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Danaher Motion SERVOSTAR CD-LITE, Руководство пользователя

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Danaher Motion Kollmorgen Speciality Electronics 

Table of Contents 

SERVO

STAR

 CD-LITE User Manual 

i 

Table of Contents 

PRODUCT DESCRIPTION .........................................................................................................................1

 

P

RODUCT 

F

EATURES

....................................................................................................................................1

 

Main Features .........................................................................................................................................1

 

Robust Design..........................................................................................................................................1

 

FeedBack Devices....................................................................................................................................2

 

Amplifier Configuration ..........................................................................................................................2

 

MOTIONLINK Software Environment ....................................................................................................2

 

Monitoring and Troubleshooting Tools...................................................................................................2

 

Fault and Safety Detection ......................................................................................................................3

 

G

ENERAL

......................................................................................................................................................3

 

CD-Lite versus CD ..................................................................................................................................3

 

P

ART 

N

UMBER 

D

ESCRIPTION

........................................................................................................................4

 

SYSTEM STARTUP .....................................................................................................................................5

 

C

OMPUTER 

R

EQUIREMENTS

.........................................................................................................................5

 

RS-232A P

ROTOCOL 

S

ETTINGS

....................................................................................................................6

 

C

OMMUNICATION

.........................................................................................................................................6

 

I

NSTALLING 

MOTIONLINK ........................................................................................................................7

 

U

SING 

MOTIONLINK.................................................................................................................................7

 

Startup Wizard .........................................................................................................................................7

 

Main MOTIONLINK Screen ....................................................................................................................8

 

T

ERMINAL 

M

ODE

.........................................................................................................................................9

 

I

NITIAL 

S

TARTUP

..........................................................................................................................................9

 

E

NABLING THE 

S

YSTEM

..............................................................................................................................10

 

F

EEDBACK

..................................................................................................................................................11

 

Incremental Encoder .............................................................................................................................11

 

Specifications .....................................................................................................................................................12

 

Cable Lengths .....................................................................................................................................................12

 

Resolution and Accuracy....................................................................................................................................12

 

Resolver .................................................................................................................................................13

 

Specifications .....................................................................................................................................................14

 

Cable Lengths .....................................................................................................................................................14

 

Resolution and Accuracy....................................................................................................................................15

 

Halls Only...........................................................................................................................................................15

 

Encoder Equivalent Output ...................................................................................................................15

 

Resolver Systems................................................................................................................................................16

 

Encoder Systems.................................................................................................................................................16

 

SYSTEM OPERATION..............................................................................................................................17

 

O

PERATIONAL 

M

ODES

................................................................................................................................18

 

S

YSTEM 

I/O ................................................................................................................................................18

 

Analog Input (ANIN1) ...........................................................................................................................18

 

Remote Enable Input (REMOTE) ..........................................................................................................19

 

Fault Output Relay (RELAY, RELAYMODE)........................................................................................19

 

Limit switches ........................................................................................................................................19

 

Configurable Analog output (ANOUT)..................................................................................................20

 

Digital Output........................................................................................................................................15

 

C

ONTROL 

L

OOPS

........................................................................................................................................15

 

Core Processors ....................................................................................................................................15

 

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

Содержание SERVOSTAR CD-LITE

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

Страница 2: ...R Product Series M SS 008 0302 Firmware version 1 1 0 MOTIONLINK version 4 4 3 Ignite CD Lite version 1 0 5 Caution MOTIONLINK version 4 4 3 only works with Firmware version 1 1 0 and vice versa Artis...

Страница 3: ...ed in retrieval form or transmitted by any means electronic mechanical photocopying recording or otherwise without the written permission from the publisher While every precaution has been taken in th...

Страница 4: ...OTIONLINK 7 Startup Wizard 7 Main MOTIONLINK Screen 8 TERMINAL MODE 9 INITIAL STARTUP 9 ENABLING THE SYSTEM 10 FEEDBACK 11 Incremental Encoder 11 Specifications 12 Cable Lengths 12 Resolution and Accu...

Страница 5: ...NITORING SYSTEM 22 FIRMWARE UPGRADES 24 Upgrade Procedure 24 CUSTOMER SUPPORT 26 PERSONALITY MODULE FOR CD LITE 27 PREPARATION 27 DESCRIPTION AND OPERATION 27 Error Display 27 Schematic 28 How To Orde...

