Absolute Zero Position Index Output ZRI 34 5 PARAMETERS...

Page 5: ...All testing and tuning is done through a RS232 or USB interface with a host PC running DMMDRV GUI software for fast and easy set up Drive status is internally moni tored by 22 parameters for consiste...

Page 6: ...rent Voltage Temperature Over Power Posi tion Lost Follow Position Servo Command Reference Pulse 1 Pulse Sign A B Phase Quadrature 90 Phase Differential CW CCW Max Input Frequency 500kHz Input Voltage...

Page 7: ...nsor Current Sensor A B C LED S1 Isolated I O Interface JP4 JP3 Encoder Feedback A D Analog Input Voltage Protection DYN2 AC Servo Drive Model Model Number Type Resolution Data Type Interface Type Mea...

Page 8: ...Status LED Green LED JP4 Encoder Feedback Port 1 Drive Body Grounding Terminal M3 x 5mm Max Located on left side of body 1 Pin Layout JP1 JP2 5V TxD RxD JP3 12 11 10 9 8 7 6 5 4 3 2 1 JP4 5V S S Gnd...

Page 9: ...t JP2 with PC s RS232 port an intermediate cable with level shift buffer is necessary Intermediate cable shipped with drive tuning cable Model No CA MRS232 6 JP3 I O Port Position Command Input Connec...

Page 10: ...mm Pitch Terminal Block Drive Header Phoenix MSTBA 2 5 3 G Plug Connector Phoenix MSTB 2 5 3 ST Recommended Wire Gauge 0 8mm2 AWG18 Signal Layout Pin 1 A Phase Pin 2 B Phase Pin 3 C Phase Motor frame...

Page 11: ...D 12 5VDC 11 ENA 10 ZRI 9 ONPOS 8 ALM 7 COM 2 AGIN 1 GND 270 270 6 PUL A CW 5 PUL A CW 4 DIR B CCW 3 DIR B CCW JP3 JP4 Gnd S S 5VDC JP1 FG A B C Current Sensor Current Sensor JP5 Main Power Input 24...

Page 12: ...mmands Disable clears all position error Max Voltage 5VDC 10 Max Current 20mA A See section 2 4 Refer to Section 2 4 JP3 I O Connection Circuit for example connection diagram Standard I O levels are 5...

Page 13: ...on error within value set by OnPosRange parameter Max Voltage 30V Max Current 30mA B See section 2 4 Pin No Signal Symbol Type 8 Servo Alarm ALM Output Description Connection Circuit Transistor ON Sig...

Page 14: ...put Compatible pulse form include Pulse Direction A B phase quadrature with 90 phase differential CW CCW Max input pulse frequency 500kHz Max Voltage 5VDC 10 Max Current 20mA Line Drive Open Collector...

Page 15: ...A Connection Circuit General Input Circuit Applicable Signals Pin No Signal Symbol Type 11 Drive Disable Input ENA Input Open Collector Notes Sink circuit shown Source circuit can also be used Relay...

Page 16: ...ircuit Applicable Signals Pin No Signal Symbol Type 10 9 8 7 Absolute Zero Position Index Output OnPosition Output Servo Alarm Common ZRI ONPOS ALM COM Output Output Output N A Collector Output Notes...

Page 17: ...R B CCW Pulse Reference STEP STEP DIR DIR Input Line Driver Notes Twisted pair cable with shield grounded on receiver side Open Collector DYN2 Internal Power Supply Notes Twisted pair cable with shiel...

Page 18: ...nnection Circuit Analog Command Reference Input Applicable Signals Pin No Signal Symbol Type 2 1 Analog Command Reference Ground AGIN GND Input N A Notes Twisted pair cable with shield grounded on rec...

Page 19: ...ive according to the circuit size DC Power Supply 110 240VAC Supply R S T WARNING DO NOT reverse the polarity of the DC input power Reversing the polarity will perma nently damage the servo drive and...

