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SMI21

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Example: With a torque setpoint on input 6 at 200 mN.m and a torque ramp setpoint on input 5 at 50
mN.m/s, this gives us the following graphic representation (recording time of 20 seconds):

Figure

273

Note: The display scales can be changed with the mouse wheel. Other functions are available by right-
clicking the mouse.

Figure

274

Torque setpoint

Real torque

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Содержание 801400SMI21

Страница 1: ...afe place Give this manual and any other documents relating to the product to anyone that uses the product Read and be sure to comply with all the safety instructions and the section Before you Begin...

Страница 2: ...3 2 Options 12 3 2 1 Holding brake 12 3 2 2 Gearboxes 12 3 2 3 Other 12 4 Accessories 12 4 1 Starter Kit 12 4 2 Extra Stoppers 12 5 Installation 13 5 1 Overview of the Installation Procedure 15 5 2 El...

Страница 3: ...3 10 7 Updating the Firmware 44 11 Application programs 46 11 1 Description 46 11 2 Description of the Monitoring Part 47 11 3 Valve Group 48 11 3 1 Valve 4 positions Application Program 48 11 3 2 Val...

Страница 4: ...Inputs in C100 Programs 143 12 3 2 Types of Outputs in C100 Programs 143 12 3 3 Description of the Various Tabs 144 12 3 4 Expert Program C101 149 13 Saving Parameters 156 14 Diagnostics and Troublesh...

Страница 5: ...re identified by warning symbols Depending on how serious the situation is the safety instructions are split into 3 risk categories DANGER DANGER indicates a directly dangerous situation which if the...

Страница 6: ...lied with options such as Different gearboxes A failsafe holding brake Different motor output shaft versions 1 4 Identification Label The label contains the following data 1 Product family code 2 Prod...

Страница 7: ...ctronic base PRODUCT REFERENCE 8 0 X X X X X X Motor Type of stator 14 30mm brushless stator 18 50 mm brushless stator 28 50 mm brushless stator high torque Gearbox adaptation 00 no gearbox 10 RAD10 g...

Страница 8: ...electronic equipment in the whole installation 2 2 Use in Compliance with Industry Practice As demonstrated in these instructions this product is a component designed for use in industrial environmen...

Страница 9: ...e motor depending on its intended use Do not touch unprotected live parts Only use electrically isolated tools AC voltages can be connected to unused conductors in the motor cable Isolate unused condu...

Страница 10: ...scribed in this manual has a central role must be carefully and meticulously checked prior to commissioning to ensure it is working properly Failure to comply with these precautions can result in deat...

Страница 11: ...ximum permissible axial force Failure to comply with these precautions can result in death serious injury or damage to equipment The maximum press fit force is limited by the maximum permissible axial...

Страница 12: ...d in the catalogue are planetary gearboxes which combine compact size and robust design and worm gearboxes that allow a shaft output at right angles to the motor shaft 3 2 3 Other Other types of adapt...

Страница 13: ...equipment to fail Keep people with implants such as pacemakers away from the motor Do not place sensitive equipment in the immediate vicinity of the motor Failure to comply with these precautions can...

Страница 14: ...oads If subjected to stress the motor can be damaged or even fall Do not use the motor as a step Prevent the motor from being used in any way other than its intended purpose by installing guards or di...

Страница 15: ...nstalling the motor power supply leads When planning the wiring take account of the fact that the motor power supply leads must be kept separate from line supplies or cables carrying signals Comply wi...

Страница 16: ...tructions Avoid any direct contact between the skin or sealing materials and the cleaning product used Flange mounting surface The mounting surface must be stable flat and clean In regards to installa...

Страница 17: ...ases lead to encoder system failures and generate unexpected motor movements Use conductive parts e g antistatic straps or other appropriate measures to avoid a static charge due to movement Failure t...

Страница 18: ...he end product range of application For the power supply to the power part we recommend using a double insulated stabilized power supply The motor is not protected against polarity reversals on the po...

Страница 19: ...arc Failure to comply with these precautions can result in injury or damage to equipment CAUTION IRREPARABLE PRODUCT DAMAGE CAUSED BY REVERSED POLARITY Incorrect connection of the power can result in...

