THOMSON Omnidrive ODM-005 Installation Manual Download Page 135

Page: 135 / 200

9-10

Tuning

Intro

IGURE

9.5

Overdamped Signal

Intro

IGURE

9.6

Critically Damped Signal (Ideal Tuning)

OVERDAMPED

Increase I-gain

Motor Velocity consistently undershoots
the Velocity Command. To correct:

Increase P-gain

CRITICALLY DAMPED
Motor Velocity quickly settles to
the Velocity Command.

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Summary of Contents for Omnidrive ODM-005

Page 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Page 2: ...10 and ODM 010i ODM 020 and ODM 020i OMNIDRIVE and OMNI LINK are trademarks of Thomson Industries Inc Thomson Industries Inc Port Washington NY 11050 2 Channel Drive Artisan Technology Group Quality I...

Page 3: ...sufficient airflow is provided around the drive to ensure adequate cooling The mounting surface of the drive is a heatsink and its surface temperature may increase when the drive is operating If a mo...

Page 4: ...and ODM 010i ODM 020 and ODM 020i Thomson Industries Inc 2 Channel Drive Port Washington NY 11050 516 883 8000 main 516 883 9039 fax 1 800 554 THOMSON technical support Artisan Technology Group Qualit...

Page 5: ...in the other countries OMNI LINK and OMNIDRIVE are registered trademarks of Thomson Industries Inc Mathcad is a registered trademark of MathSoft Inc Microsoft and MS DOS are registered trademarks and...

Page 6: ...21 Typographical and Wording Conventions Intro 21 Graphical Symbols and Warning Classifications Intro 22 CHAPTER 1 Safety Installing and Using the OMNIDRIVE 1 1 Safety Classifications 1 1 Potential Ha...

Page 7: ...OMNI LINK 3 2 Starting and Quitting OMNI LINK 3 2 The OMNI LINK Start Up Screen 3 3 Version Level 3 3 The Readme File 3 4 Miscellanious Files 3 4 Firmware Files 3 4 CHAPTER 4 Unpacking Inspecting and...

Page 8: ...bling 7 2 Shield Termination of Power Cables 7 2 Motor Overload Protection 7 3 Power Supply Protection 7 3 Emergency Stop Wiring 7 4 AC Power Cabling 7 5 DC Bus 7 6 CHAPTER 8 Application and Configura...

Page 9: ...34 Modifying User Units 8 35 Changing the Display Units Settings 8 35 CHAPTER 9 Tuning Tuning Guidelines 9 1 General Tuning Rules 9 1 High Inertia Loads 9 1 Mechanical Resonance 9 1 Backlash 9 2 Auto...

Page 10: ...File Configuration with OMNI LINK B 2 Motor Parameter Set B 2 General Parameters B 4 Feedback Parameters B 7 Electrical Parameters B 9 Rating Parameters B 9 Example of Custom Motor File Creation B 12...

Page 11: ...tro 10 Contents Our Warranty Help 7 Defective Equipment Help 7 Return Procedure Help 7 Product Support Help 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg co...

Page 12: ...tal Output Circuit 6 9 BRAKE DRIVE ENABLE Application Examples 6 9 Drive Output Connected to an Opto Isolator 6 11 Drive Output Connected to an LED Indicator 6 11 Drive Output Connected to a Resistive...

Page 13: ...on Diagram 6 32 CHAPTER 7 Power Connections Motor Power EMC Shield Connection 7 2 Emergency Stop Contactor Wiring 7 4 CHAPTER 8 Application and Configuration Examples Analog Controller Connection Diag...

Page 14: ...Rotation B 3 Phasing of the Encoder Signals for Clockwise Rotation B 4 Index Offsets B 7 Hall Offsets B 8 Motor Thermal Protection Software Method B 10 Back EMF and Hall Signals Clockwise Rotation B...

Page 15: ...Intro 14 List of Figures Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 16: ...8 Selectable Output Circuits 6 10 OUTPUT1 and OUTPUT2 Functions 6 10 Transistor Output Specifications 6 10 Analog Inputs I LIMIT 6 13 External Current Limit Imput Specification 6 13 Analog Command Inp...

Page 17: ...er Parameter List for TouchPad A 9 Index Termination Parameter List for TouchPad A 10 Home Type Parameter List for TouchPad A 10 Homing Auto Start Parameter List for TouchPad A 10 Reverse Enable for H...

Page 18: ...item s you receive against your purchase order If any items are obviously damaged it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill Should...

Page 19: ...your OMNIDRIVE using OMNI LINK software with a personal computer If you are using a TouchPad device abbreviated command titles are displayed but the setup steps remain the same If you are using the se...

Page 20: ...splay Discusses the Status LED indicator on the front panel Operating or Error Messages accessible through the TouchPad or a PC are explained Maintenance and Troubleshooting Describes the minimal main...

Page 21: ...Command Reference Click on the Host Command Reference icon in the OMNI LINK program group To access OMNI LINK Help Open OMNI LINK by clicking on the OMNI LINK icon in the OMNI LINK group and Press the...

Page 22: ...mands Keys that should be pressed simultaneously are shown with a plus sign between the key names This example closes the active window ALT F N Keys that should be pressed in sequence are shown with a...

Page 23: ...hazardous situation and what could happen as a result of exposure to the hazard Example Description Protective conductor terminal Earth ground Chassis terminal not a protective ground Risk of electric...