Page 20: ...t may be needed for applications with high load inertia deceleration Con tact DMM for DYN2 regenerative circuit requirements DC Power Supply JP1 DYN2 Servo Drive Axis 1 JP1 DYN2 Servo Drive Axis 1 JP1...

Page 21: ...lel the direction of the heat sink fin The servo drive internally do not have a cool ing fan Contact DMM if servo drives need to be placed adjacent without spacing DWG NO TITLE REV DO NOT SCALE DRAWIN...

Page 22: ...off and 60 seconds is needed for full discharge This time may be longer if a larger smoothing capacitor is connected to the input power line The residual voltage may cause the servo motor to rotate fo...

Page 23: ...ough time to initialize the control program during Enable and can cause unwanted or dangerous results Ensure that in the control program the below timing is satisfied Once Disabled do not Enable the s...

Page 24: ...onds the on screen parameters will change according to the current internal parameter settings of the connected servo drive Ensure that the Driver Status indicates ServoOnPos to indicate that the driv...

Page 25: ...ication PC Requirements Operating System Windows XP SP3 or higher Recommended Windows 7 32 bit 64 bit Processor Pentium 1 GHz or higher RAM 512 MB or more Framework NET Framework 4 or higher Minimum d...

Page 26: ...24VDC is required Max pulse frequency 500kHz Minimum pulse width 0 8 s t1 t1 t4 0 8 s t2 t3 1 0 s t5 t6 5 0 s t2 t3 t4 t5 t6 PUL DIR Pulse Direction A B phase quadrature with 90 phase differential CW...

Page 27: ...orward Reference Reverse Reference CW JP3 6 CCW JP3 4 CW JP3 6 CCW JP3 4 A B phase quadrature with 90 phase differential Forward Reference Reverse Reference A JP3 6 B JP3 4 A JP3 6 B JP3 4 A Leads B B...

Page 28: ...Output Open Collector Output External Power Supply Open Collector Output Internal Power Supply 270 6 5 270 4 3 PUL A CW PUL A CW DIR B CCW DIR B CCW 270 6 5 12 5VDC 1 GND 270 4 3 PUL A CW PUL A CW DIR...

Page 29: ...default value is 4 096 Gear number provides an electrical gear ratio 4096 Gear_Num from 0 25 8 192 For example if Gear number 4 096 the 16 384 input counts from pulse will turn motor exactly one revol...

Page 30: ...can withstand the peak torque of the motor in use Control Reference The DYN2 servo drive accepts FORWARD reference as CLOCKWISE motor shaft rotation as viewed from motor shaft side Positive reference...

Page 31: ...2 59 98 Max Acceleration 2 seconds 4 2 Speed Servo Mode Torque Filter Constant TrqCons is a first order low pass filter used to smooth torque delivery in speed servo mode which improves stability and...

Page 32: ...ERSE COUNTER CLOCK WISE direction 10V 10V 5V 5V 5 0A 10 0A Reference Voltage Output Current Reference Direction Motor Direction 10V 10 0A FWD CW 5V 5 0A FWD CW 3V 3 0A REV CCW Control Reference L Capa...

Page 33: ...ng and reading data by using DYN Drive s RS232 protocol The PC or DSP is working as Master and the servo drive is always as slave Several servo drives could be linked for a serial network integrated m...

Page 34: ...lue of speed Gain means narrower frequency range of servo loop relatively Physically heavier loads or higher inertia loads should have lower dynamic ability so the servo loop fre quency range should b...

Page 35: ...ses When RS485net box is checked and there are more than one Drive connected to the RS485 232 network only the setting for the Drive with the indicated ID number in the ServoSetting dialog box can be...

Page 36: ...l the motor smoothly fol lows command without vibration noise or oscillations The user can then fine tune the parameters to make the motor harder faster response more rigid motion or softer slower res...

Page 37: ...Drive Rigid systems Robots Depending on load mass and inertia increase Main Gain Speed Gain and Integration Gain until target response achieved Decrease Integration Gain if load inertia is big and sy...