Страница 20: ...e any damage Do not continue with the test if there is anybody or any obstacle in the danger zone Failure to comply with these precautions can result in death serious injury or damage to equipment CAU...

Страница 21: ...TO ELECTROSTATIC DISCHARGES Electrostatic discharges ESD on the USB B to USB A micro connector can in some cases lead to deterioration or destruction of some system components and generate unexpected...

Страница 22: ...ully released before initiating a movement Check that the USB micro connector s protective stopper has been replaced correctly WARNING UNEXPECTED MOVEMENT As a result of incorrect wiring or other erro...

Страница 23: ...e temperature when performing a test Failure to comply with these precautions can result in injury or damage to equipment CAUTION VOLTAGE SURGES During braking phases the motor generates voltage surge...

Страница 24: ...o Easy to use even by a layman thanks to simplified application programs that are quick to get up and running o Wide choice of expert programs covering a wide range of applications o USB connection vi...

Страница 25: ...is DCmind Soft software is needed the first time the motor is used and for debugging It is used for Selecting the motor operating program o Position o Speed o Torque o Quick and easy starting using pr...

Страница 26: ...mpedance In1 to In4 RIN DIG 57 Input impedance I5 to I6 RIN ANA PWM 69 Low logic level on inputs In1 to In4 VIL DIG 0 2 V High logic level on inputs In1 to In4 VIH DIG 4 50 V Low logic level on inputs...

Страница 27: ...5 Analog setpoint or PWM or Digital Blue 6 Input no 6 Analog setpoint or PWM or Digital Orange 7 Logic ground 0 VDC Black 8 Logic ground 0 VDC White Black 9 Output no 1 Digital or PWM Brown 10 Output...

Страница 28: ...wer supply 12 VDC 48 VDC Brown Power ground 0 VDC Blue The power supply cable is UL approved Style 2517 105 C 300 V 500 mm long as standard When a cable extension is used the cable cross section size...

Страница 29: ...is not protected against polarity reversals on the power cable A polarity reversal can damage the product irreversibly 9 1 1 Ballast Circuit When the motor brakes the kinetic energy stored in the ine...

Страница 30: ...voltage surges at the motor terminals Figure 5 9 1 1 2 Determining the Size of the R12 Resistor RBallast The higher the braking current the lower the resistor value Typical values are around several...

Страница 31: ...ircuit to protect it The voltage breaking capacity usually selected is between 10 and 20 of the supply voltage E g For 24 VDC the voltage breaking capacity would be 28 VDC List of components for the u...

Страница 32: ...e set to STOP mode Protection against undervoltages When the supply voltage falls below 8 V the product automatically switches to ERROR mode In ERROR mode the motor is no longer controlled To reset th...

Страница 33: ...or The stopper has a retainer to keep it attached to the motor Figure 6 Figure 7 Insert the USB cable and install the drivers as instructed Take care never to touch the connector or contacts inside th...

Страница 34: ...SMI21 34 Incorrect stopper fitting Figure 9 Figure 10 Correct stopper fitting Figure 11 Figure 12...

Страница 35: ...SMI21 35 9 4 Input Output Connection 9 4 1 Equivalent Input Diagram NPN digital inputs Figure 13 Analog PWM digital inputs Figure 14...

Страница 36: ...ution The output level is the same as the motor supply voltage if V DC 48V then Out1 Out2 Out3 Out4 48 V In the event of rejection this voltage increases accordingly and can rise up to 57 V maximum vo...

Страница 37: ...adapt its operation to the application 10 2 System Required The HMI is compatible with the following operating systems Windows XP Family Professional with Framework version 3 5 minimum supplied on USB...

Страница 38: ...ooth is disabled on the PC The USB drivers must always be installed upstream Figure 18 Steps 1 and 2 Figure 19 Steps 3 and 4 Once installation is complete the PC software can be launched directly via...

Страница 39: ...ailable a minimum version of Framework is supplied on the USB stick in the programming kit To install version 3 5 of Framework supplied on the USB stick run the dotnetfx35 exe file and follow the inst...

