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7XX8 Series Digital Servo Amplifier User Guide

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Table  5-8

  Position  Loop  Parameters

Содержание 7228AC

Страница 1: ...User Guide Digital Servo Amplifier Models 7228AC 7228DC 7428AC 7428DC...

Страница 2: ...logy 1 5 CE Mark and UL Conformity 1 6 Unpacking and Inspection 1 7 Technical Support 1 7 Safety 1 8 Chapter 2 Amplifier Connections 2 1 Grounding 2 3 J1 AC DC Power and Motor Phase 2 4 DC Model Power...

Страница 3: ...e with the Pendant 3 8 Homing Sequence 3 9 Software Parameter Notes 3 11 Position Loop Tuning 3 11 Installation Using a Copley Motor Data File and a New Copley Motor 3 13 Installation Using a Vendor S...

Страница 4: ...Motor Data Specification Ratings Screen 5 32 Motor Data Specification Electrical Screen 5 35 Motor Data Specification Mechanical Screen 5 36 Apply Motor Data Screen 5 32 Motor Temperature Sensor Scree...

Страница 5: ...1 4 I n t r o d u c t i o n NOTES...

Страница 6: ...be reproduced stored in a retrieval system or transmitted in any form without prior written permission of Copley Control Corp Copley Motion Explorer Motion Explorer Motion Explorer Motion Explorer Mot...

Страница 7: ...s for AC brushless motor control All models use industry standard 10V analog control signals for torque or velocity control A two signal digital input takes step motor command pulses for position cont...

Страница 8: ...is desired the Reset input can be momentarily connected to ground A red green status LED speeds diagnostics when the amplifier is put into operation Features TheDigitalServoAmplifierModel7XX8Servowor...

Страница 9: ...tput output to gnd over under voltage motor or amplifierovertemtemperatur Models The following table describes the 7XX8 Series Digital ServoAmplifiersmodelvariations l e d o M e g a t l o V k a e P I...

Страница 10: ...ng amplifierfile Adjust motor phasing Fine tune current and position loops with trace feature Select operating modes Generate new presets that you can store in flash memory on the amplifier Execute di...

Страница 11: ...a c c s e s u E M C a t a d r o t o m g n i n i a t n o c e l i f A a t a d t e s e r p f o t r a p s a y r o m e m H S A L F n i d e r o t s e b n a c t n a d n e P e h t m o r f s l a n g i s r o r...

Страница 12: ...1992 Electromagnetic Compatibility Generic Emission Standard EN 50082 1 1992 Electromagnetic Compatibility Generic Immunity Standard EN61010 1 1993 Safety Requirements for Electrical Equipment for Mea...

Страница 13: ...er Refer to the Read Me First document for a parts checklist cabling connections and Copley Motion ExplorerTM software installation instructions Technical Support For technical support you may contact...

Страница 14: ...otors with power off Voltages generated by the motor can damage drives WARNING DO connect drives using good wiring and workmanship practices NOTE DO operate drives within specifications provided in th...

Страница 15: ...rol pendant or controller PC or laptop running Copley Motion ExplorerTM Should you require it during installation this chapter provides specifics about amplifier connectors including Ground AC DC Powe...

Страница 16: ...and Direction Format Logic PWM Stage H Bridge Current Sense Internal DC supply Inrush limiter DSP FLASH RAM 2 20 1 J3 11 19 37 18 36 17 35 2 3 5 Jumper Selects Mode Selects Mode Selects 9 7 8 Analog m...

Страница 17: ...nal Grounding Signal Grounding Signal Grounding Signal Grounding Signal Grounding The signal board is fully isolated from the power section in this series of amplifiers For proper operation connect th...

Страница 18: ...uld be rated for a current of 20 amps The mains for low voltage units that use 120V AC 50 60Hz 1 phase should be rated for a current of 20 amps Fusing Fusing Fusing Fusing Fusing Model 7228AC 7228DC 7...

Страница 19: ...r e t e v i t a g e N 6 U r o t o M r o t o m f o g n i d n i w U o t t u p t u o r e i f i l p m A 7 V r o t o M r o t o m f o g n i d n i w V o t t u p t u o r e i f i l p m A 8 W r o t o M r o t o...

Страница 20: ...lifier In general the supply voltage V should be larger than the motor s nominal voltage rating for the absolute maximum voltage rating Consult the motor manufacturer for more information The current...

Страница 21: ...r e w o p C D 4 U r o t o M r o t o m f o g n i d n i w U o t t u p t u o r e i f i l p m A 5 V r o t o M r o t o m f o g n i d n i w V o t t u p t u o r e i f i l p m A 6 W r o t o M r o t o m f o g...