Page 24: ...ating machinery and high voltages therefore it is essential that guards for both electrical and mechanical parts are not removed The main hazards which can be encountered in the use of this equipment...

Page 25: ...nce of this equipment and the hazards involved For more detailed definitions refer to IEC 364 It is recommended that anyone who operates or maintains electrical or mechanical equipment should have a b...

Page 26: ...to ensure safe operation of the equipment Contact your nearest Thomson Industries representative for additional information Only qualified personnel familiar with the equipment are permitted to instal...

Page 27: ...1 4 Safety Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 28: ...t in software which ensures repeatability of all functions and prevents element drift A single unit fully encloses all electronics An external transformer is not required on the power line All connect...

Page 29: ...4 or 8 Digital I O Digital I O channels allow the user to program the drive to fit the specific application Power for the I O must be supplied by an 12 24 VDC external I O power supply Selections incl...

Page 30: ...Connection of communication cables between the drive and user supplied equipment is described in the following sections One OMNIDRIVE Single Position RS 232 Set up Multiple OMNIDRIVEs Multiple Positi...

Page 31: ...ch closure or sourcing type transistor outputs The current rating is 10 mA maximum Selectable Inputs Four optically isolated single ended active high inputs INPUT1 INPUT2 INPUT3 and FAULT RESET suppor...

Page 32: ...imum encoder frequency output is 1 MHz 4 MHz quadrature Autotuning Digital auto tuning allows easy setup All adjustments are made in software which immediately sets the servo system compensation param...

Page 33: ...for motor sizing and compatibility assistance Custom motors or motors not manufactured by Thomson may be interfaced Contact Product Support for assistancePhone and fax numbers for product related assi...

Page 34: ...p Instructions for using the features available in OMNI LINK are detailed in on line help To access the Help menu depress the F1 key Hardware and Software Requirements The minimum personal computer PC...

Page 35: ...drive of the PC To install OMNI LINK choose Continue or press ENTER and continue with the next step To stop the installation choose Exit You are returned to Windows 7 Setup then asks where you would l...

Page 36: ...dow includes additional data about system resources typically displayed in Windows Help TIP If the OMNI LINK window is not active hold down ALT and press TAB ALT TAB until the OMNI LINK title bar and...

Page 37: ...ry path where OMNI LINK is installed Miscellanious Files Firmware Files Firmware files are supplied in the Miscellaneous directory on the OMNI LINK diskette The current revision level of drive firmwar...

Page 38: ...f the unit identifies Model number Serial number Manufacturing date code Inspection Procedure To protect your investment and ensure your rights under warranty we recommend the following steps be perfo...

Page 39: ...itches several pieces of 1 5 mm2 16 AWG wire and a mating connector During the test power is removed several times Always neasure the DC bus voltage to verify the bus capacitors are fully discharged o...

Page 40: ...ections Drive Checkout Test This test sequentially verifies that Drive power wiring is correct and start up logic is functioning The drive and motor are correctly wired Drive serial communications are...

Page 41: ...T 2 RCV 3 XMT 5 COM Phase R 1 Phase S 2 Phase T 3 Motor Gnd 4 L1 7 L2 N 8 Gnd 9 10 100 240 VAC 50 60 Hz Single Phase XMT RCV COM Close to ENABLE drive Close to RESET faults Power Source TB1 L1 7 L2 N...

Page 42: ...ve Operation 15 When the message appears that a motor must be selected choose OK The Drive Select dialog box is selected with Motor Selection active 16 Select the appropriate motor from the drop down...

Page 43: ...RIVE did not pass the steps above refer to Maintenance and Troubleshooting on page 11 1 Storing the Unit Return the OMNIDRIVE to its shipping carton using the original packing materials to enclose the...

Page 44: ...ts the mounting hardware should meet the following weight vibration and shock altitude and humidity airflow clearance and temperature requirements Unit weights are ODM 010 and ODM 010i 1 7 Kg 3 7 lbs...

Page 45: ...Power Cable bracket extends up to 20mm 0 80 inches 5 0 0 20 A7 22 10 0 87 C 146 05 5 75 A8 31 75 1 25 C1 129 03 5 08 A9 8 64 0 34 A10 31 75 1 25 A11 57 15 2 25 C C1 B B1 B2 B4 B3 A A1 A2 A3 A4 A6 A7...

Page 46: ...07 2 39 B4 13 21 0 52 A5 94 49 3 72 B5 5 58 0 22 A6a a Power Cable bracket extends up to 20mm 0 80 inches 5 0 0 20 A7 22 10 0 87 C 146 05 5 75 A8 31 75 1 25 C1 129 03 5 08 A9 8 64 0 34 A10 31 75 1 25...

Page 47: ...ell as grounding and shielding techniques are described in the sections listed below Refer to the Motor Power Contact and Wire Size Recommendations on page 7 3 for graphic depictions and recommended w...

Page 48: ...otor Inverter Filters filters are three stage filters The three stage filter will remove more of the noise but the cost is more panel space in the higher current filters In the lower current filters 5...

Page 49: ...0 28 1 0 ELECTRICAL and MECHANICAL SPECIFICATIONS Voltage Freq 250 VAC 50 50 Hz 250 VAC 50 50 Hz 250 VAC 50 50 Hz Current 6A 50 C 10A 50 C 23A 50 C Overload Current 150 1 minute 200 1 second 150 1 min...