Страница 40: ...MI21 40 Figure 23 Figure 24 Once installation of Framework 3 5 is complete try again to install the DCmind Soft HMI referring to the Installation of the Crouzet DCmind Soft HMI section in this documen...

Страница 41: ...can refine the motor operation by accessing all the adjustment parameters via the expert program linked to the application program and changing the pre filled values Expert programs The expert program...

Страница 42: ...site http www crouzet com Description of the tabs on the main menu bar Figure 27 Motor Information window Figure 28 The Help tab contains the SMI21 DCmind Brushless motors user manual in pdf format La...

Страница 43: ...tect button to start the automatic motor search If a motor is connected to the PC it is automatically detected and the following window appears Figure 30 Figure 31 Click OK the motor is now connected...

Страница 44: ...product not working Power up the motor and click Bootloader in the main menu bar entire memory completely rewritten the following window appears Figure 32 A warning message appears asking to confirm t...

Страница 45: ...ck the Open button updating begins Figure 35 When the update is complete the following window appears meaning that loading has been successful Figure 36 Location of the hex file being loaded Loading p...

Страница 46: ...MI21 46 11 APPLICATION PROGRAMS 11 1 Description Select an application group from the list of application programs then one of the icons corresponding to your application Figure 37 Figure 38 Figure 39...

Страница 47: ...f the connection between the HMI and the motor green for connected and red for not connected It gives in real time once a second the value of the various measurements taken on the motor voltage temper...

Страница 48: ...y To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configure the motor 11 3 1 1 Inputs Outputs Configuration Refer to the I O Conne...

Страница 49: ...or if 1 error detected 11 3 1 2 Application Settings The user can give a 4 character name in Project name which is stored in the motor and appears in the Motor Information window If it has been saved...

Страница 50: ...ser can press the STOP button at any time to stop the application quickly To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configur...

Страница 51: ...s stored in the motor and appears in the Motor Information window If it has been saved on the PC by the user this name is used by default For more details see the Saving Parameters paragraph The Numbe...

Страница 52: ...ation quickly To restart the motor the program needs to be reloaded Once the settings are complete press the Load Program button to configure the motor 11 4 1 1 Inputs Outputs Configuration Refer to t...

Страница 53: ...tion on the real torque value in PWM Cyclical ratio 0 torque 0 mNm Cyclical ratio 100 torque 1 Nm OUT3 If 0 motor running if 1 motor stopped OUT4 If 0 error detected if 1 no error 11 4 1 2 Application...

Страница 54: ...he settings are complete press the Load Program button to configure the motor 11 4 2 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs IN1 If 0 Stop if 1 Run IN2 If 0 motor run...

Страница 55: ...Cyclical ratio 100 torque 1 Nm OUT3 If 0 motor running if 1 motor stopped OUT4 If 0 error detected if 1 no error 11 4 2 2 Application Settings The user can give a 4 character name in Project name whi...

Страница 56: ...nce the settings are complete press the Load Program button to configure the motor 11 5 1 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs IN1 to IN5 32 possible combinations...

Страница 57: ...the motor direction of rotation used to reach the stop selected above forward CW rotation by default To protect the application and prevent the mechanical stop being reached each time it returns to po...

Страница 58: ...be reloaded Once the settings are complete press the Load Program button to configure the motor 11 5 2 1 Inputs Outputs Configuration Refer to the I O Connection section Inputs IN1 If 0 Stop if 1 Run...

Страница 59: ...m Cyclical ratio 100 torque maximum torque OUT3 If 0 motor running if 1 motor stopped OUT4 If 0 error detected if 1 no error 11 5 2 2 Application Settings The user can give a 4 character name in Proje...

Страница 60: ...l torque In6 Speed Speed Speed if In1 In2 In3 0 Nominal torque Key Digital type input Analog or PWM type input 12 1 2 Types of Outputs in V100 Programs For all expert speed programs 4 configurable out...

Страница 61: ...rograms whether in speed position or torque mode It can be used to choose between the various types of application and expert programs In our example we have chosen the Speed V100 category in the Expe...