Страница 6: ...duct Features The SERVOSTAR CD Lite includes a vast array of features Its various control techniques interfaces and user tools give the customer a fully compatible amplifier to meet most motion contro...

Страница 7: ...and fault error checking Extensive On line Help file F1 designed to assist the user in MOTIONLINK s intuitive nature A set of limit folders allowing you to manipulate the velocity current and filterin...

Страница 8: ...gnet motor designs MTANGLC MTANGLP MVANGLF MVANGLH defined as speed and torque optimization through commutation angle advancing of the drive s output current waveform with respect to the motor s back...

Страница 9: ...CD LITE User Manual Part Number Description The SERVOSTAR CD Lite serial and model numbers are Resolver configuration could be ordered only with Logic power supplied from external 24 VDC Artisan Tech...

Страница 10: ...may find this method of communication very awkward until a certain level of familiarity with the drive s operation is achieved MOTIONLINK also provides a terminal emulation feature that contains many...

Страница 11: ...arameters to and from the PC by one of several methods described in the INITIAL STARTUP section below RAM M I CRO PRO CESSO R EEPRO M LOAD command or Power up SAVE command EEPROM variables operating p...

Страница 12: ...rs the first time and any time after should you choice not to deselect it MOTIONLINK is run on a PC It is designed to guide you through a step by step approach to configure a drive Click the START but...

Страница 13: ...d above can be accessed from this screen and should be used to make corrections in the current system configuration Setting Drive Variable Parameters From the Configure menu click the Drive option The...

Страница 14: ...abetically for easy look up and are found at the end of this manual Be sure you review this information before you begin Initial Startup Most drives are shipped from the factory already configured for...

Страница 15: ...aults SWEN Switch indicates the status of the software enable EN or DIS REMOTE Switch indicates the status of the hardware Remote Enable line on the C3 connector Ready Flag DRIVEOK fault status SWEN s...

Страница 16: ...y multiples of two ENCOUTO 1 2 4 8 16 and has a maximum frequency limit of 3 MHz The SERVOSTAR can use encoder feedback to monitor the motor shaft position As opposed to a resolver which is an absolut...

Страница 17: ...Hall Code Detection Cable Lengths The recommended cable length when using the SERVOSTAR to source the encoder is no longer than 50 ft 15 m Long encoder cables tend to have high DC resistance that may...

Страница 18: ...ngle according to A B counter A B Halls The Drive according to the hall section start commutates The Drive set the electrical angle after first hall switch From now on the Drive calculates the electri...

Страница 19: ...hs It is important to use properly shielded cable and to keep it away from other noise radiating devices and cables It is not recommended to run the feedback and motor cables in the same conduit Danah...

Страница 20: ...anics rotational 8 Resolver mounting on motor shaft 2 Inter LSB digital dither over the least significant bit 5 Total Worse case 19 Resolver Accuracy Specifications Halls Only Halls only with sinus co...

Страница 21: ...trical degrees of the feedback signal For single speed resolvers this means you can vary the position of this signal over one mechanical revolution For multi speed resolvers the mechanical position va...

Страница 22: ...r will flash at a 1 Hz rate If a fault was detected a flashing code will be displayed to identify the fault Some codes consist of a sequence of two or more digits see Troubleshooting section In genera...

Страница 23: ...from the differential receiver is applied to a precise 12 bit Analog to Digital A D conversion system The A D conversion system is read by the microprocessor 250 s for the velocity loop mode and ever...

Страница 24: ...e relay RELAY output to act as a Drive Ready or Drive Up indicator If RELAYMODE 0 the relay is closed when the drive is error free and ready to run This is a Drive Ready configuration If RELAYMODE 1 t...

Страница 25: ...of this variable allows you to measure the Velocity velocity error current command and current feedback This enables you to tune the CD LITE This pin must be referenced to DC common pin 4 Example usi...

Страница 26: ...servo control loops their characteristics and how to configure them Core Processors A 40 MHz embedded Controller and a 40 MHz DSP controller are the heart of the SERVOSTAR CD Lite They use its interna...

Страница 27: ...oops also convert the output voltage to a Pulse Width Modulated PWM signal providing the highest efficiency possible The PWM center frequency can be 8 or 16 kHz according to the drive size Commutation...

Страница 28: ...on modulation is added to the command and fed to the three phase current loop regulator which calculates a current error This error is fed through a digital pole placement compensation algorithm The o...

Страница 29: ...ximum peak current IMAX output from the drive for second After this the drive enters Foldback mode FOLD 1 and begins an exponentially Foldback to the system s continuous current It takes approximately...