Page 50: ...Lb Back Mounting 4 x M4 4 x M4 4 x M4 Side Mounting 2 x M5 2 x M6 2 x M6 Line filters are manufactured to millimeter dimensions inches are approximate conversions SINGLE PHASE 6A SINGLE PHASE 10A SING...

Page 51: ...E 5 4 Power Wiring Diagram ODM 005 005I ODM 010 010I ODM 020 020I Thomson Industries Port Washington NY 11050 ODM 005 010 020 BLX Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOU...

Page 52: ...only encountered interface cabling methods Optional signal extension kits and standard cables J1 Controller J1 is a 50 pin female mini D connector AMP 2 178238 7 for connecting a host computer or cont...

Page 53: ...Power 12 24 VDC 46 Reserved 7 AOUT Motor Encoder Output Chan nel A 27 I LIMIT Current Limit 47 Reserved 8 AOUT Motor Encoder Output Chan nel A 28 ACOM Analog Common 48 Reserved 9 BOUT Motor Encoder O...

Page 54: ...ts support logic type interfaces with optically isolated single ended and active high current sinking characteristics Dedicated Control Circuits The ENABLE input interfaces with switch closures or sou...

Page 55: ...to 0 Volts Reverse Enable Active1 state allows reverse commands in velocity mode only If this input is inactive or not connected no velocity command will be allowed in the reverse direction If motion...

Page 56: ...C ON state Current Current flow into the input to guarantee an ON state 3 0 mA 10 mA OFF state Voltage Voltage applied to the input to guarantee an OFF state 1 VDC 2 VDC OFF state Current External lea...

Page 57: ...gh Sourcing Transistor Intro FIGURE 6 5 Drive Input Connected to Active Low Output using a Switch Relay 1K 3K Drive J1 I O PWR 26 5 I O COM 12 24VDC 13 6 1K 3K I O Pwr 26 5 Drive J1 I O COM 12 24VDC 1...

Page 58: ...t Connected to Active Low Output using an Opto Isolator Intro FIGURE 6 7 Drive Input Connected to Sourcing Output Drive INPUT OUTPUT 3K 1K I O COM I O COM 13 6 26 5 I O Pwr I O COM I O Pwr 1K 3K INPUT...

Page 59: ...may be used to control 24VDC brakes on Thomson motors with a 4 frame or smaller A user provided relay may be driven by these outputs if higher power levels are required Refer to BRAKE DRIVE ENABLE Ap...

Page 60: ...E 6 10 BRAKE DRIVE ENABLE Application Examples 26 5 24VDC 13 6 I O COM I O Pwr J1 Drive Suggested brake wiring when 24VDC brake current exceeds 500mA or for 90VDC brakes ODM 005 005I ODM 010 010I OR O...

Page 61: ...ited Up To Speed An active state indicates the velocity loop AT SPEED signal is active The at speed level is a selectable setting Drive Enabled An active state indicates the ENABLE signal is active an...

Page 62: ...Drive Output Connected to an LED Indicator Intro FIGURE 6 13 Drive Output Connected to a Resistive Load Intro FIGURE 6 14 Drive Output Connected to a Switch Relay Drive J1 I O Pwr Pin 13 Pin 6 I O COM...

Page 63: ...pto Isolator Intro FIGURE 6 17 Drive Output Connected to Active High Sinking Input Solid State Relay Drive I O COM I O COM 3 3K I O Pwr I O Pwr INPUT OUTPUT I O COM I O Pwr 1K I O COM I O Pwr 3 3 K IN...

Page 64: ...l is either a torque velocity or position command depending on the software configuration of the drive The differential input is processed by a 16 bit analog to digital converter ADC to produce a digi...

Page 65: ...the differential COMMAND signal is the torque or cur rent command Separate scale and offset parameters are used for the input depending on whether the signal is a velocity command or a torque current...

Page 66: ...nal Range Volts Voltage range of the signal 10 10 Current Command Velocity Command Current Average Velocity Error Current Peak Position Motor Feedback Current Peak Position Command Current Input Limit...

Page 67: ...quency is A counter counting all edges registers 400 kHz for this example Intro FIGURE 6 21 Output Encoder Interface Circuit TABLE 6 16 Motor Encoder Output Signal Encoder Output Pin Number Descriptio...

Page 68: ...ferrites of an appropriate rating at the specific locations 1 J2 Cable 230 Ohm 100 MHz toroid FerriShield P N SS28B2032 immediately adjacent to the J2 connector on the drive 2 Pigtailed Motor Encoder...

Page 69: ...plete circumfer ential 360 termination The cable connector should then connect to chassis ground not signal ground Intro FIGURE 6 24 Auxiliary Encoder Input Circuit TABLE 6 18 Motor Encoder Output Sig...

Page 70: ...Volts Voltage difference between the and inputs that indicates an OFF state 1 0 15 Common Mode Voltage Volts Voltage difference between an encoder signal input and the reference ground of the drive 1...

Page 71: ...Line Drivers Intro FIGURE 6 26 Complementary Encoder Interface via 7406 Line Drivers with Pull up Resistors Ch A ENCODER AX AX 14 15 J1 Drive twisted pair Ch B BX BX 16 17 twisted pair Ch I IX IX 18 1...