Страница 62: ...containing a concise description of the various speed profiles that are created using this expert mode Figure 48 Summary description of the profiles that can be created using this expert mode speed c...

Страница 63: ...SMI21 63 12 1 3 3 Inputs Tab This tab is used to configure the various inputs in this expert mode digital input polarity value control type maximum and minimum control limit etc Figure 49...

Страница 64: ...nd modify the speed control loop coefficients It is common to all the speed expert programs Figure 51 Output 1 type parameter settings Output 2 type parameter settings Output 3 type parameter settings...

Страница 65: ...Action for the overtorque error can be configured Setting the parameters associated with torque control Summary description of torque control Overvoltage threshold settings if this value is exceeded a...

Страница 66: ...alog or PWM control Set the nominal and maximum torque parameters for the application safety via the HMI 12 1 4 2 Inputs Tab Parameters Digital input 1 Used to set the On Off input polarity Figure 52...

Страница 67: ...puts Figure 55 Setpoint input 5 Used to select the control type for the acceleration deceleration setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Figure...

Страница 68: ...Hall pulses per revolution 4 pairs of poles Figure 58 Setting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output and the torque value correspo...

Страница 69: ...ting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a...

Страница 70: ...t for which the motor runs at 1000 RPM 200 500 or 1000 Hz Figure 66 State of digital output 2 Real direction Used to find out the motor direction of rotation Figure 67 State of digital output 3 Motor...

Страница 71: ...running in reverse CCW at maximum speed setpoint defined in In6 Figure 70 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this...

Страница 72: ...n in the example below ensure correct product operation in the majority of cases Figure 74 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 m...

Страница 73: ...on setpoint on input 5 at 800 RPM s this gives us the following graphic representation recording time of 10 seconds Figure 77 Note The display scales can be changed with the mouse wheel Other function...

Страница 74: ...rovide torque up to the value CMAX for the maximum duration tMAX Thereafter if the application torque is still higher than CNOMINAL the motor torque is limited to the value CNOMINAL until the applicat...

Страница 75: ...tMAX Figure 80 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Figure 81...

Страница 76: ...trol Set torque limiting with analog or PWM control 12 1 5 2 Inputs Tab Parameters Digital input 1 Used to set the On Off input polarity Figure 82 Digital input 2 Used to set the Direction of rotation...

Страница 77: ...er inputs Figure 85 Setpoint input 5 Used to select the control type for the torque limiting setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Figure 86 S...

Страница 78: ...Hall pulses per revolution 4 pairs of poles Figure 88 Setting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output and the torque value correspo...

Страница 79: ...ting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a...

Страница 80: ...t for which the motor runs at 1000 RPM 200 500 or 1000 Hz Figure 96 State of digital output 2 Real direction Used to find out the motor direction of rotation Figure 97 State of digital output 3 Motor...

Страница 81: ...unning in reverse CCW at maximum speed setpoint defined in In6 Figure 100 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this o...

Страница 82: ...in the example below ensure correct product operation in the majority of cases Figure 104 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 m...

Страница 83: ...limit on input 5 at 1000 mN m this gives us the following graphic representation recording time of 5 seconds Figure 107 Note The display scales can be changed with the mouse wheel Other functions are...

Страница 84: ...vervoltage detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Figure 1...

Страница 85: ...f digital inputs 1 to 3 Used to choose the type of speed setpoint applied at the motor input If no input is active the setpoint will be that applied to input 6 If one of these 3 inputs is active the s...

Страница 86: ...the maximum and minimum limits for this setpoint An inverted scale can be used Figure 113 Setting the acceleration and braking ramps These values are fixed via the HMI and cannot be changed by inputs...

Страница 87: ...ll pulses per revolution 4 pairs of poles Figure 115 Setting the parameters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output and the torque value correspon...

Страница 88: ...ing the parameters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a c...

Страница 89: ...for which the motor runs at 1000 RPM 200 500 or 1000 Hz Figure 123 State of digital output 2 Real direction Used to find out the motor direction of rotation Figure 124 State of digital output 3 Motor...

