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NEAT Servo Amplifier

700 Series

High

Performance

Brush and
Brushless Servo
Motor Amplifier

New England Affiliated Technologies

620 Essex Street, Lawrence, Massachusetts 01841

Tel: 1-800-227-1066          Fax: 1-800-523-8201

Tel: 508-685-4900                   Fax: 508-688-8027

WWW page: http://www.neat.com/users/neat

E-Mail: [email protected]

700 Series

Users Manual

Summary of Contents for 700 Series

Page 1: ...hless Servo Motor Amplifier New England Affiliated Technologies 620 Essex Street Lawrence Massachusetts 01841 Tel 1 800 227 1066 Fax 1 800 523 8201 Tel 508 685 4900 Fax 508 688 8027 WWW page http www neat com users neat E Mail neat neat com 700 Series Users Manual ...

Page 2: ...a detachable postage paid response card for your reactions to our product which allows you to include additional comments I encourage you to fill out and mail in the response card I am also providing several additional paths if more immediate communications are desired Our Customer Service department can be reached at 1 800 227 1066 extension 30 If you would like to address your comments to me dir...

Page 3: ...odes 9 Section 1 3 700 Series Chassis Types 10 Section 1 3 1 Single and Multi Axis Systems 10 Section 1 4 System Cabling 11 The Breakout Box 11 Chapter 2 Unpacking Unpacking 12 Section 2 1 700 Unit and Related Items 13 Section 2 1 1 Line Voltage Selection 13 Section 2 2 Other System Components 13 Section 2 2 1 The Motor s 13 Section 2 2 2 The Cable Set 14 Section 2 2 3 Controller Card and Related ...

Page 4: ...tion 4 3 1 Installing the COMM Software 21 Section 4 3 2 Installing the SDK Software 22 Chapter 5 Putting Your System Together Putting Your System Together 23 Section 5 1 System Cabling 23 Section 5 2 System Assembly Procedure 24 Chapter 6 Tuning the Servos Tuning the Servos 26 Section 6 1 Theory 26 Section 6 2 Tuning Procedure 27 Section 6 3 System Operation 27 Chapter 7 Connector Pinouts Connect...

Page 5: ...s 12 Figure 2 2 A Typical 2 Axis Positioning Table 14 Figure 2 3 The NEAT 1000 Controller Card partial chip complement 14 Figure 2 4 Breakout Box Used with NEAT 1000 Controller Card 15 Figure 4 1 The NEAT 100 Controller Card 17 Figure 4 2 Setting the Default Base Address 18 Figure 4 3 Example of a Non Standard Base Address 19 Figure 4 4 Controller Card and the Auxiliary Connector Adapter 20 Figure...

Page 6: ...fly describes how a NEAT position control system works and the role that a 700 Series unit plays in that system Subsequent chapters tell you how to set up cable together and operate your system The systems described in this manual have a great many variants they may be 1 axis 2 axis 3 axis or 4 axis systems the motors may be brush motors or brushless motors the mode of motor drive may be either Li...

Page 7: ... the servomotors This manual describes the various NEAT systems that are available For a first time buyer however the obvi ous question is which system will best fit my needs First time buyers should discuss their requirements with a NEAT applications engineer before purchasing any equipment Section 1 1 System Descriptions This section will illustrate the role played by the 700 Series for both a s...

Page 8: ...o zero Without integral term processing this may not always be possible 700 Series Servo Amplifier Unit The 700 Unit as shown consists of both an amplifier subassembly and a Power Supply Unit PSU for each axis ensuring freedom from cross talk between amplifier axes The Servo Amplifier unit accepts a position error signal from the Controller card and generates a set of drive currents to the motor t...

Page 9: ...nable it to close the servo positioning loop Why both the Hall sensor feedback and the encoder feedback the Hall sensor feedback allows the amplifier to generate the proper current waveforms for brushless motors the encoder feedback tells the Controller card what the motor s current position is Section 1 1 2 Two Axis System Figure 1 2 shows a block diagram of a two axis system 7 Figure 1 2 Two Axi...

Page 10: ...5 pin connector devotes three pins in parallel to each motor lead The 15 pin connector is recommended when motor currents exceed the above values All input signals from the Controller card pass through the single 25 pin connector at the left Motors In this case two motors are driving a 2 axis positioning table Now that we have examined a 2 axis system it should be clear what the block diagram of a...

Page 11: ...rolling the duty cycle of a high frequency 30 kHz square wave The advantages and disadvantages of each are described in Table 1 1 Table 1 1 Comparison of LINEAR and PWM Motor Drive You will notice a sort of symmetry the advantage of one is the disadvantage of the other As Figure 1 3 shows there are two variants to the PWM mode medium power and high power 9 ADVANTAGE Free of the noise that results ...