Page 72: ...R J1 Drive twisted pair 2 4 5V Supply Return 5 Volts 1 3 5V Supply 5VDC 5V 250 mA ECOM For horizontal dashed lines connect only if J1 sources Encoder power twisted pair Ch A ENCODER AX AX 14 J1 Drive...

Page 73: ...d twisted pair twisted pair Ch B ENCODER BX BX 16 J1 Drive AX AX 14 Drive Chassis Encoder Case Ch A 5 12 Volts 5 12 Volts 4 2 5V Supply Return ECOM Ch I IX IX 18 5 12 Volts twisted pair twisted pair C...

Page 74: ...33 External Step Direction Interface via Single Ended TTL Line Drivers not recommended STEP INPUT DIRECTION INPUT Direction data must be steady for this time period 500 nsec minimum 500 nsec minimum 5...

Page 75: ...not recommended TTL USER CW CW 14 15 J1 Drive twisted pair CCW CCW 16 17 twisted pair Drive Chassis Differential Line Drivers ELECTRONICS CW CW CCW CCW twisted pair 2 4 5V Supply Return 5 Volts 1 3 5...

Page 76: ...S Absolute Position 7 A Motor Encoder Input Channel A 17 Reserved 8 A Motor Encoder Input Channel A 18 Reserved 9 B Motor Encoder Input Channel B 19 TS Thermal Switch 10 B Motor Encoder Input Channel...

Page 77: ...input Internally pulled up to 5VDC through a 1 kOhm resistor ABS J2 16 Absolute Position used on Thomson Industries motors for commutation J2 17 J2 18 Reserved TS TS J2 19 J2 20 Thermal Switch and The...

Page 78: ...h the RS 232 and the four wire RS 485 communications standards Standard baud rates include 1200 2400 4800 9600 and 19200 baud 9600 is the factory default setting Even odd and no parity generation chec...

Page 79: ...e name with the correct drive address RS 232 Connections The address of each drive is set using OMNI LINK software Refer to the OMNILINK on line Help Single Axis RS 232 Set Up A single OMNIDRIVE may b...

Page 80: ...s and if necessary change them then choose OK Select Communications from the menu Select Read Drive Parameters from the pull down menu Choose OK in the Drive Select window 3 Verify that OMNI LINK read...

Page 81: ...pe interface Because the host is driving multiple receivers and receiving from multiple transmitters RS 422 is limited to multiple axes connections with 10 or less drives The figure below summarizes t...

Page 82: ...with from Drive Select window the drive must have an address that matches one of the drive addresses in the chain Choose OK in the Drive Select window 5 Verify that OMNI LINK loads the drive parameter...

Page 83: ...y vary by manufacturer Drive 1 RCV RCV XMT J4 1 7 4 8 XMT RCV RCV XMT XMT RCV RCV XMT J5 1 7 4 8 XMT Drive n RCV RCV XMT J4 1 7 4 8 XMT RS 485 INTERFACE Drive 2 RCV RCV XMT J4 1 7 4 8 XMT RCV RCV XMT...

Page 84: ...power L1 Line 1 3 100 240 VAC input power L2 Line 2 N Neutral 4 Safety earth ground 5 R phase power to motor R 6 S phase power to motor S 7 T phase power to motor T 8 Motor case ground 9 Intro DANGER...

Page 85: ...hich is not painted This section of the chassis is labeled with the chassis ground symbol TIP Proper phasing of these outputs relative to the motor terminals is critical Double check the connections a...

Page 86: ...ion The feedback encoder auxiliary encoder and optional TouchPad are powered by a single internal power supply The power supply has a resettable fuse that opens at 3 amps and automatically resets itse...

Page 87: ...rive contactors disengage Figure 7 2 depicts a contactor installation with resistive loads Follow these guidelines The resistor values should be one to four times the winding resistance for good braki...

Page 88: ...TABLE 7 4 TB1 AC Power Terminals TABLE 7 5 AC Input Power Sizing Requirements Intro DANGER The user is responsible for conforming with all applicable local national and international codes Wiring pra...

Page 89: ...etermined and adhered to The OMNIDRIVE utilizes solid state motor short circuit protection rated as follows Short Circuit Current Rating with No Fuse Restrictions Suitable for use on a circuit capable...

Page 90: ...oftware but the optional TouchPad also may be used Hardware Set Up Make the connections described below and shown in the figure 1 Connect a 10VDC power source between J1 22 and J1 23 ANALOG CMND to pr...

Page 91: ...on Test on page 11 6 for troubleshooting instructions 6 Select Read Drive Parameters from the Communications menu 7 Verify the Drive Name and Address are correct for the drive that is being addressed...

Page 92: ...propriate entry for the Motor Direction BiDirectional Forward Only or Reverse Only 5 Close the toggle switch between J1 26 and J1 20 to enable the drive 6 Choose Start from the Tuning window The drive...

Page 93: ...o parameters have been setup with an unloaded motor The motor speed or current is commanded through the analog input The firmware saves the parameters in EEPROM memory Thus the drive can be power cycl...

Page 94: ...owing pins J1 20 ENABLE and J1 26 I O PWR J1 32 INPUT1 and J1 26 I O PWR J1 33 INPUT2 and J1 26 I O PWR J1 34 INPUT3 and J1 26 I O PWR Connect a switch between J1 21 FAULT RESET and J1 26 I O PWR Thes...

Page 95: ...port settings of the PC match those of the drive If the settings are correct select OK in the Port Settings dialog box If the settings are different correct the Port Settings to allow communications w...

