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AMCI SV160E2 Скачать руководство пользователя страница 37

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786



Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com

37

REFERENCE 3

M

OVE

P

ROFILE

C

ALCULATIONS

The equations in this reference use a unit of measure of steps/second/second (steps/second

2

) for acceleration

and deceleration. However, when programming the SV160E2, all acceleration and deceleration values must
be programmed in the unit of measure of steps/second/millisecond.



To convert from steps/second

2

to steps/second/millisecond, divide the value by 1000. This must be done

when converting from a value used in the equations to a value programmed into the SV160E2.



To convert from steps/second/millisecond to steps/second

2

, multiply the value by 1000. This must be

done when converting from the value programmed into the SV160E2 to the value used in the equations.

Constant Acceleration Equations

When you choose to use constant accelerations, the speed of the move will increase linearly towards the Pro-
grammed Speed. This is the fastest form of acceleration, resulting in the fastest move between two points at
its programmed speed.

Figure R3.1 Constant Acceleration Curves

Variable Definitions

The following variables are used in these equations:



V

P

= Programmed Speed of the move



a

= Acceleration value. Must be in the units of steps/second

2



d

= Deceleration value. Must be in the units of steps/second

2



T

A

or T

D

= Time needed to complete the acceleration or



deceleration phase of the move



D

A

or D

D

= Number of Steps needed to complete the acceleration



or deceleration phase of the move



This reference was added because some of our customers must program very
precise profiles. Understanding this section is not necessary before programming
the SV160E2 and it can be considered optional.

SPEED

AC

C

E

L

E

R

A

TIO

N

TIME

TIME

t

t

Programmed
Speed

«
...
35
36
37
38
39
...
»

Содержание SV160E2

Страница 1: ...MICRO CONTROLS INC ADVANCED U s e r M anual Manual 940 0S252 E2 Technology...

Страница 2: ...ls and workmanship for a period of 18 months Within this warranty period AMCI shall at its option repair or replace free of charge any equipment covered by this warranty which is returned shipping cha...

Страница 3: ...17 Capture Encoder Position Input 17 General Purpose Input 17 Enabling the Driver 17 STO Option 18 Basic Functionality 18 Additional Functionality 18 Reference SV160E2 Specifications continued Status...

Страница 4: ...de 45 Power Up Behavior 45 Data Format 45 Command Mode Data Formats 46 Output Data Format 47 Configuration Word 0 Format 47 Reference Configuration Mode Data Format cont d Read Data Blocks 49 Extended...

Страница 5: ...Input Connector 82 Compatible Connectors and Cordsets 83 CNFL 5M Color Code and Shield Wire 83 Cable Shields 83 DC Input Wiring 84 Sinking Sensors Require a Pull Up Resistor 84 STO Input Wiring 85 Ex...

Страница 6: ...ections 110 Supported Modbus Functions 111 Supported Modbus Exceptions 111 Task 6 PROFINET Network Configuration Basic Steps 113 Download the GSDML files 113 GSDML File Installation 113 Configure the...

Страница 7: ...DLR When PROFINET is enabled the unit supports the Media Redundancy Protocol MRP and can be incorporated in PROFINET installations that use a redundant ring topology Navigating this Manual This manual...

Страница 8: ...ET International PI Adobe and Acrobat are registered trademarks of Adobe Systems Incorporated All other trademarks contained herein are the property of their respective holders Revision Record This ma...

Страница 9: ...es Homing an SV160E2 41 Reference information on how to set the home position of the SV160E2 Configuration Mode Data Format 45 Reference information on the format of the network data to and from the S...

Страница 10: ...ABOUT THIS MANUAL SV160E2 User Manual ADVANCED MICRO CONTROLS INC 10 Notes...

Страница 11: ...incorporated into the devices to meet many unique application requirements Each unit has two Ethernet ports which are internally con nected through an onboard two port 10 100 Mbps ether net switch Th...

Страница 12: ...eral Purpose Input Safe Torque Off Functionality The SV160E2 can be ordered with STO Safe Torque Off functionality under the part number SV160E2 STO Safe Torque Off allows you to remove power from the...

Страница 13: ...ac dc isolation Motor Inertia 48 x 10 6 kg m2 Torque Constant 0 124 Nm A Torque generated by the motor can be estimated by multiplying the Torque Constant by the motor current reported in the Network...