Page 12: ... cabled to the Breakout box and is located on the right hand side of the amplifier unit The 9 pin connector is cabled to the motor one for a single axis two for a 2 axis etc The 9 pin connector is adequate for motor currents up to 3 amp continuous 5 amp peak The 15 pin connector is located to the left of the 9 pin connector and devotes three pins in parallel to each motor lead The 15 pin connector...

Page 13: ...ection 1 4 System Cabling The Breakout Box One component not shown up to this point is the Breakout Box This is a convenience for making connections between the Controller card Servo Amplifier and Motor s Use of the Breakout Box is described in Chapter 5 11 ...

Page 14: ... it a controller card manual Breakout box and software drivers The most commonly used controller card belongs to the NEAT 1000 family Although other controllers are available this manual lists the associated items for cards of the NEAT 1000 family only Figure 2 1 provides a roadmap in the form of a flow diagram It will help to guide you through the chapter Figure 2 1 Roadmap for the Various Unpack...

Page 15: ... either its top or bottom To inspect or replace fuses simply remove the assembly To change the line voltage setting rotate the assembly 180 degrees before reinstalling Close the cover confirming both the line voltage setting and that the AC power switch is set to zero off before installing the AC cord Section 2 2 Other System Components Refer back to Figure 2 1 Please check that your shipment incl...

Page 16: ...at every cable referenced in the diagram has been shipped Section 2 2 3 Controller Card and Related Items If you are using a controller card that does not belong to the NEAT 1000 family please familiarize yourself with the manual supplied by the controller card s manufacturer Figure 2 3 shows a card from the NEAT 1000 family Figure 2 3 The NEAT 1000 Controller Card partial chip complement The NEAT...

Page 17: ... 2 4 Breakout Box Used with NEAT 1000 Controller Card As stated previously the Breakout Box is used for convenient cable connections between the Controller card the Amplifier unit and the Motor s 3 Software drivers for the Controller card The Software Drivers for the Controller card are on two floppy disks either 3 5 or 5 25 These two disks are labeled SDK and COMM This completes the checklist Ple...

Page 18: ... window on the right side of the rear panel AC line receptacle This will display either 115V or 230V depending upon the voltage setting 4 To change the AC line input voltage pop open the hinged cover on the AC line receptacle module This can be done by simply slipping a screwdrive into the slot on the far right and opening the cover This reveals the red plastic fuse holder assembly which can be re...

Page 19: ...ed a different controller card please call NEAT s Service Department at 1 800 227 1066 for assistance Section 4 1 Setting the Base Address Before the card can be installed into your machine the correct base address must be set This address is set using the 7 position DIP switches A2 A8 shown in Figure 4 1 17 Figure 4 1 The NEAT 100 Controller Card ...

Page 20: ...ress using the DIP switches The default base address is 1000 dec Section 4 1 1 Setting the Default Base Address The default base address of 1000 dec is 3e8H hex Figure 4 2 shows an expanded view of how the default number is set using the DIP switches Figure 4 2 Setting the Default Base Address For each switch element UP is a 0 DOWN is a 1 The complete hex number is made up of 12 bits It includes t...

Page 21: ...or example suppose we want our address to be 700 dec We need to convert this to the hex number H2H1H0 1 Begin with the number to be converted and divide it by 256 The result is a quotient and a remainder The quotient in this case is 2 and becomes H2 2 Take the remainder in this case 188 and divide it by 16 This results in yet another quotient and another remainder The new quotient in this case is ...

Page 22: ...nnector Adapter then you must find a pair of adjacent unused slots Place the Controller card so that when the card is inserted connectors J3 and J5 face the other slot The Auxiliary Connector Adapter will screw into the adjacent card cage panel it does not plug into the slot connectors Connect the two ribbon cables to J3 and J5 as shown in Figure 4 4 20 Figure 4 4 Controller Card and the Auxiliary...

Page 23: ...Start at the C prompt 2 Insert the COMM disk into Drive A Type A and press ENTER Type INSTALL You should see this window 21 CommDisk Installation Procedure CommDisk by Galil Motion Control 575 Maude Court Sunnyvale CA 94086 408 746 2300 Installation Program by HPI P O Box 16078 Huntsville AL 35082 Press a key to continue SELECT A DRIVE FOR INSTALLATION Press the letter for the drive of your choice...

