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Parker TQ10X, User Manual

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74

TQ10X User Guide

MC—Mode Continuous

❏

Command Type: Motion

❏

Valid Software Version: A

❏

Syntax: <a>MC

❏

Units: N/A

❏

Range: N/A

❏

Default Status: Inactive

❏

Attributes: Buffered

❏

See Also: MN, T, TR, V

Savable in Sequence

The Mode Continuous (MC) command causes subsequent moves to ignore any distance
parameter and move continuously. You can clear the MC command with the Move Normal
(MN) command.

The controller uses the previously defined Acceleration (A) and Velocity (V) commands to
reach continuous velocity. Using the Time Delay (T), Trigger (TR), and Velocity (V)
commands, you can achieve basic velocity profiling. After a new parameter is entered a Go
(G) command is required. Acceleration (A) cannot be changed on the fly.

Command

Description

MC

Sets mode to continuous

A5

Sets acceleration to 5 revs/sec

2

V5

Sets velocity to 5 revs/sec

G

Executes the move (Go)

T1Ø

Move at 5 revs/sec for 10 seconds

V7

Set velocity to 7 revs/sec

G

Change velocity to 7 revs/sec

T1Ø

Move at 7 revs/sec for 10 seconds

VØ

Set velocity to 0 rev/sec (stop)

G

Executes the VØ command

The motor turns at 5 revs/sec for 10 seconds, then moves at 7 revs/sec for 10 seconds
before decelerating to a stop.

MN—Mode Normal

❏

Command Type: Motion

❏

Valid Software Version: A

❏

Syntax: <a>MN

❏

Units: N/A

❏

Range: N/A

❏

Default Status: Active

❏

Attributes: Buffered

❏

See Also: A, D, G, MC, MPA, MPI

Savable in Sequence

The Mode Normal (MN) command sets the positioning mode to preset. In Mode Normal,
the motor will move the distance specified with the last distance (D) command. To define
the complete move profile, you must define Acceleration (A), Velocity (V), and the
Distance (D). The MN command is used to change the mode of operation from Mode
Continuous (MC) back to normal or preset. To use the MPA or MPI command, you must
be in Mode Normal (MN).

Command

Description

MN

Set positioning mode to preset

A5

Set acceleration to 5 revs/sec

2

V5

Set velocity to 5 revs/sec

D1ØØØ

Set distance to 1,000 encoder counts

G

Executes the move (Go)

Motor turns 1,000 encoder counts CW after the G command is issued.

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Summary of Contents for TQ10X

Page 1: ...underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In...

Page 2: ...7 8 9 10 IN 1 IN 2 IN 3 IN 4 IN 5 OUT 1 OUT 2 GND RS232 Tx RS232 Rx 1 2 3 4 5 6 7 8 9 10 CW LIM IT CCW LIM IT GND ENCODER 5 ENCODER A ENCODER A ENCODER B ENCODER B ENCODER Z ENCODER Z 1 2 3 4 ENABLE I...

Page 3: ...ker Hannifin Corporation 1999 All Rights Reserved The information in this user guide including any apparatus methods techniques and concepts described herein are the proprietary property of Parker Com...

Page 4: ...ed Torque Curves for SM Motors pg 40 Change Peak motor current values were reduced Revision A October 1997 Motor Pole Compensation Range pg 11 Change The range has been increased by the addition of a...

Page 5: ...the drive Technical Information on SM NeoMetric Series Added pg 35 38 Addition Complete technical information is now included on SM and NeoMetric Series motors New Back Cover Illustration Change The...

Page 6: ...cedures described in LVD Installation Instructions If you do not follow these instructions the protection of the product may be impaired The TQ10X Series of Drive is sold as a complex component to pro...

Page 7: ...iv TQ10X User Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 8: ...the Drive 12 4 Mount the Motor 18 5 Connect the Motor to the Drive 19 6 Connect Inputs and Outputs 25 7 Connect AC Power 31 8 Test Your System 32 9 Connect the Motor to the Load Couplers 32 What s Nex...