Страница 22: ...otect the motor from an unintentional event the current rating should be no greater than the motors continuous stall current Shielding Shielding Shielding Shielding Shielding To minimize noise radiati...

Страница 23: ...limits n i P l a n g i S n o i t c n u F 1 D N G y t e f a S d n u o r g l a n g i s l a n r e t n i o t d e t c e n n o c t o N d n u o r g s i s s a h C 2 U l l a H U r o f s t u p n i l l a H l a...

Страница 24: ...connector is a female Sub D 15 position with 4 40 standoffs for the cable shell More About Encoder and Hall Sensor Connections More About Encoder and Hall Sensor Connections More About Encoder and Hal...

Страница 25: ...2 6 Quadrature Encoder Pulses Encoder Receiver Encoder Receiver Encoder Receiver Encoder Receiver Encoder Receiver The same encoder receiver circuit Figure 2 7 is used to receive the quadrature encode...

Страница 26: ...coder circuit power Phase A Index Phase B Case Gnd 5V Power 250mA max Motor Figure 2 8 Quadrature Encoder Differential Configuration J2 Receiver circuit same for all encoder inputs 7 6 8 1 Phase A Rec...

Страница 27: ...shown in Figure 2 10 Figure 2 10 Hall Signals Hall Input Circuit Hall Input Circuit Hall Input Circuit Hall Input Circuit Hall Input Circuit The same Hall input circuit Figure 2 11 is used to receive...

Страница 28: ...uit The temperature sensor input circuit Figure 2 13 receives signals from sensing devices such as thermal sensors The circuit works with resistive sensors or an open closed switch to ground The 7XX8S...

Страница 29: ...1 7 t u O 0 s u t a t S 1 t u p t u o s u t a t s r e i f i l p m A 5 2 3 t e s e r P s e n i l t c e l e s e d o m t e s e r p 4 f o 1 8 t u O 1 s u t a t S 2 t u p t u o s u t a t s r e i f i l p m...

Страница 30: ...s a preset Ref Ref Shld Enable Pos enable Neg enable J3 Signal Gnd Signal ground Note Amplifier signal ground must be connected to controller ground Inputs Preset 2 Preset 1 Preset 0 Preset 3 Reset Ch...

Страница 31: ...s analog torque or velocity commands from the controller in the range of 10V The differential configuration reduces common mode noise Figure 2 16 Connections to a Controller Digital Command Inputs Dig...

Страница 32: ...eceiver Digital Remote Connections The next several figures illustrate possible configurations to a remote computer controller Figure 2 19 Differential Pulse and Direction Configuration Receiver circu...

Страница 33: ...efore is the least desirable Pulse and Direction single ended TTL configuration Receiver circuit same for all digital channel inputs Dir Dir Pulse Channel B Receiver Channel A Receiver Ch B Gnd Ch A G...

Страница 34: ...ectronic gearing can be used to ratio the master encoder command Figure 2 22 Differential Master Encoder Connections Copley Driver Shld Quadrature master encoder differential configuration Phase A Ind...

Страница 35: ...11 26 or 34 or the pin can be driven by a voltage between 0 and 10VDC Using this technique the current limit can be controlled over a range of 100 to 0 of the peak Copley Driver 200k 1nF Analog input...

Страница 36: ...s These inputs are typically used with end of travel limit switches When a PosEnable or NegEnable are activated the amplifier inhibits further driving into a travel limit but still enables the amplifi...

Страница 37: ...hort circuit The Reset line should be activated after the fault is removed In the case of over temperature fault the amplifier can be re enabled after the case temperature cools to 70 C In the case of...

Страница 38: ...ctions to a Remote Computer Connections to a Remote Computer Connections to a Remote Computer Input circuit same for all presets and reset Copley Driver 22k 22k 10nF Common Pull up to 5V or Pull down...

Страница 39: ...DC Maximum sink current 250mA On resistance 5 ohms The status outputs can be used to drive a relay opto coupler or PLC input See Figure 2 27 which contains a relay and optocoupler configuration with a...

Страница 40: ...analog conditions measured inside the amplifier The output can be software configured to produce a voltage proportional to phase current in a motor winding motor velocity or other parameters Figure 2...

Страница 41: ...e coupling of PWM noise data signal wiring should be multiple conductor twisted pair shielded cable The amplifier looks like DCE Data Communications Equipment and does not require a null modem cable R...