Страница 30: ...ree variables against themselves at one time The Tune and Record screen allows you to evaluate the system s actual performance against a predefined command profile Also from this screen adjusting the...

Страница 31: ...Break in encoder A B input lines detected 4 4 r6 Illegal halls encoder Illegal hall combination detected 4 6 u Under voltage Bus voltage is too low 5 H Motor over temperature Motor overload caused ov...

Страница 32: ...only 36 CONFIG_FAIL_CURRENT CONFIG failed due to current loop design failure 37 01 CONFIG_FAIL_MENCOFF CONFIG failed due to MENCOFF 37 03 CONFIG_FAIL_MSPEED CONFIG failed due to MSPEED 37 04 VEL_CONF...

Страница 33: ...rmostat input is monitored for an open circuit condition The user can define using THERMODE what happens under this fault condition The worst case event is a power stage disable when an H appears in t...

Страница 34: ...drive to disable This display normally indicates the drive does not have a compensation file loaded Memory reliability During the initialization process upon power up the runtime variables memory RAM...

Страница 35: ...irm ware version Ember txt firmware upgrade utility Cdlignit exe windows application to download the firmware code Ig bat for user how want to ember in DOS Mode Ignite exe for user how want to ember i...

Страница 36: ...to start download the new firmware from PC to the CD LITE wait until you get the message download successful 10 Select Exit and turn Off the CD Lite 11 Change the DIP switches 8 and 10 to 0 back to n...

Страница 37: ...mer with information and resources as soon as they are needed In order to serve in the most effective way please contact your local sales representative to answer all your product needs If you are una...

Страница 38: ...wo switches and one green LED on it A recessed switch is used for UPLOADING parameters from the drive into the Personality Module The tip of a pen or some similar instrument is needed to access the sw...

Страница 39: ...wing diagram describes the PRMDL schematically D 9 plugs into Drive C1 Port Label Hidden switch upload Led easy switch download Download Upload CDLite How To Order The Personality Module may be ordere...

Страница 40: ...or Winding to Receptacle Wire Color MA Pin A 3 Brown Pin 3 Black Pin 1 Red Red MB Pin B 4 Red Pin 4 Red Pin 2 White White MC Pin C 1 White Pin 1 White Pin 6 Black Black GND Pin D 2 Green Yellow Pin 2...

Страница 41: ...n C Pin C Pin 4 Green Black Pin 7 Green Black pin 7 Pin 6 Shield Pin 7 8 Pin S Pin S Pin 7 Red Pin 10 Red Pin 2 Pin 9 Pin F Pin F Pin 17 Brown Pin 12 Brown Pin 10 Pin H Pin H Pin 16 Gray Pin 13 Gray P...

Страница 42: ...esn t need tuning Where in velocity mode you have to tune the PDFF VF VD and COMPFILTparameters not cover in this example Configure the CD Lite to a Motor 1 Start MOTIONLINK by clicking on the icon Yo...

Страница 43: ...se the motor configuration window 11 From the new amplifier Startup window select Next for feedback configuration 12 Select the encoder type and type the motor resolution in the resolution field you c...

Страница 44: ...log Torque 16 Select Close 17 From the new amplifier Startup window select Next for backup motor parameter to a file 18 When the Next button changes to Finish select Go 19 The main window of MOTIONLIN...

Страница 45: ...are not sure go to the terminal window and type REMOTE REMOTE should be 1 24 Change axis state from Disable to Enable 25 You can see that the seven segment of the CD Lite is now 3 Now you are about to...

Страница 46: ...ack type MSPEED Vmaxl x 60 PolePitch RPM MKT BEMFl x PolePitch 60 x 16 54 10 3Nm RMS AMP MENCRES PolePitch Resolution Motor Rev MENCOFF 0 if MENTYPE 6 MPHASE please check hall table and compare halls...

Страница 47: ...User Manual 0 to 60 Degree HA 1 HB 0 and HC 0 MPITCH 2 x Pole one electrical cycle Feedback Resolution micron PFB MPITCH MENCRES x 4 MPITCH Resolution Temp Sensor To Lx C2 Motors phases mm Artisan Tec...

Страница 48: ...rical drawing 13 Thermostat High MOT_TMP 25 Thermostat Low MOT_TMP THERMTYPE 0 for PTC When the PTC is more then 12 4 k the drive is in motor overtemperature fault state you will see H flashing in the...

Страница 49: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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