Страница 14: ...the SV160E2 as a motion axis by constantly updating position and velocity data to the unit Linear and Circular axes are both supported Relative Move Allows you to drive the motor a specific number of...

Страница 15: ...ty PI loop The position setpoint SPPOS in the figure below is generated and updated by the SV160E2 through the motion profile generator The velocity feed forward value FFVEL in the figure below is als...

Страница 16: ...t to zero 4 Once the immediate stop completes the SV160E2 checks the difference between the Encoder Position and calculated Profile Position If the error is less than the programmed Maximum Position E...

Страница 17: ...e on the input Only Jog Moves and Registration Moves can be stopped this way all other moves ignore this input Capture Encoder Position Input As described in the Start Indexed Move Input and Stop Jog...

Страница 18: ...ed by commands from the host controller It can only be cleared by cycling power to the unit Figure R1 3 Basic STO Operation Additional Functionality The STO option adds an additional configuration par...

Страница 19: ...cessor and the ethernet co processor within the unit You must cycle power to the SV160E2 to attempt to clear this fault Flashing Green Initializing Waiting for valid physical connection to the network...

Страница 20: ...rts LED State EtherNet IP Definition Modbus TCP Definition PROFINET Definition Off No Power No power or no TCP connections No power duplicate IP address on the network mismatch in Device Name or no co...

Страница 21: ...power stage of the motor A 12 to 24 Vdc source must be connected to both of the STO inputs for normal operation The power stage to the motor is directly disabled if either of the inputs are pulled lo...

Страница 22: ...important to choose a supply with the proper over current protection You should choose a supply whose protection circuitry results in a constant current control In over current situations the power su...

Страница 23: ...a supply that can deliver 175 of peak motor power should be used The second line of defense is a braking resistor also known as a regeneration resistor Braking resistors and their control circuitry a...

Страница 24: ...w terminal connections 6 to 8 mm dia cable Straight IP67 rated when properly installed AMCI Binder Description MS 37 99 0486 12 08 Mating connector for Input Connector Female 8 pin A coded Screw termi...

Страница 25: ...at a particular point in time The range of position values is 1 073 741 824 to 1 073 741 823 Encoder Position Encoder Position is defined in counts and is the actual physical position of the motor sha...

Страница 26: ...lt in clockwise moves while negative offsets result in counter clockwise moves Note that the Profile and Encoder Positions can be forced to roll over with relative moves For example if the Profile Pos...

Страница 27: ...eleration Value which is also programmed by the move command until the Target Position B is reached The motor stops at this point Note that the acceleration and deceleration values can be different in...

Страница 28: ...deceleration If a stall is not detected during the stop the motor will return to the Profile Position value If a stall is detected during the stop the SV160E2 will disable the motor and issue a Posit...

Страница 29: ...te and stop When stopped successfully the SV160E2 will set a In_Hold_State bit in the input data table The Relative Move can be restarted with the Resume Move command from the host controller or the m...

Страница 30: ...rotary table you can drive the table to any angle without hav ing to calculate the distance to travel For example an Absolute Move to 180 will move the table to the correct position regardless of wher...

Страница 31: ...low a Jog Moves begins and accelerates at the programmed rate to the Programmed Speed and continues until a stop condition occurs It is possible to change the speed of a Jog Move without stopping the...

Страница 32: ...on values sent with the command the move will not begin and the SV160E2 will issue a Command Error An additional feature of the Registration Moves is the ability to program the driver to ignore the Co...

Страница 33: ...e Pro grammed Number of Steps parameter A Registration Move does not go into the Hold State if the Hold Move command is used to stop the move and it cannot be restarted with the Resume Move command Im...

Страница 34: ...move is finished A Jog Move that is started as an Indexed Move will come to a controlled stop when the command bit in the Network Output Data is reset to zero It is possible to perform an indexed Jog...

Страница 35: ...the point at which the position rolls over and returns to zero On the SV160E2 units this parameter has a range of 1 024 to 1 073 741 824 When using the SV160E2 as an axis follower it is best to run t...

Страница 36: ...ght to a controlled stop by issuing a Hold Move command but they cannot be restarted Registration Moves Registration Moves can be brought to a controlled stop by issuing a Hold Move command but they c...

