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Delta Computer Systems VMC 186/40, Руководство пользователя

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VMC 186/40 Motion Control Module                                              Control Parameters 

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 15 

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Dither (Default: 0) 

The 

Dither

 value is the amplitude, in percent of full drive, of a 500 Hz square wave that is superimposed on the 

normal drive output.  A value of 10 will cause a square wave of 10% of the drive to be applied on top of the 
normal output.  This keeps the valve free and improves valve response.  Leave this parameter at zero unless the 
valve manufacturer recommends that dither be used.  

Dither 

is applied only when the axis is at rest. 

Hysteresis (Default: 0) 

Hysteresis

 is used to compensate for drive dead band.  Some valves and drives will not react to small changes 

in output around the null drive value.  The 

Hysteresis 

value is added or subtracted from the drive output, 

depending on the direction of travel.  The drive output should then be outside of the dead band. 

 

CAUTION: Do not make this value too big or the drive will oscillate. 

Static Gain (Default: 50) 

Static Gain

 specifies the amount of drive added to the drive output for a given amount of position error while 

the axis is at rest.  

Static Gain

 is given in number of counts of drive per 100 units of error.  The 

Static Gain

 

should be set as high as possible without causing the axis to oscillate.  See 

Maximum Position Error

 parameter 

on page 19. 
 

CAUTION: Increase the 

Static Gain

 slowly. Excessive gain can cause oscillations that could damage both man 

and machine. 

Extend Gain (Default: 50) 

Extend Gain

 is similar to the 

Static Gain

, except it applies when the axis is extending.  The gain while moving 

can usually be a little higher than at rest.  This will allow tighter control of the axis while moving.  (Extending 
is the direction that returns increasing transducer counts.) 

Retract Gain (Default: 50) 

The 

Retract Gain

 is similar to the

 Extend Gain

 except it is used for retracting only. 

Integral Gain (Default: 0) 

The 

Integral Gain

 is used to adjust the drive provided by the integrator while the axis is moving.  The 

Integral 

Gain

 field should be adjusted after the feed forwards have been set to optimal values.  Using the integrator 

before the feed forward's have been set properly will cause the system to overshoot at the set point. 
 
When a 'G' command is issued, the integrator starts adding the position error (actual position - target position) 
to an accumulator every millisecond.  As long as the error is not approaching zero or has not changed sign, it is 
added to the accumulator.  When the axis starts ramping down, the accumulator is decremented at a rate 
calculated to bring the value to zero when the axis stops.  The drive provided by the integrator is given by: 

 

                   

Integral Gain

 * Accumulator 

Integral Drive = 

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                           20,000 

 

Содержание VMC 186/40

Страница 1: ...by the owner Although great effort has been taken to ensure the accuracy of the information in this document it is intended to be used only as a guide Knowledge of motion control hydraulic servos ele...

Страница 2: ...35 0 disabled 14 Minimum Update Time Default 1000 14 Dither Default 0 15 Hysteresis Default 0 15 Static Gain Default 50 15 Extend Gain Default 50 15 Retract Gain Default 50 15 Integral Gain Default 0...

Страница 3: ...ler Error Handling 30 Key Items to Remember 30 Front Panel Indicators 31 Hardware Configuration Information 32 Supported VME Bus Address Modifiers 32 Module Jumpers and Removable Resistors 32 Magnetos...

Страница 4: ...vo motors and hydraulic servo valves The VMC 186 40 occupies one slot two slots if options installed of the VME rack Programming of the VMC 186 40 is done using memory reads and writes The on board 80...

Страница 5: ...ion Inputs Four optically isolated magnetostrictive transducer interfaces 1 5V return pulse sensitivity 55 5 MHz counters 1 2 or 4 recirculations 2 default Positive or negative interrogating pulse Dri...

