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Omron CK3W-AX1313 Series, Startup Manual

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Terms and Definitions

Terms

Descriptions and Definitions

PMAC

This is the acronym for Programmable Multi-Axis Controller.

Power PMAC IDE

This is computer software that is used to configure the Motion Controller, create
user programs, and perform monitoring.

DirectPWM

This is a proprietary interface method developed by Delta Tau Data Systems, Inc.
for connecting Servo Drives.

Digital Quadrature Encod-
er

This is a type of encoder that outputs pulse signals.

Terms and Definitions

7

CK3M-series Startup Guide DirectPWM Interface (O047)

Summary of Contents for CK3W-AX1313 Series

Page 1: ...CK3W AX1313 CK3W AX2323 Programmable Multi Axis Controller Startup Guide for DirectPWM Interface O047 E1 01...

Page 2: ...herwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improv...

Page 3: ...in this Manual 1 2 3 Summary of Materials Target Equipment and Device Configuration DirectPWM Interface Connection Procedure 1 2 3 Sections in this Manual 3 CK3M series Startup Guide DirectPWM Interf...

Page 4: ...Setting Preparations 3 3 3 2 1 Creation of a New Project 3 3 3 2 2 Controller Initial Setting 3 4 3 3 Various Equipment Connection 3 6 3 4 Various Controller Settings 3 8 3 4 1 Notes List 3 13 3 5 Con...

Page 5: ...hen proceed with use The manuals for OMRON Corporation hereafter OMRON and Delta Tau Data Systems Inc here after DT are as shown below Manufac turer Cat No Model Manual Name OMRON O036 CK3M CK3W Progr...

Page 6: ...ppears as a suffix to the catalog number on the front and back covers O047 E1 01 Revision code Revision code Revision date Revised content 01 July 2019 Original production Revision History 6 CK3M seri...

Page 7: ...hat is used to configure the Motion Controller create user programs and perform monitoring DirectPWM This is a proprietary interface method developed by Delta Tau Data Systems Inc for connecting Servo...

Page 8: ...he customer must check all regulations laws and rules that are applicable to the system them selves Copying duplication or redistribution of part or all of these materials without the permission of OM...

Page 9: ...1 Summary of Materials This section lists a summary of these materials 1 1 Summary of Materials 1 2 1 1 1 Intended Audience 1 2 1 1 CK3M series Startup Guide DirectPWM Interface O047 1...

Page 10: ...1313 1 1 If CK3W AX2323 is used the same DirectPWM interface as CK3W AX1313 is available but the encoder setting needs to be changed because a different type of encoder needs to be connected Refer to...

Page 11: ...ent and Device Configuration This section lists the target equipment and system configurations for connections in these materials 2 1 Device Configuration 2 2 2 1 CK3M series Startup Guide DirectPWM I...

Page 12: ...ions for Correct Use Always secure a Servomotor and encoder Starting the motor that is not secured leads to a fail ure Manufacturer Name Model Version OMRON Programmable Multi Axis Controller CPU Unit...

Page 13: ...e Model Version Windows PC DT Power PMAC Setting Tool Power PMAC IDE Version 4 3 or later 2 Target Equipment and Device Configuration 2 3 CK3M series Startup Guide DirectPWM Interface O047 2 1 Device...

Page 14: ...2 Target Equipment and Device Configuration 2 4 CK3M series Startup Guide DirectPWM Interface O047...

Page 15: ...1 Creation of a New Project 3 3 3 2 2 Controller Initial Setting 3 4 3 3 Various Equipment Connection 3 6 3 4 Various Controller Settings 3 8 3 4 1 Notes List 3 13 3 5 Confirmation of Settings 3 17 3...

Page 16: ...Various Controller Settings on page 3 8 Perform the Controller settings 3 5 Confirmation of Settings on page 3 17 Check that the settings up to here are cor rect 3 6 Motor Tuning on page 3 19 Use Powe...

Page 17: ...access rights is displayed at the time of startup se lect the option for starting up 4 The Communication screen is dis played so specify the IP address of the Controller to be connected to and click...

Page 18: ...the initial settings for the Controller Precautions for Correct Use Since all memory is cleared by the initial settings be sure to save any data remaining in the Controller that you may need 1 Type t...

Page 19: ...he Termi nal 3 Type the command in the Power PMAC IDE Terminal When the reset is completed PowerPMAC Reset complete is dis played in the Terminal 3 DirectPWM Interface Connection Procedure 3 5 CK3M se...

Page 20: ...Name Model Length OMRON DirectPWM Cable CK3W CAAD009A 0 9 m CK3W CAAD018A 1 8 m CK3W CAAD036A 3 6 m b Connection between the Servo Drive and Servomotor Use the following dedicated cables to connect th...

Page 21: ...Red Black Red Black Red Brown Blue Black Black red stripes White White red stripes Orange Orange red stripes Power supply Vcc 0 V common Output phase A Output phase A Output phase B Output phase B Ou...

Page 22: ...et value is not ap propriate an excessive current flows which may cause the equipment to fail Refer to Notes 24 through 26 in 3 4 1 Notes List on page 3 13 for the settings If Motor 1 IaBias and Motor...