Страница 37: ...e used in the equations Constant Acceleration Equations When you choose to use constant accelerations the speed of the move will increase linearly towards the Pro grammed Speed This is the fastest for...

Страница 38: ...200 000 steps Total Distance needed to accelerate and decelerate 250 000 200 000 450 000 steps If a move with the above acceleration deceleration and programmed speed has a length greater than 450 00...

Страница 39: ...erating Total Time Equations For Trapezoidal Profiles you must first determine the number of counts that you are running at the Pro grammed Speed This value DP below is equal to your DA and DD values...

Страница 40: ...MOVE PROFILE CALCULATIONS SV160E2 User Manual ADVANCED MICRO CONTROLS INC 40 Notes...

Страница 41: ...ased on sensors brought into the unit The CW Find Home command begins searching by rotating the motor shaft in the clockwise direction and ends when the home sensor triggers while the SV160E2 is rotat...

Страница 42: ...eration to the Programmed Speed 2 Run at the Programmed Speed until the Home Input activates 3 Deceleration and stop followed by a two second delay 4 Acceleration to the Programmed Speed opposite to t...

Страница 43: ...SV160E2 correctly or if both overtravel limits are activated while the unit is trying to find the home position Figure R4 2 Profile with Overtravel Limit 1 Acceleration to the Programmed Speed 2 Run...

Страница 44: ...that Find Home commands cannot be resumed once held Immediate Stops You issue an Immediate Stop command through the Network Input Data An inactive to active transition on an input configured as an E S...

Страница 45: ...rror Command Mode This mode gives you the ability to program and execute moves and reset errors when they occur The com mand data formats are described in the following chapter Power Up Behavior An SV...

Страница 46: ...t parameters and data values are written to and read from the SV160E2 using the 32 bit double integer format with little endian format Little endian format is used by the EtherNet IP pro tocol A confi...

Страница 47: ...guration Command Number These four bits define the Configuration Command that is being written to the SV160E2 Bits 07 04 Reserved Must equal zero Bits 03 00 Data Block Number Programming configuration...

Страница 48: ...tor Configuration Block 0x4 RESERVED 0x5 Velocity Control Loop Block 0x6 Position Control Loop Block 0x7 0xE Reserved 0xF Restore Factory Defaults to RAM 0011 0x3 RESERVED Not used Set to 0x0 01xx 0x4...

Страница 49: ...uested data is the same as the Write Data Blocks listed in the following sections Factor Defaults are restored to RAM memory You must issue a Save Configuration to Flash command to store these values...

Страница 50: ...rmally Open NO contacts and current flows through the input when it is active Inputs 3 and 4 on the SV160E2 STO drives must have their active state bits set to 1 Bits 3 0 Input Function Sets the funct...

Страница 51: ...0 0 1 CW Limit Input defines the mechanical end point for CW motion 0 1 0 CCW Limit Input defines the mechanical end point for CCW motion 0 1 1 Capture Encoder Value Start Indexed Move An inactive to...

Страница 52: ...Use Table R5 6 Velocity Loop Proportional Gain Values Velocity Loop Proportional Gain Load Inertia Motor Inertia Ratio Velocity Feedback Low Pass Filter Values 0 1 2 3 4 5 Unloaded 5561 2780 1854 139...

Страница 53: ...all positional errors This results in better positional tracking but may result in more ringing in response to a position change and motor shaft jitter while at rest Table R5 7 Velocity Loop Values Bl...

Страница 54: ...the SV160E2 responds to the configuration block the unit will echo the Command and Data Block numbers in these bits In the case of Write Configuration blocks if there is an error in the data bit 13 o...

Страница 55: ...teps per turn to any value other than 16 384 3 Setting any parameter to a value outside of its valid range 4 You configure two or more inputs to have the same function such as two CW Limit Switches An...

Страница 56: ...CONFIGURATION MODE DATA FORMAT SV160E2 User Manual ADVANCED MICRO CONTROLS INC 56 Notes...

Страница 57: ...ndian format by default The endian format used by the SV160E2 is programmable in the configuration data using the Data_Endian parameter The default is little endian Output Data Format The following ta...