Page 9: ...1 Tuning Procedure 51 Configuring an In Position Window 53 Chapter Five Software Commands 55 Summary of Commands 103 Chapter Six Troubleshooting 105 Troubleshooting Basics 106 Diagnostic LEDs 106 Redu...

Page 10: ...uction 1 1 Introduction IN THIS CHAPTER TQ10X Servo Controller Drive Description Block Diagram C H A P T E R O N E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisan...

Page 11: ...se C Hall 1 Hall 2 Hall 3 GND Line Neutal Earth AC Power Input Reset RS 232C Inputs Outputs Commun Enable ENABLE FAULT MONITOR MOTOR Encoder POSITION CONTROLLER CIRCUIT BOARD Fault LEDs PID INPUTS OUT...

Page 12: ...ll input and output signal connections are made on the front panel of the drive through removable screw terminal connectors Cooling Options The drive has a heatplate design You can mount the drive wit...

Page 13: ...4 TQ10X User Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 14: ...nstallation 5 2 Installation IN THIS CHAPTER Product Ship Kit List Installation Procedure C H A P T E R T W O Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg co...

Page 15: ...able 10 SM162AD N10N SM162AE N10N 1 set 10 cables SM161AD NTQN SM161AE NTQN 23TQ Cable 25 SM162AD NTQN SM162AE NTQN 1 set 25 cables SM231AD NTQN SM231AE NTQN Above cables are for SM232AD NTQN SM232AE...

Page 16: ...motor terminals while power is applied to the drive Do not touch MOTOR TEMP or MOTOR TEMP while power is applied to the drive Configure the drive s DIP switches for your application before you apply p...

Page 17: ...ENABLE IN ENABLE GND FAULT OUT FAULT OUT 4 5 6 7 8 9 10 HALL GND HALL 5 V HALL 1 HALL 2 HALL 3 MOTOR TEMP MOTOR TEMP Com pum oto r Com pum oto r DIP Switches TQ10X Servo Controller Drive Motor Connect...

Page 18: ...nd application Two 6 position DIP switches Switch 1 SW1 and Switch 2 SW2 are located on top of the drive The table below summarizes their settings A three position DIP switch Switch 3 SW3 is located o...

Page 19: ...N0701D 1 2 3 SW 3 off off 4 5 6 off on off on on off PEAK CURRENT TIME AT PEAK LOOP GAIN FOLDBACK FOLDBACK FAULT off off off on on off off on off on off on off off on on on on off on on on 1 2 3 4 5 6...

Page 20: ...t DIP switches SW2 4 SW2 6 to control the gain of the drive s internal current control loop Properly setting this switch will match the drive to your motor s parameters inductance and resistance The s...

Page 21: ...justed at the factory and requires no further adjustment WARNING Do not adjust the offset potentiometer Lethal voltages are present inside the drive Adjust ing the potentiometer with AC power applied...

Page 22: ...Maximum Ambient Temperature 50 C 122 F Minimum Ambient Temperature 0 C 32 F Maximum Temperature of Mounting Surface 45 C 113 F for non EHS version HUMIDITY Keep the relative humidity below 95 non con...

Page 23: ...hermally conductive strip is provided with the drive When you mount the drive install the strip between the drive s heatplate and the mount ing surface as the next drawing shows Do not fold or wrinkle...

Page 24: ...atsink fan units attached to the drive 8 50 215 9 Dimensions in inches millimeters Dimensions without Heatsink Fan Unit attached Dimensions with Heatsink Fan Unit attached 2 95 74 9 Min 2 95 74 9 Mini...

Page 25: ...the drive are available from Compumotor part number TQ ENCL The drawing above shows how to attach these optional parts to your TQ10X Drive Because the covers will reduce convection available for cool...