Страница 42: ...ifiers when operating amplifier in RS 232 mode Figure 2 30 RS 232 Cable and Connnector RS 232 Ribbon Cable 1 5 9 2 3 TXD RXD GND RS 232 Receiver Transmitter J4 DB 9 Female Connector 1 5 9 RS 232 Seria...

Страница 43: ...7XX8 Series Digital Servo Amplifier User Guide 2 29 NOTES...

Страница 44: ...ternal buss voltage is within limits AND NOT Fault Ready Amp OK AND NOT enabled Normal Amp OK AND enabled r o l o C n o i t i d n o C e l b a n E o t d e r i u q e R n o i t c A g n i h s a l F n e e...

Страница 45: ...gure 2 33 JP13 3 4 5 6 7 8 1 2 Jumpers Settings RS 232 Default JP6 JP4 Function A B JP3 Factory installed Do not move JP2 Analog Scale Default Range 20Vmax JP1 Force 9600 Baud J3 Signal J2 Encoder Hal...

Страница 46: ...edures enabling you to install a Copley supplied motor or your own motor In this chapter there are procedures for several motor installation scenarios Installation Using a Copley Motion Explorer Devel...

Страница 47: ...ll connectors are properly secured Figure A 3 2 Make sure the Status indicator on the amplifier is flashing green while power applied 3 On the pendant board Figure B 1 a Make sure all the switches are...

Страница 48: ...PC to the amplifier 5 Select the Desired Baud rate 6 Select Connect button to establish communication with the amplifier A successful connection is indicated by the following The Amplifier Found indic...

Страница 49: ...3 4 Getting Started Figure 3 1 Welcome Screen Figure 3 2 On Line Connection Screen...

Страница 50: ...splays the status information most recently retrieved from the amplifier You can check the Status Updates box to continuously update the Amplifier status Now screen This screen displays the amplifier...

Страница 51: ...plifier Status Now screen select More to display expanded software parameters 2 Verify that the software parameters displayed on the Amplifier Status Now screen are identical to the software parameter...

Страница 52: ...tor shaft 2 Observe the Motor Actual Position count change in the Amplifier Status Now screen If the amplifier is using Hall based phasing and the Halls are connected properly then phase initializatio...

Страница 53: ...ier s Status indicator turns solid green Initiate a Move with the Pendant 1 Observe the Amplifier Status Now screen Make sure all the indicators Communications Amp OK and Enable are green If they are...

Страница 54: ...or drives into the stop until the limit switch is hit The motor is then backed off until the limit switch transitions back The actual home position is dependant upon these switch characteristics This...

Страница 55: ...3 10 Getting Started Figure 3 4 Homing Sequence...

Страница 56: ...n If you do not enter a value for Deceleration then the Acceleration value is used Position Loop Tuning The position loop tuning parameters are determined by a mathematical model They are initialized...

Страница 57: ...er 5 for other position loop values Figure 3 5 Position Loop Tuning Trace You can use the Performance Trace screen to tune the system while the load is attached by exciting a profile On the Main menu...

Страница 58: ...your Copley folder in the Copley Motion Explorer directory Using a ccm File 1 Perform Verifying Hardware Installation p 3 1 2 Perform Starting Copley Motion Explorer p 3 3 3 On the Main menu Select Fi...

Страница 59: ...en as necessary See the section later in this chapter called Adjusting Calculated Motor Data 7 Select Save As File if you d like to save the calculated data to your PC as a ccm file Select Save to Amp...

Страница 60: ...ave the data in the Amplifier Status Now screen to the flash memory on the amplifier 11 After saving data as a preset you can select File Save As at the Main menu to save the data as a cca file 12 Pro...

Страница 61: ...3 16 Getting Started NOTES...

Страница 62: ...dback Ratings Electrical and Mechanical Enter motor data from the specification into those screens 5 Select Save File As to save the specification data as a ccm motor file for future use 7 Select Calc...

Страница 63: ...amplifier 11 Selecting Save File As saves the data contained in the Amplifier Status Now screen to the PC as a cca file 12 Review the next section Adjusting Calculated Motor Data 13 Go to the followin...

Страница 64: ...a voltage or resistance is used to set the peak current limit When Internal the continuous current limit and peak current limit values are used The average voltage can be limited to the motor by sett...

Страница 65: ...ata No Halls If no Halls are present then set Phasing Mode to Algorithmic and Phase Correct Mode to ON Also set a Phase Init Time and set Commutation Mode to Sinusoidal Proceed to the next sections En...

Страница 66: ...tion to the index pulse Aids you in verifying the number of encoder lines Perform the Encoder Checking routine before attempting to auto phase a new motor You may also use this routine if you suspect...