Страница 90: ...unning in reverse CCW at maximum speed setpoint defined in In6 Figure 127 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this o...

Страница 91: ...in the example below ensure correct product operation in the majority of cases Figure 131 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10 m...

Страница 92: ...0 RPM and a priority speed on input 3 at 3000 RPM this gives us the following graphic representation recording time of 10 seconds Figure 134 Note The display scales can be changed with the mouse wheel...

Страница 93: ...vide torque up to the value CMAX for the maximum duration tMAX Thereafter if the application torque is still higher than CNOMINAL the motor torque is limited to the value CNOMINAL until the applicatio...

Страница 94: ...e 137 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Figure 138 Procedure...

Страница 95: ...PWM control Set the acceleration deceleration phase parameters via the HMI 12 1 7 2 Inputs Tab Parameters Combinations of digital inputs 1 to 3 Used to select the type of speed setpoint applied at the...

Страница 96: ...d fix the maximum and minimum limits for this setpoint An inverted scale can be used Figure 140 Setting the acceleration and braking ramps These values are fixed via the HMI and cannot be changed by i...

Страница 97: ...ll pulses per revolution 4 pairs of poles Figure 142 Setting the parameters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output and the torque value correspon...

Страница 98: ...ters of PWM output 2 Real torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a cyclical ratio...

Страница 99: ...for which the motor runs at 1000 RPM 200 500 or 1000 Hz Figure 150 State of digital output 2 Real direction Used to find out the motor direction of rotation Figure 151 State of digital output 3 Motor...

Страница 100: ...running in reverse CCW at speed of 4000 rpm Figure 154 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this output must be ident...

Страница 101: ...n in the example below ensure correct product operation in the majority of cases Figure 158 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10...

Страница 102: ...us the following graphic representation recording time of 30 seconds Speed 1 is at 0 RPM Figure 161 Note The display scales can be changed with the mouse wheel Other functions are available by right...

Страница 103: ...e detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Figure 163 12 1 7...

Страница 104: ...ming ON OFF 1 to 6 proportional positions Homing ON OFF In3 Position 3 In4 Position 4 In5 Homing Homing Speed ramps Switch 1 limit stop Switch 1 limit stop Switch 1 limit stop In6 ON OFF ON OFF Speed...

Страница 105: ...tand by target reached if 1 Real torque centered on 50 00 error detected 01 homing not performed OR not completed 10 motor stopped AND homing completed 11 motor running positioning Digital PWM Digital...

Страница 106: ...f 2 ways With 1 limit switch by retrieving information from one of the inputs By detecting overtorque when the motor is at a mechanical stop N B The default motor direction of rotation is forward CW 1...

Страница 107: ...detected the motor is in the mechanical zero position To avoid the motor coming into contact with the END1 mechanical stop each time it returns to the reference position Offset 1 can be set in encode...

Страница 108: ...en the mechanical zero and the software zero The motor then travels in the opposite direction to find the 2nd mechanical stop END2 The END2 mechanical stop is detected in a similar way The motor is in...

Страница 109: ...changes state the Switch 1 stop is detected The motor is in the mechanical zero position To avoid the motor coming into contact with the switch each time it returns to the reference position Offset 1...

Страница 110: ...difference in position between the mechanical zero and the software zero The motor then travels in the opposite direction to find the 2nd mechanical stop END2 When the application torque increases to...

Страница 111: ...Offset 1 can be set in encoder pulses which gives us the difference in position between the mechanical zero and the software zero The motor then travels in the opposite direction to find the 2nd stop...

Страница 112: ...ograms whether in speed position or torque mode It can be used to choose between the various types of application and expert programs In our example we have chosen the Position P100 category in the Ex...

Страница 113: ...concise description of the various position profiles that are created using this expert mode Figure 172 Summary description of the profiles that can be created using this expert mode positioning with...

Страница 114: ...1st stop Figure 173 12 2 4 4 Inputs Tab This tab is used to configure the various inputs in this expert mode digital input polarity setting the parameters for the 4 target positions position maximum...