Page 96: ...select the Pre set tab 15 Enter the appropriate parameters for the Command mode in which the drive will operate Up to eight presets 0 7 may be programmed 16 Choose Close to exit the Drive Parameters w...

Page 97: ...or dialog boxes Operation The drive is now configured as a Preset Controller in Velocity or Torque mode The servo parameters have been setup with the unloaded motor The motor speed or current is cont...

Page 98: ...1 Connect an RS 232 cable between the serial port on the PC and the J4 connector on the OMNIDRIVE A simple 3 wire cable is depicted in the figure below 2 Connect a Motor Feedback cable from the motor...

Page 99: ...If the settings are different correct the Port Settings to allow communications with the drive Factory default communications Port Settings for the drive are Baud Rate 9600 Intro FIGURE 8 3 Position...

Page 100: ...e reset choose Yes 12 Select Follower Master Encoder as the Operation Mode for the drive 13 Choose Close from the Drive Setup window 14 Choose the Drive Parameter command icon from the Drive window th...

Page 101: ...indicator is green 11 Close any open windows or dialog boxes Operation The drive is now configured as a Position Follower Master Encoder The current loop is compensated properly for the selected moto...

Page 102: ...withOMNI LINK software but theoptional TouchPad may also may be used Hardware Set Up Make the connections described below and shown in Figure 8 4 1 Connect an RS 232 cable between the serial port on...

Page 103: ...box If the settings are different correct the Port Settings to allow communications with the drive Factory default communications Port Settings for the drive are Baud Rate 9600 Intro FIGURE 8 4 Step...

Page 104: ...the drive must be reset choose Yes 12 Select Follower Step Direction as the Operation Mode for the drive 13 Choose Close to exit the Drive Set Up window 14 Choose the Drive Parameters command icon fro...

Page 105: ...window 10 Verify the Status indicator is green 11 Close any open windows or dialog boxes Operation The drive is now configured as a Position Follower Step Direction The servo parameters have been set...

Page 106: ...ector on the OMNIDRIVE A simple 3 wire cable is depicted in the figure below 2 Connect a Motor Feedback cable from the motor to the J2 connector on the OMNIDRIVE 3 Connect a Power cable from the motor...

Page 107: ...g box If the settings are different correct the Port Settings to allow communications with the drive Factory default communications Port Settings for the drive are Baud Rate 9600 Data Bits 8 Parity No...

Page 108: ...be reset choose Yes 12 Select Follower Step Up Step Down as the Operation Mode for the drive 13 Choose Close to exit the Drive Set Up window 14 Choose the Drive Parameters command icon from the Drive...

Page 109: ...window 10 Verify the Status indicator is green 11 Close any open windows or dialog boxes Operation The drive is now configured as either a Position Follower Step Up Step Down The servo parameters hav...

Page 110: ...OMNI LINK software but the optional TouchPad also may be used The following examples depict a simple incremental index move and a batched multiple move using incremental indexing TIP This feature is a...

Page 111: ...the jumper including normally open toggle switches 5 Connect an external 12 to 24 VDC power source for powering I O to J1 5 I O PWR and J1 6 I O COM 6 Connect the drive to a single phase 100 240 VAC 5...

Page 112: ...that a motor must be selected select OK The Drive Setup window is displayed with Motor Model selection parameter active The motor may be selected from the drop down box If this message box does not ap...

Page 113: ...Forward Only or Reverse Only 5 Close the toggle switch between J1 26 and J1 20 to enable the drive 6 Choose Start from the Tuning window The drive powers the motor shaft for a short period and then mo...

Page 114: ...s the parameters in EEPROM memory Thus the drive can be power cycled and after power up will use the parameters selected in the steps above When motion is required 1 Close the switch between J1 26 and...

Page 115: ...able is depicted in the figure below 2 Connect a Motor Feedback cable from the motor to the J2 connector on the OMNIDRIVE 3 Connect a Power cable from the motor to TB1 terminals R S T and on the drive...

Page 116: ...com puter s communication settings 5 Verify the communications port settings of the PC match those of the drive If the settings are correct select OK in the Port Settings dialog box If the settings a...

Page 117: ...ive Set Up window 14 Choose the Drive Parameters command icon from the Drive window and then select the Indexing tab 15 Enter the following values for Index 0 16 Choose Close to exit the Drive Paramet...

Page 118: ...to enable the drive 6 Choose Start from the Tuning window The drive powers the motor shaft for a short period and then motion will cease Then OMNI LINK displays the calculated gains and disables the...

Page 119: ...ters in EEPROM memory Thus the drive can be power cycled and after power up will use the parameters selected in the steps above When motion is required 1 Close the switch between J1 26 and J1 20 to en...

Page 120: ...IDRIVE A simple 3 wire cable is depicted in the figure below 2 Connect a Motor Feedback cable from the motor to the J2 connector on the OMNIDRIVE 3 Connect a Power cable from the motor to TB1 terminal...

Page 121: ...t the Port Settings to allow communications with the drive Factory default communications Port Settings for the drive are Baud Rate 9600 Data Bits 8 Parity None Stop Bits 1 Serial Port COM1 Refer to t...

Page 122: ...de for the drive 13 Choose Close to exit the Drive Set Up window 14 Choose the Drive Parameters command icon from the Drive window and then select the Indexing tab 15 Select the following values for I...