Страница 67: ...r counts 7 If the motor shaft did not rotate use the Motor Command tuning slide to apply more current Select Check Encoder Counts again The amount of current applied is a percentage of the Continuous...

Страница 68: ...o amplifier The routine may direct you to re adjust Encoder Polarity and A B Index in the pull down menus provided on the screen Linear Motor Encoder Check You may perform a Linear Motor Encoder Check...

Страница 69: ...or is free to move bi directionally and not connected to a load Note Before you begin auto phasing you must have completed the steps in the earlier sections Installation Using a Vendor Specification a...

Страница 70: ...essing and Using the Auto Phasing Screen 1 On the Main menu select Tools Auto Phase The Auto Phasing screen Figure 3 9 displays 2 Check Auto Update to display the Hall States 3 Select Attempt Phasing...

Страница 71: ...The auto phasing routine has three main subroutines First the routine checks for proper direction and commutation You will notice the Hall Angle indicators turn on and off as the auto phasing routine...

Страница 72: ...m with the alignment of the Halls on the motor Select Apply to Amp to save the values generated by auto phasing to flash memory on the amplifier After Auto Phasing 1 Open the Amplifier Status Now scre...

Страница 73: ...3 28 Getting Started Figure 3 11 Encoder Check Figure 3 12 Encoder Check...

Страница 74: ...Checking and Auto Phasing routines should be executed to establish proper phasing Values for current loop gain terms P and I are calculated or configured General Rules Algorithmic phasing should only...

Страница 75: ...rity normally low pulse high index _ _ or normaly high pulse low index _ must be set correctly for proper algorithmic phasings or phase correction Also the location of the index pulse A B Index must b...

Страница 76: ...no load 2 Set Commutation mode to Sinusoidal 3 Set Phase mode to algorithmic 4 Set Phase init time to 400 ms 5 Set Phase correct mode to On 6 Set Command Current to a sufficient value usually provide...

Страница 77: ...t i o s e l b a i l e r y l h g i h e r a a l e d o m e h t y b d e t a l u c l a c e s u l a v m e h t e g n a h c o t y r a a s s e c e n p o o L n o i t i s o P h t d i w d n a B I s e u l a v D I...

Страница 78: ...erating modes that you may select to run with your amplifier and motor You select these modes using the Copley Motion ExplorerTM software Operatingmodesinclude Torque mode Position mode Velocity mode...

Страница 79: ...profile and position loop are not applicable Selecting Torque Mode 1 From the CME Main menu select the Amplifier pull downmenu 2 Select Status Now to display the Amplifier Status Now screen 3 Scroll...

Страница 80: ...motor the Encoder checking and Auto phasing routines should be executed in order to establish proper phasing Procedure 1 Disconnect the load from motor when testing Torquemode operation 2 Set the Ope...

Страница 81: ...no voltage limit Figure 4 1 illustrates typical connections in Torque mode Figure 4 1 Typical Connections in Torque Mode J2 J1 J3 Encoder A Encoder A Encoder B Encoder B Encoder X Encoder X 5V Gnd Ha...

Страница 82: ...imits current loop values The values for Command Current Motion Profile and Position Loop are not applicable Selecting Torque Mode Using a 10V Reference 1 Select the Amplifier pull down menu from the...

Страница 83: ...Select the button to display the full Amplifier Status Now screen 4 From the Operating Modes pull down menu select Pos Torque Position Mode with Encoder and Halls Use this procedure for position mode...

Страница 84: ...t Position then click Apply A motion profile should execute 7 Save the settings to Preset 0 Any will do 8 Enter Target Position 0 and click apply The profile should return to the 0 position Save setti...

Страница 85: ...e U Phase V Phase W Preset 0 Preset 1 Status 0 Enable Neg Enable Pos Enable I O Logic Motor Halls Encoder 6 13 15 7 14 8 2 3 4 Signal ground Note Amplifier signal ground must be connected to controlle...

Страница 86: ...for position loop values are applicable In Velocity mode you can also set up the system to command velocity from a 10V reference This is described later in this section Selecting Velocity Mode 1 From...

Страница 87: ...Amplifier pull downmenu 2 Select Status Now to display the Amplifier Status Now screen 3 Scroll right until the More button is displayed Select the button to display the full Amplifier Status Now scr...

Страница 88: ...screen 3 Scroll right until the More button id displayed Select the button to display the full Amplifier Status Now screen 4 From the Operating Modes pull down menu select Pos Torque 5 From the Motion...

Страница 89: ...rifiedandfunctioning properly Positionmodeoperationverifiedandfunctioning properly Procedure 1 Disconnect load from motor when testing master encodermodeoperation 2 Set the operating mode to Pos Torqu...