Страница 115: ...and configure the various outputs in this expert mode position type 5 to type 9 Figure 175 Output 5 type parameter settings Output 6 type parameter settings Output 7 type parameter settings Output 9...

Страница 116: ...ts nominal and maximum torque torque peak authorization and the power supply overvoltage threshold SEQ Figure ARABIC 185 This tab is used to view the selected parameters in graphic form This zone is u...

Страница 117: ...or the overtorque error can be configured Figure 177 Setting the action to be taken when an overtorque error is encountered If an error is detected that could jeopardize motor safety the motor is auto...

Страница 118: ...2 Homing Tab Parameters Set the difference in position in pulses between the mechanical stops and the application total stroke limits stop 1 END1 represents the stroke start stop 2 END2 represents th...

Страница 119: ...SMI21 119 Set the direction of rotation for the first stop search END1 N B By default the motor runs forward CW Figure 182...

Страница 120: ...sed to set the Position 1 input polarity Figure 183 Digital input 2 Used to set the Position 2 input polarity Figure 184 Digital input 3 Used to set the Position 3 input polarity Figure 185 Digital in...

Страница 121: ...speed profiles to be followed acceleration ramp speed step and deceleration ramp trapezoidal profile Figure 187 Digital input 5 Used to set the Start Homing input polarity Figure 188 Digital input 6 U...

Страница 122: ...190 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing completed in progress or not performed Figure 191 State of digital output 3 Motor runnin...

Страница 123: ...194 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing completed in progress or not performed Figure 195 State of digital output 3 Motor runnin...

Страница 124: ...torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Braking torque supplie...

Страница 125: ...torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Braking torque supplie...

Страница 126: ...Hall sensors changes state 80140_SMI21 and 80180_SMI21 motors have 12 Hall pulses per revolution 2 pairs of poles The 80280_SMI21 motor has 24 Hall pulses per revolution 4 pairs of poles Figure 204 St...

Страница 127: ...values given in the example below ensure correct product operation in the majority of cases Figure 208 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling inte...

Страница 128: ...tion 2 0 points acceleration ramp 400 rpm sec speed step 1000 rpm deceleration ramp 100 rpm sec This gives us the following graphic representation Figure 211 Note The display scales can be changed wit...

Страница 129: ...ovide torque up to the value CMAX for the maximum duration tMAX Thereafter if the application torque is still higher than CNOMINAL the motor torque is limited to the value CNOMINAL until the applicati...

Страница 130: ...an tMAX Figure 214 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor stops and no holding torque is applied freewheeling Figure 215 P...

Страница 131: ...ses and the maximum speed that must not be exceeded between each point via the HMI 12 2 6 2 Homing Tab Parameters Set the polarity of the switch wired on digital input In6 Figure 216 Set the differenc...

Страница 132: ...rmitted time for the homing phase If this value is exceeded an error will be generated Time limited to 300 s Figure 220 Set the direction of rotation for the first stop search N B By default the motor...

Страница 133: ...ters Information concerning the polarity of the switch wired on digital input 6 This polarity is selected in the Homing tab see above Figure 222 Select the number of position setpoints to be preset se...

Страница 134: ...225 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing completed in progress or not performed Figure 226 State of digital output 3 Motor runnin...

Страница 135: ...229 State of digital output 2 Homing Sequence Information Used to find out how the homing phase is progressing completed in progress or not performed Figure 230 State of digital output 3 Motor runnin...

Страница 136: ...torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Braking torque supplie...

Страница 137: ...torque centered on 50 The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100 scaling If cyclical ratio 0 Braking torque supplie...

Страница 138: ...Hall sensors changes state 80140_SMI21 and 80180_SMI21 motors have 12 Hall pulses per revolution 2 pairs of poles The 80280_SMI21 motor has 24 Hall pulses per revolution 4 pairs of poles Figure 239 St...

Страница 139: ...values given in the example below ensure correct product operation in the majority of cases Figure 243 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling inte...

Страница 140: ...c Position 2 0 points acceleration ramp 400 rpm sec speed step 1000 rpm deceleration ramp 100 rpm sec This gives us the following graphic representation Note The display scales can be changed with the...