Page 38: ...r transistor tempera ture is too high Check that the drive s ventilation openings and heat sink are not being blocked Consult the servo drive s ambient temperature specifications and check if the oper...

Page 39: ...nspection Inspect the servo drive regularly for Dirt dust or oil on the servo drive make sure the servo drive cooling duct and heat sink are free from debris Environment ambient temperature humidity a...

Page 40: ...ice is working as a master and the servo drive is always working as a slave Several drives can be linked for a serial network in RS485 DYN232M DYN232M D Y N A C S E RV O S Y S T E M R S 2 3 2 M O T I...

Page 41: ...232 The CA MRS232 6 and CA MTUSB 60 tuning cables has the level shift buffer built in RxD and TxD RS232 signal from connector JP2 is TTL CMOS level Do not connect servo drive directly to PC RS232 port...

Page 42: ...ach data packet is complete and accurate before transmission 7 1 Interface and Format Reception The DYN servo drive follows same data packet format and structure when returning data Each data packet i...

Page 43: ...rall function of that packet ID One byte Start byte packetLength functioncode One byte data One to four bytes checksum One byte 7 2 1 Structure 7 2 3 Start byte Bn The MSB bit of start byte is always...

Page 44: ...0x0b 1 3 See section 7 4 2 Sin_Wave 0x0c 1 3 See section 7 4 2 SS_Frequency 0x0d 1 3 See section 7 4 2 General_Read 0x0e 1 4 Read Drive position set ForMotorDefine 0x0f 1 Internal Function Not custome...

Page 45: ...2 5 Bn 2 B1 bytes Bn 2 B1 n 2 are used for representing the data in the packet 7bits of a byte is used for containing the data The first bit MSB is always 1 Minimum packet length is 4 There is at lea...

Page 46: ...5 After receiving a packet then calculate Temp Mod S 128 if Temp B0 there is no error otherwise there is error during the packet transmission Example manual calculation Given Command to rotate ID 8 mo...

Page 47: ...pleted waiting for next motion b5 1 means buit in S curve linear circular motion is busy on current motion b6 pin2 status of JP3 used for Host PC to detect CNC zero position or others Drive Configurat...

Page 48: ...tion rpm s MaxAcl 635 78 Gear Ratio Motor Movement Position Command Position Gear Ratio 4 Set parameter Output Gear_Num 4096 MaxSpd 48 MaxAcl 30 Command Position 140 000 Gear Ratio 1 Maximum Motor Spe...

Page 49: ...nt by host b 4 0 Data Bytes Square_Wave 0x0b 1 3 SS_Frequency 0x0d 1 3 The servo motor makes a square wave motion with instantaneous acceleration and deceleration com mand The amplitude is set by the...

Page 50: ...smoothest servo motor motion At each S Curve transition point the normally rigid path is curved into smooth speed transitions Efficiency When the axis is command to a new position the servo drive imme...

Page 51: ...d Transition Points Speed Time t1 t2 t1 Safety warning hazard detected axis commanded to retract t2 Current positioning reached axis commanded to retract Dynamic Target Position Update DTPU allows the...

Page 52: ...es Read_Drive_Status 0x09 1 dummy Received Packet from DYN drive Is_Status 0x19 1 0xxxxxxx Bn 1000100 0 Bn 1 1 b6 b5 b4 b3 b2 b1 b0 Bn 2 1 xxxxxxx B0 Dummy bits 0xxxxxxx Bn 1001100 1 Bn 1 1 b6 b5 b4 b...

Page 53: ...ion 0x00 EXAMPLE 2 Condition Make 3th axis motor back to absolute zero position 0 ID 3 Move to position 0 0x00 One byte data PacketLenght 4 Method B3 0x03 B2 0x80 PacketLenght 4 32 Go_Absolute_Pos 0x8...