Страница 90: ...et 2 Gear ratio 1 1 2 Slave Master ratio 1 1 2 retarding J2 J1 J3 Encoder A Encoder A Encoder B Encoder B Encoder X Encoder X 5V Gnd Hall U Hall V Hall W Gnd Phase U Phase V Phase W Preset 0 Preset 1...

Страница 91: ...4 14 Amplifier Operating Modes Notes...

Страница 92: ...perform with CME are described in Chapter 1 CME features and functions are available to you via a series of easy to use Windows based screens To open the initial CME Welcome screen 1 In Windows Selec...

Страница 93: ...5 2 Using Copley Motion Explorer Figure 5 1 Welcome Screen...

Страница 94: ...atus Line The Main window controls are located in the top row of the window and consist of the CME icon and the minimize maximize and close window buttons Selecting the CME icon pull down menu provide...

Страница 95: ...i f a x c s i x a r o a c c r e i f i l p m a m c c r o t o m a s n e p O r e h t e g o t a t a d r o t o m d n a r e i f i l p m a e h t l l a s n i a t n o c e l i f a x c e h T r e d l o f r e r o...

Страница 96: ...Status Now and Preset Manager screens Amplifier Menu The Amplifier menu has the following options Connect to Host for On Line Connection Amp Setup Status Now and Preset Manager Selecting an option op...

Страница 97: ...f A s n r u t r o t a c i d n i d n u o F r e i f i l p m A n e h w d e t a c i d n i n o i t c e n n o c l u f s s e c c u S n e e r c s n o i s r e V e r a w m r i F d n a r e b m u N l a i r e S l...

Страница 98: ...t r o f d e r i u q e r e m i t e h t s t e S e t e l p m o c e s i o n h c t i w s s t u p n I t e s e r P t n a d n e p n o 5 2 3 J 6 3 J 4 2 3 J 5 3 J s e n i l t u p i t e s e r P e r o n g i d e...

Страница 99: ...atus and parameters which contain adjustable data Initially only the top third of the screen displays to indicate Motor status including Actual Position Target Position RPM Torque Cont Limit Peak Limi...

Страница 100: ...v t n e s e r P x a M s p m A 0 1 e u q r o t s u o u n o i t n o c m o r f d e t a l u c l a C t i m i L k a e P x a M s p m A 0 2 s e u l a v l a n r e t n i r o l a n r e t x e y b t e S t i m i l...

Страница 101: ...ator is green there is a good connection When Status Updates is on the indicator refreshes at the same rate as the updates Amp Ok Button The Amp OK button is a useful troubleshooting tool If an AMP OK...

Страница 102: ...f o s s o l A r e i f i l p m a s t u p t u O M W P t e s e r r o n o t t u b s i h t h t i w r a e l c o t t p m e t t A d r a o b r e w o p h t i w m e l b o r p s e t a c i d n I n w o d l o o c o...

Страница 103: ...lines to switches on the pendant board Switching the Pos or Neg enable to off halts the motor s rotation When properly connected to a motor the Enable Pos and Neg indicators should be green If not use...

Страница 104: ...the number of the last preset loaded displayed More Less Button Clicking this button Figure 5 6 changes the Amplifier Status Now screen by increasing or decreasing the displayed portion of the window...

Страница 105: ...t e l e D w o N s u t a t S r e i f i l p m A n e e r c s t e s e r P s a e v a S n i d e y a l p s i d y l t n e r r u c s r e t e m a r a p s e v a S w o N s u t a t S r e i f i l p m A o t n e e r...

Страница 106: ...orm algorithmic phasing Enables The Amplifier Status Now screen contains check box controls several Enable lines Figure 5 10 Select the enables as you would set digital logic on a controller For examp...

Страница 107: ...cification screens You can manually change adjust these parameters Table 5 7 to satisfy your application requirements You can save all of the parameters on the Amplifier Status Now screen as one of 16...

Страница 108: ...w d e s u t o N s i x a e h t p o t s r a e G e d o m e l i f o r p n o i t i s o P h t i w d e s U r o t o m e h t f o n o i t a n i t s e d y r o t c e j a r t e h t s t e S d i o z e p a r T d n a...

Страница 109: ...a position You can use the Motor Data Specification screen to calculate initial position loop values Using the tuning slides on the Apply Motor Data screen adjust the values until they are within a us...

Страница 110: ...i d e h t f o n i a g d r a w r o f d e e f n o i t a r e l e c c a e h t s t e S f f v K r o t o m e h t r o f r e t l i f o v r e s l a t i g i d e h t f o n i a g d r a w r o f d e e f y t i c o l...