Page 26: ...onfiguration by rotating the mounting flanges 90 located at the top and bottom of the heatsink as shown in the center If you rotate the mounting flanges 180 as shown on the right you can mount the dri...

Page 27: ...gue in structural members A mechanical engineer should check the machine design to ensure that the mounting structure is adequate CAUTION Modifying or machining the motor shaft will void the motor war...

Page 28: ...be used with motors that have single ended open collector Hall outputs Internally the drive pulls these signals up to 15V For best performance and reliability the drive should be used with motors havi...

Page 29: ...re the temperature rise is caused by continuous peak current flowing such as a mechanical jam the winding temperature may rise much more quickly than the sensor temperature does In this situation the...

Page 30: ...te Yellow on some cables 4 5 6 7 8 9 10 Hall Gnd Hall 5V Hall 1 Hall 2 Hall 3 Motor Temp Motor Temp Thick Wires including Motor Temp SM 16x 20 AWG 0 5 mm2 SM 23x 16 AWG 1 5 mm2 Thin Wires Hall 1 2 3 5...

Page 31: ...ke The circuit monitors the voltage on the power bus If regenerated energy from the motor causes the bus voltage to rise above a threshold value the circuit closes a switch thus connecting the regener...

Page 32: ...ESISTOR located on the motor connector Keep wires as short as possible and twist them together The circuit will automatically dissipate half the regenerated energy in the external resistor Total dissi...

Page 33: ...round HALL 3 uncon nected the drive s internal logic determines that a brushed motor is connected The drive will send DC current out of Phase A through the motor and back into the drive through Phase...

Page 34: ...cycle power In most applications you can permanently wire the enable input to ground This input is internally pulled up to 5V If your equipment requires you can connect the input to an external volta...

Page 35: ...Excess Position Error latched Short Circuit latched Power Supply Fault latched Foldback foldback causes fault if DIP SW2 Position 1 is set to ON Latched means you must cycle power before the drive wi...

Page 36: ...ormally Open Reset Switch Reset Input Specifications Maximum Applied Voltage 30 V Maximum Current 5 mA Active Level Low to reset Rotation Direction In the following sections we will refer to clockwise...

Page 37: ...he nearest available ground terminal labeled GND General Purpose Inputs IN 1 IN 5 The TQ10X has five general purpose inputs Each of these inputs may be config ured to match the application needs The f...

Page 38: ...ion to the effect of the GO G command NOTE Unless configured otherwise SSH command the controller will dump the commands following the IN command in the buffer Please pay special attention to the stat...

Page 39: ...TQ10X uses RS 232C as its communication medium The controller does not support handshaking A typical three wire Rx Tx and Signal Ground configura tion is used The figure represents a typical RS 232C c...

Page 40: ...ug the power cord into the drive the system will turn on Therefore before you apply power to the TQ10X verify the following Motor should be properly secured Load should not yet be connected to motor s...

Page 41: ...Chapter 4 Tuning for tuning instructions Successful completion of this procedure will verify that your motor and encoder are correctly connected to the TQ10X and that the drive is functioning properl...

Page 42: ...inge one and only one of the shafts must be free to move in the radial direction without constraint Do not use a double flex coupling in this situation it will allow too much freedom and the shaft wil...

Page 43: ...or To solve resonance problems increase the mechanical stiffness of the system to raise the resonant frequency so that it no longer causes a problem If you use a servo as a direct replacement for a st...

Page 44: ...r Specifications SM and NeoMetric Motor Speed Torque Curves SM and NeoMetric Motor Dimensions SM and NeoMetric Encoder Specifications SM and NeoMetric Motor Part Numbering System C H A P T E R T H R E...

Page 45: ...connections RS485 optional Outputs Programmable outputs 2 user defined TTL signal levels low 0 8 V high 2 5V Fault Output Isolated 24 V max voltage 10 mA max current LED Name Indication Enable Bicolor...