Page 123: ...e Status indicator is green 11 Close any open windows or dialog boxes Operation The drive is now configured as a Absolute Indexing controller The servo parameters have been setup with the unloaded mot...

Page 124: ...o Revs sec2 1 Choose the Drive Parameters command icon from the Drive window and then select the Units button The PC Display Units dialog appears with default settings as shown 2 Select the Position L...

Page 125: ...xample these changes cause the Indexing tab in the Drive Parameters window to display Distance in Mtr Revs Acceleration in Revs sec2 Deceleration in Revs sec2 The following units were not effected by...

Page 126: ...d the velocity loop update rate 6 If the motor oscillates decrease either individually or together the P gain I gain low pass filter bandwidth High Inertia Loads Propercompensationofloadinertiamaynotb...

Page 127: ...ically resonating system it may be thought of as subtracting the load acceleration the opposite sign of the motor acceleration since the system is resonating This tends to bring the motor and load bac...

Page 128: ...iaandfriction Autotunemaybeusedwhenasignificantamountofcomplianceorbacklash exists for example belt systems in the mechanical load but precise tuning requires the load be fully coupled to the motor In...

Page 129: ...Drive window 2 Choose Auto Tune from the Tuning window This activates the Auto Tune Command and Motor Direction boxes within the Tuning window Then enter or select appropriate values for Distance in t...

Page 130: ...of filtering are essential background knowledge to properly tune a servo system Gains TIP Auto tuning does not have a velocity limit but it does adhere to the motor Overspeed setting in the Drive Para...

Page 131: ...p gain is only for use with the position following mode Kd gain Differential gain of the position loop Provides position loop damping and reduces overshoot caused by Kp or Ki gain Kff gain Feedforward...

Page 132: ...ne cycle of the square wave of the internal step velocity 5 Select the desired Motor Direction Forward Only Reverse Only or Bi Directional 6 Select the Oscilloscope 7 Enable the drive 8 Choose Start T...

Page 133: ...ay the Position Motor Feed back signal 9 Increase the Kp gain while monitoring the signal on the scope The Kp gain should be adjusted until the desired rise time is achieved with no overshoot Refer to...

Page 134: ...ntro FIGURE 9 4 Underdamped Signal Transient State VELOCITY TIME Settle Time Rise Time Following Error or Steady State Error Overshoot Steady State Undershoot UNDERDAMPED Decrease P gain Decrease I ga...

Page 135: ...eal Tuning OVERDAMPED Increase I gain Motor Velocity consistently undershoots the Velocity Command To correct Increase P gain CRITICALLY DAMPED Motor Velocity quickly settles to the Velocity Command A...

Page 136: ...up hardware and run time faults A power upfaultusuallyrequiresservicingofthehardware whilearun timefaultcan beclearedby resetting the drive Maintaining and Troubleshooting the OMNIDRIVE lists the erro...

Page 137: ...Data Corruption 56 Main Processor Watchdog Error 57 Reserved 58 Processor RAM Error 59 Reserved 60 Uninitialized Service EEPROM Error 61 Service EEPROM Read Error 62 Service EEPROM Data Corruption Err...

Page 138: ...ameters off line will allow you to clone several machines with the same mechanics and provides an emergency backup of the drive data To transfer the data from the drive to a PC 1 While on line with a...

Page 139: ...Drive Select window appears select Cancel The Drive Select window closes without connecting to the drive 4 Choose Upgrade Firmware from the File menu The Drive Select window will appear 5 Select the...

Page 140: ...leshoot the system please contact your local dis tributor for further assistance TABLE 11 1 Troubleshooting Guide Problem or Symptom Error Code Possible Cause s Action Solution Status LED not lit No A...

Page 141: ...ve s power supply The sys tem faults to save itself from an overload Change the deceleration or motion profile and or reduce the reflected inertia of your mechan ical system Use a larger system motor...

Page 142: ...tential noise sources Check the system grounds Bad encoder Replace motor encoder Auxiliary Encoder state error 21 Auxiliary encoder encountered an illegal transition Use shielded cables with twisted p...

Page 143: ...EC VT 100 Choose OK to close the dialog box F Select Settings from the Main menu Select Communications from the drop down menu Choose COM1 or the number of the communication port the drive is connecte...

Page 144: ...1 25 If the box is checked the resistance should read approximately 1 Ohm If the box is not checked the resistance should read very high 1 MOhm B Brake Enable box then measure the resistance between J...

Page 145: ...Help 7 to return the unit for repair Testing Analog Output The following tests verify the functionality of the analog outputs Test equipment requirements are A PC running OMNI LINK A voltmeter Testin...

Page 146: ...t Up window and activate the Drive Signals window 9 Slowly adjust the potentiometer while viewing the Drive Signals window The Current Input Limit value should update as the potentiometer is adjusted...

Page 147: ...or Encoder and Master Position Input 7 Slowly rotate the encoder shaft by hand while observing the counts for both the Motor Encoder and Master Position Input The Motor Encoder and Master Position Inp...

Page 148: ...choice TouchPad Commands Commands are entered by depressing a single key or combina tion of keys Two modes of operation are available Parameter mode allows you to move through the TouchPad Command Tr...

Page 149: ...nes indicate the possible paths and the parameter selection that defines the path Tuning D Gain Differential Gain FolRatio Gear Ratio Numeric SlewEnab Slew Enable Selection SlewRate Slew Rate rpm sec...