Страница 141: ...ovide torque up to the value CMAX for the maximum duration tMAX Thereafter if the application torque is still higher than CNOMINAL the motor torque is limited to the value CNOMINAL until the applicati...

Страница 142: ...AX Figure 248 For all errors affecting motor safety the action to be taken cannot be configured in the event of an error the motor is stopped and no holding torque is applied freewheeling Figure 249 P...

Страница 143: ...ue ramp In6 Torque Torque if In1 In2 In3 0 Key Digital type input Analog or PWM type input Forthcoming programs 12 3 2 Types of Outputs in C100 Programs For all expert torque programs we have 2 config...

Страница 144: ...her in speed position or torque mode It can be used to choose between the various types of application and expert programs In our example we have chosen the Torque C100 category in the Expert Programs...

Страница 145: ...this expert mode Figure 251 12 3 3 3 Inputs Tab This tab is used to configure the various inputs in this expert mode digital input polarity value control type maximum and minimum control limit etc Su...

Страница 146: ...ure 252 12 3 3 4 Outputs Tab This tab is used to select and configure the various outputs in this expert mode torque type 2 and type 10 Output 2 type parameter settings Output 10 type parameter settin...

Страница 147: ...Figure 254 12 3 3 6 Limits Tab This tab can be used to set the power supply overvoltage threshold Figure 255 This tab is used to view the selected parameters in graphic form This zone is used to Selec...

Страница 148: ...code and the action to be taken by the motor following this error Figure 256 If an error is detected that could jeopardize motor safety the motor is automatically turned off and left freewheeling Proc...

Страница 149: ...M control 12 3 4 2 Inputs Tab Parameters Digital input 1 Used to set the On Off input polarity Figure 257 Digital input 2 Used to set the Direction of Rotation input polarity Figure 258 Digital input...

Страница 150: ...setpoint and fix the maximum and minimum limits for this setpoint An inverted scale can be used Figure 260 Setpoint input 6 Used to select the control type for the torque setpoint and fix the maximum...

Страница 151: ...ting the parameters of PWM output 2 Real Torque The parameters can be set for the signal frequency of this output must be identical to the one for PWM output 1 and the torque value corresponding to a...

Страница 152: ...running in reverse CCW at maximum speed setpoint defined in In6 Figure 266 Setting the parameters of PWM output 2 Real torque centered on 50 The parameters can be set for the signal frequency of this...

Страница 153: ...n in the example below ensure correct product operation in the majority of cases Figure 270 It is possible to set the recording time you wish to view from 1 to 300 seconds The sampling interval is 10...

Страница 154: ...setpoint on input 5 at 50 mN m s this gives us the following graphic representation recording time of 20 seconds Figure 273 Note The display scales can be changed with the mouse wheel Other functions...

Страница 155: ...overvoltage detection threshold parameters If the voltage at the motor terminals exceeds this threshold an error is generated the motor is stopped and no holding torque is applied freewheeling Figure...

Страница 156: ...ld upload the program to the motor This action is essential so that the motor can take account of the project name and the associated parameters The Project name parameter can be accessed by clicking...

Страница 157: ...SMI21 157 Figure 280 Figure 281 Select the parameter backup file...

Страница 158: ...s uploaded the HMI automatically launches the associated expert or application program in our example expert program V101 Figure 282 Press the Load Program button to load the MOT1 xml file parameters...

Страница 159: ...on device Balance the transmission device Contact the after sales service Check the rigidity of the motor fixing Axial vibration Transmission device incorrectly aligned Transmission device being knock...

Страница 160: ...ghtening torque WARNING UNEXPECTED MOVEMENT Exceeding the permissible ambient conditions can allow foreign bodies from the surrounding area to get in and lead to unexpected motor movements or damage t...

Страница 161: ...he product Replace it with a motor with the same part number Install the new product as described in section 4 Installation Commission the product as described in section 5 Commissioning 15 5 Dispatch...

Страница 162: ...Direction of rotation Positive or negative direction of rotation of the motor shaft The positive direction of rotation is clockwise rotation of the motor shaft when looking at the motor from the outp...

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