Page 46: ...0 78 4 08 1 06 Thermal Resistance1 Rth C watt 2 75 2 00 2 23 1 58 1 50 1 25 1 26 Thermal Time Constant Tth minutes 30 30 30 35 35 40 40 Electrical Time Constant Tte milliseconds 0 178 0 21 0 31 0 39 0...

Page 47: ...95 1 24 3 12 2 24 3 46 2 50 4 14 2 99 Resistance3 R ohms 5 52 2 27 5 22 2 7 3 36 1 74 3 47 1 80 Inductance5 L millihenries 12 98 5 23 15 86 8 16 12 13 6 30 14 50 7 55 Thermal Resistance1 Rth C watt 1...

Page 48: ...Inductance5 L millihenries 17 11 8 99 14 72 Thermal Resistance1 Rth C watt 1 06 1 06 0 77 Motor Constant Km lb in watt 1 96 2 00 3 29 Viscous Damping B lb in Krpm 0 075 0 075 0 0875 Torque Static Fri...

Page 49: ...0 2000 33 4000 67 6000 100 8000 133 1000 17 3000 50 5000 83 7000 117 RPM rps 0 Torque Speed TQ10 with SM233A 100 0 71 200 1 41 300 2 12 400 2 82 500 3 54 600 4 24 700 4 94 oz in N m 0 1000 17 2000 33...

Page 50: ...1000 2000 3000 4000 5000 0 5 10 15 20 25 30 0 1000 2000 3000 4000 5000 6000 7000 8000 0 5 10 15 20 0 1000 2000 3000 4000 5000 6000 7000 8000 0 5 10 15 20 25 560 1 68 2 24 1 12 3 36 560 1 68 2 24 1 12...

Page 51: ...r Dimensions Compumotor SM Series Size 23 Cable Option Flying Leads Cable Options Motor Sizes Part FL 10 Description 18 Flying Leads 10 ft Cable 233 Motor 5 98 151 89 232 Motor 4 98 126 49 231 Motor 3...

Page 52: ...hru Holes Eq Spaced on a 2 953 75 00 Bolt Circle for 5mm or 10 Bolt Motor Dimensions Compumotor NeoMetric Series Size 34 Shaft Options 0 473 12 01 0 500 12 7 N None F Flat K Sq Key 0 56 14 22 0 228 5...

Page 53: ...5 3 62 91 95 Sq 4 x 0 281 7 14 Thru Holes Eq Spaced on a 3 937 100 Bolt Circle for 6mm or 1 4 Bolt Feedback Conn MS 14 18 4 1 104 9 0 530 13 46 Motor Length 1 180 29 97 0 093 2 36 0 5512 0 0003 0 000...

Page 54: ...be used also Example SM 231AE NMSN 23 Frame 1 magnet A winding 1 000 line Encoder Normal shaft MS cable No options Motor Part Numbering System Compumotor NeoMetric Series Servo Motor The diagram belo...

Page 55: ...46 TQ10X User Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 56: ...ning IN THIS CHAPTER PID Tuning Description TQ10X Tuning Procedure Configuring an In Position Window C H A P T E R F O U R Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www...

Page 57: ...pecified by the distance command D is called the target position During the move commanded position is not the same as target position The commanded position is incremented each sampling period When i...

Page 58: ...al gain You can use the CTG command to make the derivative sampling period longer than the system s sampling period The system sampling period 266 sec is the period between updates of position error a...

Page 59: ...CAUTION For initial tuning with an SM or NeoMetric motor set peak current DIP switches at twice the motor s continuous rated current or less Otherwise high peak currents during instability may cause m...

Page 60: ...a five second delay between each move Use a high acceleration such as A5000 or the maximum you expect to accelerate the load and use a high velocity such as V100 or the maximum velocity you expect to...

Page 61: ...G and CTG proceed to Step 6 Increase Peak Current Using the DIP switches increase peak current to the next level Do not exceed three times the motor s continuous current rating Closely monitor the mot...