Page 150: ...t on the OMNIDRIVE by latching the tab into the drive and then mating the connector as shown 3 Power up the drive Installing the TouchPad defaults the drive to the following settings The personality m...

Page 151: ...DM 020 or ODM 020i ODM 030 or ODM 030i ODM 075 or ODM 075i ODM 150 or ODM 150i 2 ODM 005 or ODM 005i ODM 009 or ODM 009i ODM 019 or ODM 019i Firmware Level 1 00 Version 1 00 1 10 Version 1 10 2 00 Ver...

Page 152: ...s the flashing character selection to the left advancing the level of the cursor setting For example 0005200 0005200 Right Arrow Next Branch Increment Selects the next branch in the command tree or In...

Page 153: ...IO Velocity 0 to 8 rpm I Count Batch Count 0 to 8 counts I Dwell IO Dwell 0 to 8 msec I Accel IO Acceleration 0 to 8 rpm sec I Decel IO Deceleration 0 to 8 rpm sec I RegDs IO Registration Dist 0 to 8...

Page 154: ...s Reset Peaks to reset Velocity Gain Controls Position Gain Controls Manual Tuning Position Step Velocity Step Auto Tune Normal Operation Position Step Velocity Step Auto Tune Tuning Modes Velocity or...

Page 155: ...sser of the following Motor Continuous Current Amps times 3 or Drive Rated Current Amps 2 Multiply that value by 8191 Preset Follower 1 Enter the desired position in counts Displays Selection of a mot...

Page 156: ...er from the list List selections that are undefined are indicated by Unknown This display indicates the TouchPad data table is incompatible with the drive Lists are associated with all parameters exce...

Page 157: ...ive fault detected InvlData Warning Invalid data was entered for the parameter InvldFn Error Illegal function code received by drive The TouchPad data table is incorrect for the drive InvldRsp Error I...

Page 158: ...aud TABLE A 5 Encoder Output Parameter List for TouchPad Display Parameter by 1 Divide Encoder counts by 1 by 2 Divide Encoder counts by 2 by 4 Divide Encoder counts by 4 by 8 Divide Encoder counts by...

Page 159: ...o Start on every Enable a Parameters available only if the drive supports Indexing TABLE A 11 Reverse Enable for Homing Display Parametera Inactive No reversing if started on Sensor Active Reverse if...

Page 160: ...urrent Command IPeak Positive Current Peak IPeak Negative Current Peak ILimit Positive Current Limit ILimit Negative Current Limit VelMtr Motor Velocity VelCmd Velocity Command VelErr Velocity Error P...

Page 161: ...lt ExsVErr Excess Velocity Error Comutat Commutation Angle Error Not Homd Axis Not Homed NOTE The Drive Status display is read only DrvEnab and DrvRdy indicate the drive is functional The other displa...

Page 162: ...om motor parameters are created off line and downloaded to the drive s personality module EEPROM Only one custom motor may be stored in the drive This appendix defines the motor parameters and explain...

Page 163: ...e ID to select the motor model from the drive s personality EEPROM For custom motor files OMNI LINK must transmit not only the custom motor s table ID but also the complete motor parameter set from th...

Page 164: ...o an internal document listing the information As a last resort the motor can be rotated in the lab to check the phasing If the phasing is not correct the respective leads must be physically swapped t...

Page 165: ...events the text string being changed on an existing motor file However a filename may be recycled by 1 Assign the new file a tentative filename 2 Delete the old file 3 Rename the new file using the ol...

Page 166: ...e constant from units of N m Amp rms use the formula Many Thomson Industries motors specify the torque constant in units of N m rmsA phase In this case in addition to conversion from rms Amps to peak...

Page 167: ...back EMF from units of Volts rms kRPM use the formula Also a line to line value is required rather than a line to neutral A line to line value equals a line to neutral value times two 1 Volts 1000 RPM...

Page 168: ...m motor files this parameter is not required Set it to 0 since only the Hall signals are needed for most custom motor files Figure B 4 a shows the 0o index location and Figure B 4 b shows an example o...

Page 169: ...d After the final Hall measurement occurs the encoder A B inputs are used to track the commutation angle Invert Direction The invert direction check box may be used as a substitute for swapping the mo...

Page 170: ...about 50mS present difficulties in the current regulator and should be avoided Inductances less than 1mH suffer from high current ripple and are not recommended for use with the OMNIDRIVEs Somemanufa...

Page 171: ...hermostat The thermal time constant value also known as the cool down time constant identifies how fast the motor winding temperature dissipates heat The value is entered in seconds The thermal time c...

Page 172: ...inputs to the drive are ignored When the integral thermostat check box is selected a motor overtemperature fault is displayed if the thermostat inputs to the drive are in an open state Maximum Speed...

Page 173: ...70 in lb Amp BEMF 1 1 Volt RPM per phase Motor Resistance 3 7 per phase Motor Inductance 5 0mH per phase Thermal Time Constant 30 minutes Moment of Inertia 5 1 in lb sec2 Encoder Linecount 1500 lines...

Page 174: ...before gearing is computed as Note that the back EMF was specified as a per phase value and is doubled to obtain a line to line value The motor inertia before gearing is computed as The resistance and...