Страница 6: ...d 4CH Feed Forward Advance 0 Time shift in milliseconds for Feed Forward term 4EH Null Update 500 Null calculation interval in milliseconds 50H Minimum Update Time Axis one only 1000 Minimum time in m...

Страница 7: ...Halt or Estop masks are enabled for a parameter error the axis will not move Target Position The Target Position is the calculated position where the axis should be at any moment When the axis is mov...

Страница 8: ...osition 0 At Command Position 2 Halted 3 Accelerating 4 At Requested Speed 5 Decelerating 6 Stopped 7 Active 8 Parameter Error 9 Position Overflow 10 Tranducer Not Responding 11 Valve Out of Null 12 O...

Страница 9: ...2000 Transducer Counts per second This bit is intended for use as an axis obstruction indication It is not latched Bit 7 Active This bit will toggle while the motion controller module is running axis...

Страница 10: ...the 12 bit range of the A D converter Usually this error is an indication the system does not have enough power to drive the axis at the requested speed The computer will truncate the drive to 12 bits...

Страница 11: ...0 1 1 0 0 1 1 0 5 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 4 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 3 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 2 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 0...

Страница 12: ...ing 16 bit counter On axis two the toggle interval for the Status Word s Active bit is programmed The toggle interval can be programmed from 0 to 65535 If programmed with a 0 a one millisecond interva...

Страница 13: ...or applications where two or more axes are moving together the VME controller should mask out the automatic halts and take responsibility for handling any errors See the error handling section on page...

Страница 14: ...n the target position the value of null drive is decreased by one If the actual position is less than the target position the value of null drive is increased by one This minimum value depends on the...

Страница 15: ...llate See Maximum Position Error parameter on page 19 CAUTION Increase the Static Gain slowly Excessive gain can cause oscillations that could damage both man and machine Extend Gain Default 50 Extend...

Страница 16: ...ward is too small or the system response is too slow If lead errors occur the feed forward is too big or the system response is too slow The F command used after an extend move on the axis will automa...

Страница 17: ...number must be specified in the same base units as the position units inches mm etc If the calibration number is expressed in inches then position units would be expressed in inches i e 9 1392 micros...

Страница 18: ...limeter and one recirculation the Scale will be found as follows 32768 Scale 16642 003937 1mm 9 0110 55 5 1 Fine tuning for example 2 Measured Position 1 1 meter 10 000 position units Position Reading...

Страница 19: ...o Proportional Gain Maximum Position Error Maximum Proportional Drive 100 Proportional Gain represents the Extend or Retract Gain parameters At Command Position Default 50 At Command Position specifie...

Страница 20: ...used This mode only affects the drive the VMC 186 40 still expects to see the transducer counts decrease when retracting even through the drive will be positive when retracting BIT 3 Simulator When s...

Страница 21: ...s sec sec If Scale were set so one position unit equaled 0 001 then a value of 200 would represent an acceleration rate of 200 inches sec sec Using ramping distance expressed in position units is simp...

Страница 22: ...go to the Requested Position H Halt 48H 72 The Halt command is used for emergency stops jogging the axis or when the drive power is off If the axis is moving and an H is used the axis will ramp down u...

Страница 23: ...0 of full negative drive 64511 decimal Command 79 O Results in a drive value of 1024 null 1024 Prior to August of 1992 the Override command would put the axis into a mode in which only counts and serv...

Страница 24: ...r of recirculations can be selected in hardware by the proper selection of jumpers P8 P11 Normally two recirculations are used See page 33 for more information on recirculations Drive Output The drive...

Страница 25: ...ented at a rate calculated to bring the value to zero when the axis stops The drive provided by the integrator is given by Integral Gain Accumulator Integral Drive 20 000 The differentiator looks at t...

Страница 26: ...is an error a count will be added until it is corrected If the differential gain is set to a value greater then zero the differentiator will affect the drive when the axis is at rest See page 25 for...