Страница 111: ...and P and I values Figure 5 13 Current Loop Parameters r e t e m a r a P s e t o N n i a G p o o L P t n e r r u c d e d n a m m o c d n a l a u t c a n e e w t e b r o r r e o t l a n o i t r o p o r...

Страница 112: ...by Copley controls to the Motor Data Specification screen Open the Motor Data Specification screens and manually input the data from your motor s specification In the last two scenarios select Calcula...

Страница 113: ...t r o f e d o m n o i t a t u m m o c a s t c e l e S l a d i o s u n i S t u b l a n o i t p o s l l a H r o t o m n o r e d o c n e s e r i u q e R s r o t o m L B C A h t r i w d e s U d e d n e m...

Страница 114: ...n e o t e v i t a l e r e s l u p x e d n i f o g n i m i T 0 0 i H e s l u p x e d n i h t i w o L B o L A 1 0 i H e s l u p x e d n i h t i w i H B o L A 0 1 i H e s l u p x e d n i h t i w o L B i...

Страница 115: ...NonInverting or Inverting Gear Ratio is used to set the number of input pulses to the same count as the number of output pulses on the motor 65536 equals a 1 to 1 count Value slave counts master count...

Страница 116: ...example can be used to amplify a small monitored signal The Offset can be 10 volts Note The monitored signal is adjusted before writing to theDigital to AnalogConverterasfollows For 32 bit signals Out...

Страница 117: ...t u m m o c r e t f a 1 g n i d n i w r o f t n e r r u c d e d n a m m o C 1 r e i l p i t l u m t n e r r u C d e d n a m m o C 2 g n i d n i W V 0 1 A 5 2 x a M n o i t a t u m m o c r e t f a 2 g...

Страница 118: ...c a d n a d e d n a m m o c e h t n e e w t e b e c n e r e f f i d e h T s t i b 6 1 o t d e p p i l c d e d n a m m o C d e p p i l c y t i c o l e V 2 e l c y c s t n u o c r e d o c n e y t i c o...

Страница 119: ...gram the pendant indicators STAT 0 and STAT 1 to indicate whether a motion profile is active or a fault has occurred Select the Status Output button to open the Status Output screen Check the appropri...

Страница 120: ...arameters for a selected preset 0 15 A preset is an instance of all the necessary motor and amplifier data necessary to make a motor perform a predefined task When you select Preset Manager Preset 0 d...

Страница 121: ...t n e r r u c e h t n i s e u l a v e h t l l a s r a e l C e t a g o r r e t n I C P e h t n i M A R o t r e i f i l p m a e h t m o r f t e s e r p a s d a o l p U y p o C e t s a p y a m u o y h c...

Страница 122: ...he Motor Data Specification screen which contains a series of tabs used to access other screens is displayed Figure 5 22 Motor Type is the first screen displayed Figure 5 21 Main Menu Figure 5 22 Moto...

Страница 123: ...igure 5 21 you can input information about the motor s manufacturer model and type On this screen brushless is defined as a sinusoidally or trapezoidallywound wyeordeltaconnectedbrushless motor Two bu...

Страница 124: ...coder lines Typical Encoder lines values are 500 1000 1024 etc During the Encoder Check Routine Chapter 3 CME multiplies the number of Encoder lines found by four to determine encoder counts per revol...

Страница 125: ...ng your motor specification in order to calculate amplifier parameters enter your motor data on this screen Figure 5 24 Motor Data Specification Ratings Screen Linear Parameters Linear Continuous Forc...

Страница 126: ...ta on this screen if you are manually entering your motor specification in order to calculate amplifierparameters Figure 5 25 Motor Data Specification Ratings Screen Linear Parameters Linear Force Con...

Страница 127: ...y entering your motor specification in order to calculate amplifier parameters enter motor data on this screen Figure 5 26 Motor Data Specification Mechanical Screen Linear Parameters Linear mass Kg L...

Страница 128: ...of the Motor Data Specification screens Type Feedback Ratings Electrical and Mechanical 2 The CME software models the data you ve input then displays the recommended parameters on the Apply Motor Dat...

Страница 129: ...e models the data and displays the results in the Apply Motor Data screen Note The parameters on this screen are detailed in the previous section describing the Amplifier Status Now screen Tuning Slid...

Страница 130: ...s e l b a i l e r y l h g i h e r a p o o L n o i t i s o P h t d i w d n a B D d n a I s e u l a v D I P s t c e f f a t i s a h t i w d n a b m e t s y s e h t e g n a h c o t d e s U y l n i a m n...