Page 175: ...Offset 120 degrees Startup Commutation Hall Hall Invert Direction Unchecked Problem Possible Causes Motor locks at a certain location Motor jumps once at startup Motor runs away Low torque production...

Page 176: ...EMI and response or immunity to EMI The degree to which a device does not emit EMI and is immune to EMI is called the device s Electromagnetic Compatibility EMC EMI Source Victim Model shows the comm...

Page 177: ...he conducted EMI emitting from the drive This allows nearby equipment to operate undisturbed In mostcasesan ACline filterwillnot berequired unlessothersensitive circuits are powered off the same AC br...

Page 178: ...the drive output terminals is the use of inductance Capacitors would slow the output switching and deteriorate the drive performance A common mode choke as is used in the OMNIDRIVE canbeusedto reduce...

Page 179: ...s and as such are sometimes neglected The primary objective of a high frequency ground system is to provide a well defined path for HF currents and to minimize the loop area of the HF current paths It...

Page 180: ...antees failure to meet European EMC requirements The shield must be continuous Each intermediate connector must continue the shield con nection through the backshell All cables both power and signal s...

Page 181: ...otors such as motor driven mechanical tim ers 3 DC coils should be suppressed with a free wheeling diode connected across the coil 4 AC coils should be suppressed with RC filters a 200 Ohm Watt resist...

Page 182: ...aking Equations Equations for the magnitutde of instanteous velocity and per phase current energy and power are derived by solving the differential equation governing the motor velocity The equations...

Page 183: ...n 2 and 3 to put the power in terms of the motor parameters and the dynamic braking resistance i e independent of the load inertia PAVE 1 2 JM JL o 2 1 4 0 144 KEKT o 2 R 2RL 3 Artisan Technology Grou...

Page 184: ...tion for intermittent duty cycle and surge current applications is seldom pro vided by resistor manufacturers However often they will assist in resistor selection when supplied with the current profil...

Page 185: ...g Resistor Selection Average Power Watts 0 0 05 0 1 0 15 0 2 0 2500 5000 7500 1 10 4 P t Pave 0 144 KE KT 2 o R 2 RL Pave 1116 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Page 186: ...e and earth ground must be removed when testing Internal EMI filter capaci tors require testing with DC Voltage Motor Encoder Interface Signal Output Power 5 Volts DC Encoder Inputs A B Differential 2...

Page 187: ...gital PID 3dB Bandwidth 300 Hz 45 Bandwidth 50 Hz Ripple 0 44 RPM with 5000 line encoder Speed Range 1 8000 RPM Position Regulation Type Digital PID with Feedforward Filters Low Pass Digital 0 1000 Hz...

Page 188: ...ro Speed Speed Window Current Limit Up To Speed Drive Enabled Bus Charged Disabling Motion In Motion In Dwell Sequence Complete Registered At Home Axis Homed Speed Control Command Range 0 to 32 767 RP...

Page 189: ...surface area in ft2 2dw 2dh 2wh 144 d Depth in inches h Height in inches w Width in inches Bus Capacitance F 1170 1950 2730 Peak Power Outputb kWatts 120 Vrms kWatts 240 Vrms 0 9 1 8 1 3 2 7 2 7 5 5...

Page 190: ...ources Analog 2 3 Command Summary A 3 Common Mode Choke C 3 Compatible Components Custom Motors 2 6 Motors 2 6 Configuration Example see Example Connection Diagram Absolute Indexing 8 32 Analog Contro...

Page 191: ...Ki gain defined 9 6 Kp gain defined 9 6 P gain defined 9 5 Position Loop 9 6 Velocity Loop 9 5 Gear Ratios Custom Motors B 13 Selecting via TouchPad A 7 Graphical Symbols Intro 22 Gravitational Effect...

Page 192: ...p gain 9 6 L LED DC Bus 10 1 Line Drivers 2 3 Low Pass Filter E 2 M Main Power see Power Maintenance 11 1 Cleaning 11 1 Manual Tune Filter Adjustment 9 6 Guidelines 9 5 Procedure Position Loop 9 8 Vel...

Page 193: ...E 3 Selectable see Specifications Self Test A 1 Separation of Power Sources 7 5 Serial Communications Drive Addressing 6 28 RS 232 Multiple Axes 6 31 RS 232 Single Axis Set up 6 28 RS 485 Multiple Ax...

Page 194: ...6 A 7 Default Settings A 1 Drive Addressing Defaults A 1 Error Display A 8 Gear Ratios A 7 Installation and Operation A 1 Instructions Intro 18 Lists Baud Rate A 9 Drive Communications A 9 Selections...

Page 195: ...ng Classifications Intro 22 Defined Intro 22 Warranty Coverage Help 7 Weight E 1 Wire Size 7 5 Wiring I O 5 4 Wording Conventions Intro 21 Artisan Technology Group Quality Instrumentation Guaranteed 8...

Page 196: ...detailed in Returned Goods and Field Service Policy Products that have been modified by the customer physically mishandled or otherwise abused through incorrect wiring inappropriate settings and so on...

Page 197: ...Help 8 Our Warranty Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 198: ...call the distributor or representative where you purchased the product before con tacting the factory Applications Engineers In the United States you can reach the Thomson Industries factory based su...

Page 199: ...ion Manual for Models ODM 005 ODM 005i ODM 010 ODM 010i ODM 020 and ODM 020i 2 Channel Drive Port Washington NY 11050 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www arti...

Page 200: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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