Page 24: ...orm file send F5 configure screen F6 configure address F7 test communication F8 exit 5 Choose Install Programs and Source Code the default selection 6 When you are prompted for Windows 3 x loaded choose YES 7 Choose the offered default for an installation directory 8 Revision notes will appear on your screen Type ESC to return to the C prompt 9 You are now in the COMMDISK directory 10 Type TALK2BU...

Page 25: ...pter if present to the Breakout Box No 3 from the Breakout Box to the Amplifier No 4 from the Amplifier XMOTOR connector to the DB9M M male connector on the X axis motor mount There will be two DB9 connectors on the motor mount one will be male the other female The relative positions of the two will vary depending on stage type Always cable an amplifier motor connector to the male DB9 connector on...

Page 26: ...t stop and issuing a TS command 2 4 Check that the encoders are working by manually moving the stage and successively issuing TP commands to confirm that the encoder s are incrementing correctly 2 5 Verify that each motor travels in the correct direction positive or negative as follows for a rotary motor coupled to its load via a leadscrew the positive direction is away from the motor for a linear...

Page 27: ... the order given and do not go on to the next test unless all preceding tests have been successful 2 7 1 Making sure that no driving voltage is being applied the motor should be stationary 2 7 2 Grasp the motor s shaft and attempt to turn it The motor s holding torque should firmly resist your effort 2 7 3 Command a small movement with the PR command it should be just enough to produce 0 25 to 0 5...

Page 28: ...oportional term KD derivative term KI integral term The proportional term is the basic response of the system It may be likened to the spring constant in a spring mass oscillatory system Thus having a higher proportional gain or KP is like having a stiffer spring The derivative term affects both the response to sudden changes and the amount of damping Increasing the integral gain or KI tends to re...

Page 29: ...crease IL in increments of 0 25 until you have a zero following error Once you have a zero following error increase IL by 30 6 Increase KI until you observe signs of instability Then reduce KI by 50 This completes the tuning If any unexpected instability is encountered begin the tests again but with reduced initial values If you con tinue to have difficulties call NEAT s Service Department at 1 80...

Page 30: ... 7 8 9 10 11 12 13 PIN NAME XAI XAI XEN XFLT YAI YAI YEN YFLT NC NC NC NC GND FUNCTION X analog input X analog return X axis enable X axis fault Y analog input Y analog return Y axis enable Y axis fault No connection No connection No connection No connection Ground PIN NUMBER 14 15 16 17 18 19 20 21 22 23 24 25 PIN NAME ZAI ZAI ZEN ZFLT WAI WAI WEN WFLT NC NC GND FUNCTION Z analog input Z analog r...

Page 31: ...ents exceed the above values 29 PIN NUMBER 1 2 3 4 5 PIN NAME MP1 MP2 GND HI1 HI2 FUNCTION Motor Phase 1 Motor Phase 2 Ground Hall Input 1 Hall Input 2 PIN NUMBER 6 7 8 9 PIN NAME MP3 V5 MFI HI3 FUNCTION Motor Phase 3 5 Volts M Fault Input Hall Input 3 PIN NUMBER 1 2 3 4 5 6 7 8 PIN NAME MP1 MP1 MP3 MP2 MP2 GND HI1 HI2 FUNCTION Motor Phase 1 Motor Phase 1 Motor Phase 3 Motor Phase 2 Motor Phase 2 ...

Page 32: ...tion of the problem s with the equipment NEAT will provide an esti mate before charging any dollar amount to the issued Purchase Order number When the estimate has been accepted by written confirmation NEAT will proceed with the repair of the equipment NOTE Please follow all return shipping procedures outlined in this section 4 TURN AROUND TIMES For all repairs covered under Warranty the typical t...

Page 33: ...y 2 PLASTIC WRAPPING Equipment must be wrapped and tape sealed in a heavy plastic bag to prevent packing materials from entering encoders bearings leadscrew cavity etc 3 PACKAGING Please do not re use shipping container if it utilizes Instapak foam material Degradation in the sup port characteristics of this foam will occur if it is used more than once 4 MULTIPLE SMALL ITEMS ex BALL SLIDES Ball sl...

Page 34: ...________________________________________________ Address _____________________________________________________________________ City State Zip _______________________________________________________________ Phone ________________________________ Fax _______________________________ Page Numbers and Errors Found _________________________________________________ _______________________________________...

Page 35: ... Affiliated Technologies 620 Essex Street Lawrence MA 01841 Tel 1 800 227 1066 Fax 1 800 523 8201 Tel 508 685 4900 Fax 508 688 8027 WWW page http www neat com E Mail neat neat com Rel 1 1 2 97 Part Number 1030008 ...

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