Страница 58: ...rd 1 Bit 7 When this bit equals 0 and a Jog Move command is issued it will run as a standard Jog Move When this bit equals 1 and a Jog Move command is issued the move will run as a Registration Move A...

Страница 59: ...ommand Word 1 Format Bit 15 Enable_Driver 0 to disable the motor current A 0 1 transition attempts to enable motor cur rent A valid configuration must be written to the SV160E2 before the driver can b...

Страница 60: ...t 1 Set Maximum Move Torque Reset to 0 to use the Peak and Continuous Torque values specified in the Configuration Data for the move Set to 1 to program the maximum Move Torque value in word 8 of the...

Страница 61: ...bit Relative Target Position Steps Range of 1 073 741 824 to 1 073 741 823 3 1027 4 1028 32 bit Programmed Speed Steps Second Range of 1 to 1 048 575 5 1029 6 1030 Acceleration Steps sec ms 1 to 15 9...

Страница 62: ...rPROFINET Word Modbus TCP Register Function Units Range 0 1024 Command Word 0 16 0008 1 1025 Command Word 1 See pg 59 2 1026 Unused See Note Below 3 1027 Unused See Note Below 4 1028 32 bit Programmed...

Страница 63: ...1 See pg 59 2 1026 Unused See Note Below 3 1027 Unused See Note Below 4 1028 32 bit Programmed Speed Steps Second Range of 1 to 1 048 575 5 1029 6 1030 Acceleration Steps sec ms 1 to 15 999 7 1031 De...

Страница 64: ...Programmed Speed Steps Second Range of 1 to 1 048 575 5 1029 6 1030 Acceleration Steps sec ms 1 to 15 999 7 1031 Deceleration Steps sec ms 1 to 15 999 8 1032 Maximum Move Torque 0 01 Nm 0 10 to 130 0...

Страница 65: ...cts to the changes in position from the master axis Once the SV160E2 initially accelerates to the preset speed of the virtual axis the unit accepts changes in the acceleration value in word 6 as part...

Страница 66: ...Programmed Speed Steps Second Range of 1 to 1 048 575 5 1029 6 1030 Acceleration Steps sec ms 1 to 15 999 7 1031 Deceleration Steps sec ms 1 to 15 999 8 1032 Maximum Move Torque 0 01 Nm 0 10 to 130 0...

Страница 67: ...Stall_Detected Invalid_Jog_Change and Connection_Was_Lost status bit in the Network Input Data Resetting errors will not reset the Position_Invalid or Configuration_Error bits EtherNet IP orPROFINET W...

Страница 68: ...ver during a move will result in a controlled stop and the SV160E2 will issue a command error response EtherNet IP orPROFINET Word Modbus TCP Register Function Units Range 0 1024 Command Word 0 16 000...

Страница 69: ...Disabling the motor while motion is occurring Switching to Configuration Mode while the motor is enabled Enabling the motor if the Profile and Encoder positions differ by greater than 4 096 counts whe...

Страница 70: ...e an Immediate Stop command during a move will set this bit to 1 but the Move_Complete Bit bit 7 above will not be set For Axis Follower Moves the Stopped bit resets to 0 once the command is accepted...

Страница 71: ...a Jog Move are Programmed Speed Acceleration Deceleration and Maximum Move Torque Bit 8 STO_Failure This bit is only available on SV160E2 STO units Reset to 0 during normal opera tion this bit is set...

Страница 72: ...e of the input is programmed as explained in the Block 2 I O Configuration Block section starting on page 50 Bit 0 IN1_Active 1 when Input 1 is in its active state The active state of the input is pro...

Страница 73: ...nge of 550 to 1000 the braking resistor is used when the power bus voltage exceeds the set value The value is programmed in steps of 0 1 V The range of 550 to 1000 corresponds to a voltage range of 55...

Страница 74: ...Exceeding 549 watts may force the drive into current limit and cause a loss of motion control If the calculated peak braking power exceeds 549 watts increase the deceleration time or change the gear r...

Страница 75: ...rmined in step 4 and the maximum value deter mined in this step Step 6 Determine Average Power Rating To determine the average power dissipated by the braking resistor you have to determine the peak p...

Страница 76: ...ed during deceleration One option is to choose a resistor whose power rating is equal to the peak power calculated in step 3 instead of the average power calculated in step 6 The other option is to fi...