Page 62: ...these three conditions have been met You can use output 1 to trigger external hardware from the In Position condition The output will stay on until the next move command is issued such as GO or GO HOM...

Page 63: ...54 TQ10X User Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 64: ...ns of each command for the TQ10X Controller Drive Descriptions of the function range default and sample use of each command for the TQ10X Controller Drive C H A P T E R F I V E Artisan Technology Grou...

Page 65: ...e command is shown here The specific parameters associated with the command are also shown If any of these parameters are shown in brackets such as a they are optional The parameters are described bel...

Page 66: ...nd has no response this field is not shown A Acceleration Command Type Motion Valid Software Version A Syntax a An Units revs sec 2 Range n 0 01 9999 99 Default Value A 100 Attributes Buffered See Als...

Page 67: ...ee Also BCIG BCPG BCTG CIG CPG CTG This buffered command is used for system tuning This term represents the gain applied to the derivative of the position error in other words the rate at which the po...

Page 68: ...IL40 Set the integral limit to 40 1BCIL Reports integral limit term CIL40 BCPE Buffered Configure Position Error Command Type Set up Valid Software Version A Syntax a BCPEn Units N A Range n 0 32 767...

Page 69: ...riod between updates of position error The derivative sampling period is an integer multiple of the system sampling period In general a longer derivative sampling period gives a more constant derivati...

Page 70: ...s C command G Accelerates the motor to 10 revs sec C Continues executing commands in the buffer The motor will not execute the G command until the C command is issued CDG Configure Derivative Gain Com...

Page 71: ...uning for more information Command Description CEW10 Configure an In Position Error Window 10 encoder counts either side of desired position 1CEW Reports number of encoder counts CEW10 CIG Configure I...

Page 72: ...is generated The range is 0 to 32 767 and is the number of milliseconds to be used as the testing time frame Refer to Chapter Tuning for more information Command Description 1SSC1 Set output 1 as In...

Page 73: ...it indicates when a move is complete If you place the CR command after a Trigger TR command it indicates when the trigger condition is met You can use Carriage Return CR and Line Feed LF commands wit...

Page 74: ...t motor position and the position referenced to the zero position set with the D command In either mode the direction is controlled by the direction or that precedes the distance value The D command h...

Page 75: ...tor It is normal for the position error to be present during a move but large position errors are usually caused by inappropriate gain settings Issuing a DPE command before the motor has settled into...

Page 76: ...ive at the correct ER value per revolution of the motor In other words one line of an encoder will produce 4 encoder counts due to quadrature detection Command Description ER4 Sets encoder resolution...

Page 77: ...ets Normal mode preset A5 Sets acceleration to 5 revs sec 2 V1 Sets velocity to 10 revs sec D2 Sets distance to 2 000 encoder counts G Executes the move Go A1 Sets acceleration to 1 rev sec 2 G Execut...

Page 78: ...GH 2 The motor moves CCW at 2 revs sec and looks for the Home Limit input to go active Since the motor is turning CCW it will see the CW edge of the limit first It will decelerate to a stop and turn a...

Page 79: ...yntax aINxn Units NA Range n 1 5 x A F Default Value AAAAA Attributes Buffered Response to aIN is xxxxx Savable in sequence See Also IS TR XP K GH This command configures the function of each of the 5...

Page 80: ...t back to the previous definitions for the additional inputs Command Description 1INA1 Configure input one as trigger input 1 1INB2 Configure input two as sequence select input 1 1INB3 Configure input...

Page 81: ...nstantly L Loop Command Type Programming Valid Software Version A Syntax a Ln Units number of loops Range n 0 65 535 Default Value None Attributes Buffered See Also C N U Y Savable in Sequence When yo...

Page 82: ...rogramming Valid Software Version A Syntax a LF Units N A Range N A Default Value N A Attributes Buffered See Also CR Savable in Sequence When you issue the Line Feed LF command the system transmits a...