Page 54: ...B0 0x80 Mod S 128 0x80 0x2d 0xad EXAMPLE 5 Condition Make 2th axis motor turn at 60rpm ID 2 Method Speed is 60 One Byte data is enough 60 0x3c Packet Length 4 B3 0x02 B2 0x80 PacketLength 4 32 Turn_Co...

Page 55: ...acket as above exam ples EXAMPLE 8 Condition Make a circular arc on X Y Plane Suppose right now position for three motors are X0 Y0 0 0 and the End point of arc is X1 Y1 200 0 in CW direction It is ea...

Page 56: ...o the RMS current output by servo drive This value is different between each servo motor capacity and varies between the DYN2 and DYN4 servo drive The customer can measure the change in MotorTorqueCur...

Page 57: ...ed a new ID number to that drive without checking the RS485 232 Net check box in the DMMDRV software The RS485 network is a serial network if there is a packet in the network one Drive will receive it...

Page 58: ...ffer 8 Read_Num Read_Package_Length Global_Func unsigned char MotorPosition32Ready_Flag MotorTorqueCurrentReady_Flag MainGainRead_Flag long Motor_Pos32 int MotorTorqueCurrent MainGain_Read void DlgRun...

Page 59: ...age_Buffer MotorPosition32Ready_Flag 0x00 break case Is_TrqCurrent MotorTorqueCurrent Cal_SignValue Read_Package_Buffer MotorTorqueCurrentReady_Flag 0x00 break case Is_MainGain MainGain_Read Cal_SignV...

Page 60: ...TempLong TempLong 7 B 4 unsigned char TempLong 0x0000007f TempLong TempLong 7 B 3 unsigned char TempLong 0x0000007f TempLong TempLong 7 B 2 unsigned char TempLong 0x0000007f Package_Length 7 TempLong...

Page 61: ...nd void DlgRun ReadMotorTorqueCurrent void Below are the codes for reading the motor torque current Read motor torque current char ID 0 Suppose read 0 axis motor Global_Func General_Read Send_Package...

Page 62: ...otorPosition32Ready_Flag 0xff While MotorPosition32Ready_Flag 0x00 ReadPackage MotorPosition32Ready_Flag is cleared inside ReadPackage or inside Get_Function exactly after the Motor_Pos32 is updated v...

Page 63: ...ead_Package_Buffer i 0 Read_Num Read_Package_Length 0 Reading motor 32bits position char ID 0 Suppose read 0 axis motor Global_Func General_Read Send_Package ID Is_AbsPos32 while i 10000 10 20ms waiti...

Page 64: ...the servo drive each byte received is sequentially saved into the InputBuffer with the InBfTopPointer incremented each time This is done until the host hardware RS232 receiver buffer is empty meaning...

Page 65: ...70 Chassis Ground Terminal 32 85 3 4 JP4 JP2 Name Plate 1 Name Plate 2 10 2 31 70 Chassis Ground Terminal WEIGHT MATERIAL DATE SIGNATURE NAME FINISH UNLESS OTHERWISE SPECIFIED DIMENSIONS ARE IN MILLIM...

Page 66: ...or current setting of the servo drive At any time pressing Save All will save the parameters into the servo drive 9 Under Servo Mode select Position Servo 10 Under command input mode select Pulse Dir...

Page 67: ...ock Damages resulting from transportation or shipping after the original factory delivery Unauthorized alterations or modifications have been made to the product Alterations have been made to the Name...

Page 68: ...rsion Manual Number Details Date A1 DYN2MS 01E 0814A1 Release Version August 2014 A1 4 DYN2MS 01E 0115A14 Updated pulse timing Section 4 1 Updated mounting dimensions January 2015 A1 5 DYN2MS 01E 0315...

Page 69: ...sion DYN2MS 02F 0116A17 A1 7 D37 DMM TECHNOLOGY CORP 120 21320 Gordon Way Richmond British Columbia V6W1J8 Canada PHONE 1 604 370 4168 FAX 1 604 285 1989 WEB http www dmm tech com SALES sales dmm tech...

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