Page 23: ...Type 1 1 EncTable 1 pEnc Gate3 0 Chan 0 ServoCapt a 2 EncTable 1 ScaleFactor 1 exp2 8 3 Gate3 0 EncClockDiv 5 3 125MHz Gate3 0 Chan 0 EncCtrl 7 4 DirectPWM AD Convertor setting Gate3 0 AdcAmpStrobe f...

Page 24: ...pt a Motor 1 pEncCtrl Gate3 0 Chan 0 OutCtrl a Motor 1 pEncStatus Gate3 0 Chan 0 Status a Motor 1 pMasterEnc EncTable 1 a Motor 1 CurrentNullPeriod 1 18 Motor 1 pEnc EncTable 1 a 19 Motor 1 pEnc2 EncT...

Page 25: ...tput Win dow If there is a program error fix the program 5 Type the save command in the Power PMAC IDE Terminal When the save is completed Save Completed is displayed in the Termi nal 6 Type the comma...

Page 26: ...he Terminal 10 Check the Motor 1 PhasePos value in the Watch window 11 Set Motor 1 IbBias 200 in the Termi nal Motor 1 IaBias remains 200 12 Check the Motor 1 PhasePos value in the Watch window 3 Dire...

Page 27: ...ion window The EncTable 1 ScaleFactor value is set to 8000 counts per rotation in this example so 8000 mu is added to the current position per rotation Precautions for Correct Use If the save command...

Page 28: ...me 15 Set the PWM signal dead time to 800 ns Calculate the dead time in accordance with the formula below Dead time 0 0533 s Gate3 0 Chan 0 PwmDeadTime Set it depending on the Servo Drive specificatio...

Page 29: ...control the motor position The digital quadrature encoder is assigned to EncTable 1 in Notes 2 in this example 20 Motor 1 pEnc2 EncTable 1 a Specify the digital quadrature encoder as the address used...

Page 30: ...sPha sePosOffset 400 Specify the minimum operation that is considered to be an efficient phase search Although the commutation cycle 2048 1 4 512 90 is ideal it is set to approximately 80 in this exam...

Page 31: ...that time 1 2 Type the 1 out1 command from the Terminal 3 Make sure that the motor is rotating In addition check that the Position win dow Position value is increasing in the positive direction If the...

Page 32: ...Sf set value is appropriate If an error occurs in I2tFault status during phase search decrease the value of Motor 1 PhaseFindingDac or Motor 1 PhaseFindingTime If the Motor 1 New 0 Pos value indicates...

Page 33: ...r rect 1 From the Tools menu in Delta Tau se lect Advanced Tuning to open the Tune screen and then select Open LoopTest Step Test 2 Set the following tuning parameters Test Amplitude 1 0 1 Test Time 1...

Page 34: ...rameter is set to 8 0 3 6 2 Current Loop Gain Setting Follow the procedure below to perform current loop gain settings and adjust them to achieve desired response characteristics 1 In the Tune screen...

Page 35: ...If the overshooting or vibration is large increase the IpfGain or IpbGain parameter Increase each gain parameter gradu ally starting from a small value 3 6 3 Bandwidth Automatic Setting Follow the pro...

Page 36: ...in the open loop in step 3 in 3 6 1 Open Loop Test on page 3 19 For Encoder Resolution set the pulse counts per one motor rotation In this example 2000 pulses per ro tation of the digital quadrature...

Page 37: ...andwidth Follow the procedure below to set a more appropriate bandwidth while monitoring the step response characteristic 1 Select Position Loop Interactive Tuning Step in the Tune screen 2 Set the fo...

Page 38: ...as not been reached return to the Advance Auto tune screen and set an even larger value for Bandwidth 6 Click the Recalculate button 7 If the screen on the right appears click the Implement button 3 D...

Page 39: ...g Follow the procedure below to set a more appropriate bandwidth while monitoring the step response characteristic 1 In the Tune screen select Position Loop Auto tune Advance Auto tune and insert chec...

Page 40: ...elect Position Loop InteractiveTuning Parabolic Vel and set the following parameters Move Size 2500 mu Move Time 500 ms Left Axis Velocity Right Axis Following Error 6 Click the Parabolic Velocity Mov...

Page 41: ...n the same way if Following Error has a correlation to Acceleration Position etc increase or decrease the Kaff and Kfff values 3 6 6 Checking of Operation and Creation of Tuning Parameter Project Foll...

Page 42: ...value be comes larger than the Motor 1 AbsPhasePosOffset set value The AMP ENAB 0 LED is turned on at that time 2 Type the 1 j command from the Ter minal 3 Make sure that the motor is rotating In addi...

Page 43: ...otor 1 Servo Kp Motor 1 Servo Kvfb Motor 1 Servo Kaff Motor 1 Servo Kvff 7 Open the pp_startup txt under Configuration in the Solution Explorer 8 Write the phase search implementation command shown on...

Page 44: ...can be downloaded on PMAC as a pro gram if you write gains in the global definitions pmh As shown in step 7 and 8 the phase search is automatically performed af ter the power is turned ON or reset to...

Page 45: ......

Page 46: ...60169 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com...

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