Page 83: ...revs sec for 10 seconds V Set velocity to 0 rev sec stop G Executes the V command The motor turns at 5 revs sec for 10 seconds then moves at 7 revs sec for 10 seconds before decelerating to a stop MN...

Page 84: ...ion to absolute position 10 000 G Motor will move to absolute position 10 000 The motor will move 40 000 encoder counts in the CW direction if starting from position and then move 30 000 encoder count...

Page 85: ...A Syntax a OFF Units N A Range N A Default Value N A Attributes Immediate See Also ST ON Never Saved The OFF command immediately disables the drive This command can be used to shut down the drive in a...

Page 86: ...c 2 V5 Sets velocity to 5 revs sec D2 Set move distance to 20 000 encoder counts O 1 Set programmable output 1 off and output 2 on G Executes the move Go O After the move ends turn off both outputs OS...

Page 87: ...ince it always makes its final approach from the same direction the system will act differently whether the active edge of the switch is the first or second edge encountered If the selected edge for f...

Page 88: ...A Range n 0 1 Default Value 0 Attributes Buffered See Also OSB OSC OSH GH Savable in Sequence OSD Do not reference Z Channel during homing OSD1 Reference Z Channel during homing The encoder Z channel...

Page 89: ...CW edge of the switch as the home limit and backs up to that edge to complete the Go Home move PR Absolute Position Report Command Type Status Valid Software Version A Syntax aPR Units Encoder counts...

Page 90: ...fault Value N A Attributes Buffered See Also PR PZ Savable in Sequence Response to aPX nnnnnnnnn This command reports the actual motor position as measured by the encoder When a D command is issued th...

Page 91: ...0000000000 Quote Command Type Programming Valid Software Version A Syntax x Units N A Range x up to 17 ASCII Default Value N A characters See Also CR LF Attributes Buffered Response to x is x Savable...

Page 92: ...ue N A Attributes Immediate See Also Q RM Never Saved Q1 activates Velocity Profiling mode Subsequent RM commands will immediately change motor velocity Q exits this mode Command Description ER2 Set e...

Page 93: ...a sequence Executing a loop The following conditions will cause an error S or C response Go home failed Limit has been encountered Sequence execution was unsuccessful Sequence memory checksum error Un...

Page 94: ...No Off Off B No Yes Off Off D No No On Off E Yes No On Off F No Yes On Off H No No Off On I Yes No Off On J No Yes Off On L No No On On M Yes No On On N No Yes On On The RA command is useful when the...

Page 95: ...Yes Yes No No D No No Yes No E Yes No Yes No H No No No Yes I Yes No No Yes J No Yes No Yes K Yes Yes No Yes L No No Yes Yes M Yes No Yes Yes N No Yes Yes Yes O Yes Yes Yes Yes This command is not in...

Page 96: ...XSS Never Saved Response to aRFS is x This command can be used to return all the servo gains to the factory defaults immediately This command is useful when the current servo gain values are inapprop...

Page 97: ...the direction and re enabling RM mode Exiting RM mode with Q causes the TQ10X to enter Normal mode MN Command Response ER2 Set encoder resolution to 2000 Q1 Enter Velocity Streaming mode RM 22 C Acce...

Page 98: ...record this information in your own records for future use This type of information is useful when you consult Parker Compumotor s Applications Department Command Response 1RV 92 16637 1A The product...

Page 99: ...ct inputs to 10 ms SS Software Switch Function Status Command Type Status Valid Software Version A Syntax aSS Units N A Range N A Default Value N A Attributes Buffered See Also SSA SSC SSG SSH Savable...

Page 100: ...A Range 0 disable 1 enable Default Value 0 Attributes Buffered See Also Savable In Sequence The command setting determines whether or not each byte received at the controller is checked for communica...