Страница 131: ...er Motor Temperature Sensor Screen From the Motor drop down menu you can access the Motor Temperature Sensor screen Use the adjustable slides to set upper and lower temperature thresholds Figure 5 28...

Страница 132: ...u provides access to the following features Trace Graph Options Download Firmware and Encoder Check Auto Phasing and Home Tools Trace Graph This feature lets you select parameters Figure 5 29 to trace...

Страница 133: ...arameters Selecting Update displays trace parameters after an update command or after applying a change Selecting Arm initiates a trace Selecting AutoArm repeatedly initiates a trace Select Torque dis...

Страница 134: ...you select a default port and baud rate for communications between the amplifier and a PC or laptop Check box controls allow let you to select Automatic Connect on Startup and Status Query Status Quer...

Страница 135: ...5 44 Using Copley Motion Explorer Tools Options Directories The Directories screen shows the location of and allows access to various amplifier and motor files Figure 5 32 Options Directories Screen...

Страница 136: ...ries Digital Servo Amplifier User Guide 5 45 Tools Options Advanced When you select Help Copley on the Web CME uses the address here to access the Copley Controls Web site Figure 5 33 Options Advanced...

Страница 137: ...firmware 3 Selecting Open displays the message Erasing old firmware A bar graph which signifies the new firmware is being loaded is displayed When the bar graph is full the update is complete 4 At the...

Страница 138: ...uadrature pulses Verifies the presence of an index pulse Verifies that you have selected the correct A and B signal synchronization to the index pulse Aids you in verifying the number of encoder lines...

Страница 139: ...e when wiring a new vendor motor to the amplifier You can use the Auto Phasing routine to phase Hall sensors the encoder and motor output wires Execution of the routine enables you to achieve proper p...

Страница 140: ...7XX8 Series Digital Servo Amplifier User Guide 5 49 Tools Homing Sequence The options available for the Homing Sequence are described in Chapter 3 Homing Sequence...

Страница 141: ...tion Explorer Diagnostics Menu The Diagnostics menu contains the features Amp OK Trace Comm Log Groups and Special You do not have access to the Amp Ok Trace and Group items They are for use by Copley...

Страница 142: ...tions are 16 bit words the first eight bits consist of the hexadecimal code that represents the instruction For example in Figure 5 36 notice the Sent Get Acceleration command It s hexadecimal represe...

Страница 143: ...5 52 Using Copley Motion Explorer Figure 5 36 Diagnostics Comm Log Screen...

Страница 144: ...e commands hex code low byte which is initially displayed in a grey box In conjunction with the Communication Log screen Figure 5 38 you can verify that specific commands are sent and received Select...

Страница 145: ...ls Cascade Tile Horizontal Tile Vertical Arrange Icons and Amplifier Status Now The Help menu provides you with on line Help for the Copley Motion ExplorerTM software Some limited Help is available as...

Страница 146: ...ain menu select Help About to display the software release version of Copley Motion ExplorerTM Figure 5 39 Select Information About to display Microsoft SystemInformation Figure5 40 Figure 5 40 Micros...

Страница 147: ...lifier Status Now and each of the 0 15 presets Selecting an icon opens the Amplifier Status Now screen or a Preset Manager screen for a specific preset View Explorer located on the Main menu acts as a...

Страница 148: ...dow Figure 5 42 to halt a motor If you close this window you must restart CME to re display it Selecting Stop Motor overrides the Enable Overide indicator button on the Amplifier Ok screen If Enable O...

Страница 149: ...function If a sequence is selected in a particular preset see figure 5 43 the CVM program will run the selected function after the preset is loaded Figure 5 43 CVM Sequence selection When the CVM pro...

Страница 150: ...om sequence is selected in a particular preset it will run after the preset is loaded See the associated document with the Custom CVM Program being used for details The Standard CVM Program loaded by...

Страница 151: ...5 60 Using Copley Motion Explorer NOTES...

Страница 152: ...Model 7228AC 7428AC Output power Peak power 20A 110VAC 20A 205VAC Peaktime 1 second at peak power or 2 seconds after polarity reversal Continuous power 10A 130VDC 10A 250VDC Output voltage On resistan...

Страница 153: ...delay Time delay Mechancial Weight 3 71 lb 1 69kg without optional heatsink Add 3 2 lb 1 47kg for heatsink J1 H N U V W BUSS 1 2 3 4 5 6 7 8 9 AC MOTOR Westwood MA USA Model 7428AC Input 32 264VAC 50...