Страница 27: ...he drive output from the VMC 186 40 15 pin connector and establish a means of moving the axis under manual control Using some type of memory monitor DCSMON monitor the appropriate memory locations Mak...

Страница 28: ...s to determine what caused the error Increase the speed and accelerations slowly while making longer moves Use DCSMON to make plots of the moves and look for lead lag overshoot or oscillations Eventua...

Страница 29: ...the hunting stops or the axis starts to oscillate If oscillations occur reduce the Hysteresis 12 The Null Update should not be used until the Hysteresis is adjusted Try to keep the Null Update interva...

Страница 30: ...the axes will stop If an error occurs on the VMC 186 40 the contact can be deactivated thus stopping the axes Usually the VME Controller will not take so drastic a step until it has determined that a...

Страница 31: ...flash red repetitively until a new command is used Note If a transducer fails to respond the output to the corresponding axis will be set to the current drive null and its LED will be red If the axis...

Страница 32: ...stors RF Resistor fuses for transducer power page 41 R1 R4 Sockets for 100 resistors when installed convert current outputs to 10 volts page 38 P4 P7 Select transducer interrogation pulse polarity pag...

Страница 33: ...axis 1 negative pulse P6 2 3 axis 3 negative pulse P5 1 2 axis 2 positive pulse P7 1 2 axis 4 positive pulse P5 2 3 axis 2 negative pulse P7 2 3 axis 4 negative pulse 1 2 3 1 2 3 P4 P5 1 2 3 1 2 3 P6...

Страница 34: ...Measurement Time 750mm Maximum Usable Transducer Resolution 1 3293mm 269us 0502mm 2 1647mm 537us 0251mm 4 823mm 1075us 0126mm CAUTION The longest measurement time should never exceed 1000 microseconds...

Страница 35: ...umpers allow the dual port memory to be placed anywhere in the 16 megabyte address space The upper 15 address lines are used to select the dual port RAM which always starts on a 512 byte boundary With...

Страница 36: ...ult for restart When jumper P12 is installed the 60 millisecond fail safe timer is connected to the board reset Normally the fail safe timer is reset every millisecond If the processor fails to reset...

Страница 37: ...Note The status ID byte is transferred using odd address low data bus D08 O VME bus conventions During the interrupt acknowledge cycle the VME Controller will indicate which IRQ line it is responding...

Страница 38: ...the 100mA output to a lower full scale current This allows the maximum output resolution of the VMC 186 40 board to be utilized with valves of less than full scale output Use of the network will also...

Страница 39: ...connect the drive outputs to the drives until the limits have been computed and VMC 186 40 properly initialized with these limits using the VME controller Delta Computer Systems Inc supplies two cabl...

Страница 40: ...tion s drive inputs to the DB15 front panel connector uses the following color code PIN Function Wire Color 1 15 input RED 2 Power Supply Common BLACK 3 15 input WHITE 4 Common GREEN 5 Drive Out 1 ORA...

Страница 41: ...10 to determine if the module is detecting a transducer error To reduce electrical noise check the following a Make sure the transducer wiring is separated from all other wiring b Add a termination r...

Страница 42: ...ent for an RMA number Returned modules should be packaged in static protection material and the RMA number clearly marked on the outside of package Please include a short note explaining the problem S...

Страница 43: ...ousandths of an inch tenths of millimeters thousandths of revolutions etc Position units are calculated by using scale and transducer counts Recirculation The number of times a magnetostrictive transd...

Страница 44: ...Hex SP 32 20 33 21 34 22 35 23 36 24 37 25 38 26 39 27 40 28 41 29 42 2A 43 2B 44 2C 45 2D 46 2E 47 2F 0 48 30 1 49 31 2 50 32 3 51 33 4 52 34 5 53 35 6 54 36 7 55 37 8 56 38 9 57 39 58 3A 59 3B 60 3C...

Страница 45: ...VMC 186 40 Motion Controller Appendix B 45 External Wiring Examples...

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