Page 101: ...e buffer However it will terminate a loop in the current pass Command Description SSH Clears buffer on stop A1 Sets acceleration to 10 revs sec 2 V5 Sets velocity to 5 revs sec D4 Sets distance to 4 0...

Page 102: ...ve Go T5 Pauses the motor for 5 seconds after the move G Executes the move Go TR Wait For Trigger Command Type Programming Valid Software Version A Syntax a TRnnnnn Units See Below Range n 1 or X Defa...

Page 103: ...s velocity to 5 revs sec L Loops indefinitely D46 Sets distance to 4 600 encoder counts G Executes the move G T1 Waits 10 seconds after the move N Ends loop U Halts execution until the controller rece...

Page 104: ...signed to be used for comparison As long as the TQ10X is not re programmed the checksum response should always be the same Command Response 1XC 149 XD Sequence Definition Command Type Programming Vali...

Page 105: ...r appears on the Sequence Select inputs configured with the IN command will be executed on power up When the first sequence is finished in XP9 mode the TQ10X will scan the Sequence Select inputs again...

Page 106: ...onfigured with the IN command inputs properly Interrupted Run mode will be set XR Run a Sequence Command Type Programming Valid Software Version A Syntax a XRn Units Sequence Range n 1 7 Default Value...

Page 107: ...xecutes the move Go XT Ends definition of Sequence 5 XRP5 Runs Sequence 5 with a pause C Indexer executes Sequence 5 Upon issuing XRP5 Sequence 5 is entered in the command buffer but is not executed I...

Page 108: ...es Immediate See Also XR XRP Never Saved Response to aXSR is n This command allows you to check whether or not the last sequence issued was executed successfully without hitting limits Stop S or Kill...

Page 109: ...A Syntax aXUn Units Sequences Range n 1 7 Default Value N A Attributes Immediate See Also F XD XE XT Never Saved Response to aXUn is contents of sequence n This command sends the contents of sequence...

Page 110: ...tings to their power up values It clears the command buffer Like the Kill K command the Z command immediately stops output pulses to the motor When you use the Z command the controller is busy for 1 0...

Page 111: ...Units upstream in a daisy chain are not affected Note Error detection will only occur if SSE1 is enabled Detection of a communication error has no effect on internal command processing or sequence exe...

Page 112: ...Limits OSB Back Up To Home OSC Define Active State of Home Switch OSD Enable Encoder Z Channel for Home OSH Reference Edge of Home Switch PR Position Report PS Pause PX Report Absolute Encoder Positi...

Page 113: ...104 TQ10X User Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 114: ...c LEDs RS 232C Problems Software Debugging Tips Encoder Problems Homing Diagrams Non Drive Related Problems Protective Circuits Product Return Procedure C H A P T E R S I X Artisan Technology Group Qu...

Page 115: ...will also prevent you from duplicating your testing efforts Once you have isolated a problem take the necessary steps to resolve it Refer to the problem solutions contained in this chapter If the prob...

Page 116: ...nnect the host s transmit and receive lines together and send another character You should receive the echoed character If not consult the manufacturer of the host s serial interface for proper pin ou...

Page 117: ...f the home pulse is the side closest to the CW limit The CCW side of the home pulse is the side closest to the CCW limit The long pulse diagrams are indicative of situations where the motor decelerate...

Page 118: ...CCW Z Chn CW V 0 GH 1 CW Z Chn CCW V 0 GH 1 CCW CW V 0 GH 1 CW CCW V 0 GH 1 CW CCW V 0 GH 1 CCW CW V 0 GH 1 CW CCW V 0 GH 1 CCW CW V 0 GH 1 CCW CW V 0 GH 1 CW CCW V 0 OSB1 OSD1 OSH OSB1 OSD1 OSH1 OSB1...

Page 119: ...9600 Baud 8 data bits 1 stop bit no parity F command enabled Issue an E command E F Motor runs away Encoder miswired Check encoder wiring Verify power to encoder TQ10X not receiving encoder pulses Wi...