Страница 77: ...often go out the wrong port The easiest way to avoid this problem is to temporarily disable all network interfaces that are not attached to the SV160E2 This includes all wireless interfaces as well as...

Страница 78: ...click on the appropriate interface and select Properties In the window that opens select Internet Protocol Version 4 TCP IP v4 from the list and then click on the Properties button Set the address an...

Страница 79: ...nto the unit specifically into the M12 connectors Debris may cause damage to the unit or unintended machine operation with possible personal injury 1 2 3 Remove Power Before Servicing Remove power bef...

Страница 80: ...The SV160E2 is not water tight Its IP64 rating makes it acceptable for use in dusty environments environ ments with condensation and environments where the unit may be exposed to splashing water 1 4...

Страница 81: ...an S coded connector because of this high voltage Most S coded cordsets have three black wires and a single green yellow wire When using such a cable with an SV160E2 it is strongly recommended to lab...

Страница 82: ...ounting Figure T1 3 M12 Power Wiring 1 7 Input Connector All input connections are made at the Input Connector This connector is a standard eight pin A coded M12 connector that is rated to IP67 when t...

Страница 83: ...NFL 5M Cable 1 7 3 Cable Shields Because they are low power signals cabling from the sensor to the SV160E2 should be done using a twisted pair cable with an overall shield The shield should be grounde...

Страница 84: ...stor Sensors with sinking outputs require an external pull up resistor because the digital inputs of the SV160E2 units also sink current Table T1 1 below shows the values of pull up resistors that wil...

Страница 85: ...o both inputs to bypass the STO functionality Col ors in parentheses are the appropriate wire color for the CNFL 5M cable Figure T1 8 STO Input Connections 1 9 1 Extending the STO Cabling The STO inpu...

Страница 86: ...the connector and Ethernet standards AMCI offers the following mat ing connector and cordsets that mate with the Ethernet port connectors Table T1 4 Compatible Ethernet Connectors and Cordsets 1 10 2...

Страница 87: ...ne unit in the ring to the next 1 12 PROFINET Connections 1 12 1 Non MRP Applications The SV160E2 unit has two Ethernet ports with a built in Ethernet switch connecting the two In non MRP applications...

Страница 88: ...INSTALLING THE SV160E2 SV160E2 User Manual ADVANCED MICRO CONTROLS INC 88 Notes...

Страница 89: ...255 255 255 0 The easiest way to verify this address is with the ping command as described in the Test Your Network Interface section found on page 78 If the driver does not respond to this address t...

Страница 90: ...uring Network Interfaces which starts on page 77 The network interfaces on your computer must be on the same subnet before you can communicate with an SV160E2 2 2b 1 Disconnect the SV160E2 from the ho...

Страница 91: ...r desired values into the IP Address Subnet Mask and Default Gateway fields The Default Gateway setting is not optional It must be set to a valid address on the chosen subnet Because the Default Gatew...

Страница 92: ...up window to appear before cycling power to the SV160E2 Cycling power before this window appears may corrupt the non volatile memory of the unit The SV160E2 unit will also flash its Network Status LE...

Страница 93: ...me of this writing the link was AMCI Configuration software for all networked products 2 2c 2 Install the AMCI Net Configurator Utility Once downloaded simply extract the program from the ZIP file and...

Страница 94: ...O CONTROLS INC 94 2 2c Use the AMCI Net Configurator Utility continued 2 2c 5 Start the AMCI Net Configurator Utility Double click on the utility s icon A welcome screen similar to the one in figure T...

Страница 95: ...al Connect button and enter the IP address of the unit Figure T2 5 Scan for SV160E2 If scanning for the SV160E2 click on the IP Address of the unit and click on the Connect button The Net Configurator...

Страница 96: ...value for it AMCI suggests setting the Default Gateway to the IP address of your host controller 2 2c 9 Set the Communications Protocol The factory default protocol for the SV160E2 is EtherNet IP In o...

Страница 97: ...nu bar select Tools EDS Hardware Installation Tool This will open the EDS Wizard Figure T3 1 Opening the EDS Wizard 2 Click on Next to advance to the Options screen Many EtherNet IP platforms support...