Страница 154: ...D solder cup backshell AMP 747916 2 749916 2 or equivalent J4 RS 232 9 position female Sub D 4 40 standoffs for cable shell lock screws Use a 9 pin Male Sub D solder cup backshell AMP 747904 2 749914...

Страница 155: ...delay Time delay Mechancial Weight 2 71 lb 1 23kg without optional heatsink Add 3 2 lb 1 47kg for heatsink 1 00 2 00 5 55 4 91 3 00 0 93 4 00 7 50 7 00 STATUS J1 U V W Westwood MA USA 1 2 3 4 5 6 7 B...

Страница 156: ...fs for cable shell lock Use 15 pin Male Sub D solder cup backshell AMP 747904 2 749915 2 J3 Signal 37 position female Sub D 4 40 standoffs for cable shell lock screws Use 37 pin Male D solder cup back...

Страница 157: ...ts PWM frequency 25kHz Modulation Center weighted 50 duty cycle at 0V output Reference inputs Torque or velocity Analog 10V Differential 94KW between inputs 20V maximum Position Digital 2 signal TTL a...

Страница 158: ...hen enabled Green Normal Amplifier enabled and AMP OK Red Buss fault non latching over or under volage condition Amplifier recovers when in normal range Blinking red Latching fault Output overcurrent...

Страница 159: ...buffered encoder output B Enc Buffout X HCMOS differential line driver buffered encoder output X Hall inputs U V W Single ended 10k Ohms internal pull up to 5V Logic inputs TTL 28V max Group programm...

Страница 160: ...to output short Latches unit OFF will reset if Reset input is connected to Gnd or when power is recycled Output to ground short Latches unit OFF will reset if Reset input is connected to Gnd or when p...

Страница 161: ...VAC Line Cord Fuse J3 SIGNAL 1 J2 MOTOR 1 8 J4 DATA 1 5 9 19 6 20 37 9 15 Green RS 232 Cable PC or Laptop Motor Power Cable Refer to the application note for connection details for this kit Encoder Ha...

Страница 162: ...able Logic Controller PLC You can use the pendant in a system to test and debug your application The pendant has a number of components that you can use Switches for initiating signals and presets Con...

Страница 163: ...c t i w S D W F V E R n I e u q r o T s a i b e h t e g n a h c n a c u o y e u q r o T s o P V 0 1 y t i c o l e V r o e d o m e g a t l o v t i m i L t n e r r u C r e t e m o i t n e t o P k a e p...

Страница 164: ...7XX8 Series Digital Servo Amplifier User Guide B 3 Figure B 1 Pendant Module...

Страница 165: ...22 Neg Enable 4 Home Home NegEn PosEn Enable 26 Signal Gnd 17 Ch A 35 Ch A 18 Ch B 36 Ch B 19 Ch X 37 Ch X 27 5V 34 0V Signal Gnd 11 Signal Gnd 15 5V 34 Signal Gnd 1 3 2 CW 1 3 2 CW 5k 5k 1 21k 1 21k...

Страница 166: ...6 1 3 2 e z i s r o f e l b a c d e d l e i h s d e t s i w T r e i f i l p m A s e r u t a e F C A 8 2 2 7 s n i a m C A z H 0 6 0 5 C A V 2 3 1 2 3 m o r f e s u o u n i t n o c A 0 1 k a e p A 0 2...

Страница 167: ...4 7 1 0 0 E A 3 3 2 L B C n i z o 4 4 1 n i z o 0 0 7 m p r 0 0 8 2 3 2 e z i S d n u o r 8 3 5 0 0 t i K C A 8 2 2 7 1 0 0 E B 3 3 2 L B C n i z o 0 4 1 n i z o 5 8 6 m p r 0 0 0 6 3 2 e z i S d n u...

Страница 168: ...UL Conformity 1 6 Copley Motion Explorer Software 1 4 5 1 Copley Virtual Machine CVM 5 58 Command Option 5 15 Communications Button 5 10 Communications Log Screen 5 51 commutation 2 13 Connections to...

Страница 169: ...otor Phase Wiring Connections 2 8 Motor Signal Wiring Connections J2 2 9 Motor Temperature Sensor Screen 5 40 P Parameter Control Buttons 5 14 Pendant Module B 1 Performance Trace Screem 5 41 p h a s...

Страница 170: ...een 5 43 Tools Options Directories Screen 5 44 Tools Options Advanced Screen 5 45 Torque Mode 4 2 Trace Graph 5 41 T r a v e l l i m i t I n p u t s 2 22 U User and Control Signals J3 2 16 u s e r i n...

Страница 171: ...I 4 I n d e x NOTES...

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