Page 120: ...components in the system encoder motor etc The sections below will help you identify such problems Speed Torque Limitations Make sure that you are not commanding a move that requires the motor to go f...

Page 121: ...one second or 10 watts on a continuous basis If the motor regenerates more energy than can be dissipated in the regeneration resistor the resulting voltage rise on the drive s motor output terminals c...

Page 122: ...foldback to be disabled entirely see Chapter 2 Installation and Chapter 4 Tuning Tuning procedure for instructions on setting the dip switches How Foldback Works When actual current produced by the d...

Page 123: ...ferable An example of this would be a conveyor drive running product through an oven which is hot enough to melt the product eventually The default settings cause the timer to start when the current i...

Page 124: ...FAULT LED This is a latched fault Wait for the motor to cool then cycle power to resume operations A motor overtemperature fault may be an indication that your motor is not sized properly for your ap...

Page 125: ...nment temperature enclosure spacing unit orientation contaminants etc What upgrades if any are required hardware cables user guide In the USA call your Automation Technology Center ATC for a Return Ma...

Page 126: ...n Compumotor Motors IN THIS APPENDIX Configuring DIP Switches Connecting Motor Phase Wires and Hall Effect Wires A P P E N D I X A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SO...

Page 127: ...off off 1 2 3 4 5 6 SW 2 1 6 1 2 3 4 5 6 SW 1 1 6 TQ10X DIP SWITCH SETTINGS amps seconds setting number on on off off on on off on on on on off off off on off on off on off on off 1 0 1 2 1 4 1 6 3 3...

Page 128: ...quence of Hall states commutation scheme etc Use the information below for guidance on how to connect your motor s phase and Hall wires to the TQ10X Improper Wiring Can Result in Poor Performance Assu...

Page 129: ...ind the best phase wiring configuration Move each phase wire over one position A B C C A B Compare torque and torque ripple Move each phase wire one position further C A B B C A Compare torque and tor...

Page 130: ...ppendix B 121 BLVD Installation Instructions A P P E N D I X B IN THIS APPENDIX LVD Installation Instructions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg co...

Page 131: ...isolation transformer should be insulated to 2300V rms Do not interrupt the protective earth conductor between the source mains and the isolation transformer s secondary The core of the isolation tran...

Page 132: ...Mechanical Installing in an Enclosure The TQ10X Drive must be installed within an enclosure The enclosure s interior must not be accessible to the machine operator The enclosure should be opened only...

Page 133: ...ixed to the products discussed in this user guide Symbol Description Earth Terminal Protective Conductor Terminal Frame or ChassisTerminal Equipotentiality Caution Risk of Electric Shock Caution Refer...

Page 134: ...manded position 48 Component locations 8 Conductive strip 14 Connecting motors from other vendors 24 Connections brushed motor 24 Couplers 32 Coupling manufacturers 34 Covers 16 Current Foldback 10 11...

Page 135: ...ll 70 72 Kill input 28 29 L Latched definition 26 Layout panel layout 15 LED functions 106 Limit disable 73 Limits 30 Loop 72 76 86 101 Loop gain 11 Low Voltage Directive LVD iii 121 LVD installation...

Page 136: ...ence select inputs 29 70 96 Sequence termination 100 Sequence upload 100 Sequences 70 95 Shaft rotation 27 Sharing power bus 23 Shielded motor cables 24 Ship kit 6 Short circuit protection 112 Shutdow...

Page 137: ...128 TQ10X User Guide Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 138: ...ning for procedure to raise current off 1 2 3 4 5 6 SW 2 1 6 1 2 3 SW 3 1 2 3 4 5 6 SW 1 1 6 SM161A off 1 2 3 4 5 6 SW 2 1 6 1 2 3 4 5 6 SW 1 1 6 SM231A off 1 2 3 4 5 6 SW 2 1 6 1 2 3 4 5 6 SW 1 1 6 S...

Page 139: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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