Страница 98: ...ext Figure T3 2 EDS Options Screen 2 The registration screen will open Select the Register a single file radio button Figure T3 3 EDS Registration Screen 3 Click on the Browse button and browse to the...

Страница 99: ...Press on the Next button to advance to the Change Graphic Image screen This screen gives you the ability to change the icon associated with the device Figure T3 5 Change ECS Icon Screen 6 Click on th...

Страница 100: ...O Configuration tree before adding the unit to your project Refer to your Rockwell Automation documentation if you need instructions for configuring the ethernet port 3 4 Add the SV160E2 to Your Proje...

Страница 101: ...by the EDS file 3 5 1 General Tab The Name Description and IP address of the device must be specified here The Change button allows you to change the Module Definition if needed 3 5 2 Connection Tab T...

Страница 102: ...ble input data during the program scan Figure T3 9 Buffer I O Data When copying input data the data can be converted from byte to integer format by specifying an integer array as the destination for t...

Страница 103: ...This file must be at least 10 words in length A Message MG data file This file must have at least two elements one to control the Read Operation and one to control the Write Operation An Extended Rou...

Страница 104: ...t 1 Integral and press Enter 3 Double click in the Communication Command field click on the select CIP Generic and press Enter 4 If the Message Instruction is being used to read data from the SV160E2...

Страница 105: ...r 9 For Read operations the Service Code field will change to E hex For Write operations the Ser vice Code field will change to 10 hex For both read and write operations the Class field will change to...

Страница 106: ...60E2 Please note that the Data Table Address Send field may be different in your application Figure T4 4 Write Message Instruction Setup Screen Click on the MultiHop tab on the top of the window As sh...

Страница 107: ...s 1 Double click on Channel Configuration in the Project Tree and then select the Channel 1 tab The fol lowing window will open Figure T4 6 MicroLogix Ethernet Configuration Screen 2 Enter the IP addr...

Страница 108: ...ETHERNET IP EXPLICIT MESSAGING SV160E2 User Manual ADVANCED MICRO CONTROLS INC 108 Notes...

Страница 109: ...er address 3 the fourth register contains Discrete Inputs 48 through 63 The Coil and Holding Register tables in the Modbus data model map to the same physical memory locations in the SV160E2 units The...

Страница 110: ...can be downloaded at http www modbus org specs php Figure T5 1 Modbus Data Reference Map 5 4 Supported Number of Connections All SV160E2 units support five concurrent connections When connections exis...

Страница 111: ...6 Supported Modbus Exceptions Table T5 2 Supported Modbus Exceptions Function Code Function Name SV160E2 Register Addressing method 1 Read Coils OUTPUT Bit Addresses starting at 16 384 2 Read Discret...

Страница 112: ...MODBUS TCP CONFIGURATION SV160E2 User Manual ADVANCED MICRO CONTROLS INC 112 Notes...

Страница 113: ...SDML File Installation 1 Open or create a new project that will include the SV160E2 and open the Project View of the project 2 In the menu select Options Manage general station description files GSD 3...

Страница 114: ...ware Catalog vertical tab to open the Hardware Catalog 3 You can search for SV160 or browse to the SV160x2 icon by clicking through Other field devices PROFINET IO IO Advanced Micro Controls Inc AMCI_...

Страница 115: ...on the SV160x2 icon and select Properties from the pop up menu The Inspector window will open at the bottom of the screen Under the General tab select the General heading You can rename the SV160E2 b...

Страница 116: ...fields a pop up will appear that shows you the valid range of values Even though your selections are limited it is still possible to mis configure the SV160E2 by using this screen For example it is p...

Страница 117: ...e T6 1 Table T6 1 PROFINET I O Configuration 1 With the SV160x2 icon selected on the PROFINET bus click on the Device view tab The view in the Hardware Catalog will change Expand the Module tree to sh...

Страница 118: ...able select the SV160E2 in the table 4 Confirm that the PROFINET device name at the top of the screen is correct 5 Click on the Assign name button to write the device name to the SV160E2 The Online st...

Страница 119: ...appropriate domain Use the Media redundancy role drop down menu to select Client 3 Continuing in the Inspector window select Advanced options Port 1 Port interconnection Under Partner port the partne...

Страница 120: ...LEADERS IN ADVANCED CONTROL PRODUCTS ADVANCED MICRO CONTROLS INC...

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