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DYN2MS-02F-0116A17

7.2.4 Bn-1 byte

The Bn-1 byte is used for representing the packet function and packet length.

Bn-1 = 1 b6 b5 b4 b3 b2 b1 b0

The bit b6 and b5 are for the length of packet, expressed as:

The bit b4~b0 are used for the packet function, expressed as:

7.2 Packet Definition

Function

(Sent by host)

b[4:0]

Data (Bytes)

Remarks

Set_Origin

0x00

1(dummy)

Set current position as zero ; See section 7.4.2

Go_Absolute_Pos

0x01

1~4

See section 7.4.1

Make_LinearLine

0x02

1~4

Go_Relative_Pos

0x03

1~4

See section 7.4.1

Make_CircularArc

0x04

1~4

Assign_Drive_ID

0x05

Assign ID to Drive; See Section 7.6

Read_Drive_ID

0x06

1(dummy)

Set_Drive_Config

0x07

One byte Configuration. See Section 7.3

Read_Drive_Config

0x08

1(dummy)

Read Drive configuration. See Section 7.3

RegisterRead_Drive_Status

0x09

1(dummy)

Ask for Drive status. See Section 7.3

Turn_ConstSpeed

0x0a

1~3

See section 7.4.2

Square_Wave

0x0b

1~3

See section 7.4.2

Sin_Wave

0x0c

1~3

See section 7.4.2

SS_Frequency

0x0d

1~3

See section 7.4.2

General_Read

0x0e

1~4

Read Drive position set

ForMotorDefine

0x0f

Internal Function - Not customer accessible

Set_MainGain

0x10

Set_SpeedGain

0x11

Set_IntGain

0x12

Set_TrqCons

0x13

Set_HighSpeed

0x14

Set MaxSpd,1~127 ; See section 7.4, 7.5

Set_HighAccel

0x15

Set MaxAcl,1~127 ; See section 7.4, 7.5

Set_Pos_OnRange

0x16

If |Pset-Pmotor|<= OnRange, then motor on Pos

OnRange ;1~127

Set_GearNumber

0x17

Gear_Number [500~16,384] ; ; See section 7.4, 7.5

Read_MainGain

0x18

1(dummy)

See section 7.5 Example 11

Read_SpeedGain

0x19

1(dummy)

See section 7.5 Example 11

Read_IntGain

0x1a

1(dummy)

See section 7.5 Example 11

Read_TrqCons

0x1b

1(dummy)

See section 7.5 Example 11

Read_HighSpeed

0x1c

1(dummy)

See section 7.5 Example 11 ; See section 7.4

Read_HighAccel

0x1d

1(dummy)

See section 7.5 Example 11 ; See section 7.4

Read_Pos_OnRange

0x1e

1(dummy)

See section 7.5 Example 11

Read_GearNumber

0x1f

1(dummy)

See section 7.5 Example 11 ; See section 7.4

Total packet length(=n+1)

Содержание DYN2 Series

Страница 1: ...Hardware Version Firmware Version AH10 AH10 DYN2MS 02F 0116A17 A1 7 This manual must be kept available for the user Copyright 2015 DMM Technology Corp DYN232M DYN232M D Y N A C S E RV O S Y S T E M R...

Страница 2: ...be operated under correct circum stances and conditions Bodily harm or damage to equipment and system may result if specifications outlined in this document are not followed Take extra precaution when...

Страница 3: ...s manual is available on the DMM Technology Corp website A physical copy or reference to the on line availability must be kept convenient to the servo drive user or operator for references Contact DMM...

Страница 4: ...Communication 26 4 OPERATION 27 4 1 Position Servo Mode 27 4 2 Speed Servo Mode 31 4 3 Torque Servo Mode 33 4 4 RS232 Command Input Mode 34 4 5 Absolute Zero Position Index Output ZRI 34 5 PARAMETERS...

Страница 5: ...All testing and tuning is done through a RS232 or USB interface with a host PC running DMMDRV GUI software for fast and easy set up Drive status is internally moni tored by 22 parameters for consiste...

Страница 6: ...rent Voltage Temperature Over Power Posi tion Lost Follow Position Servo Command Reference Pulse 1 Pulse Sign A B Phase Quadrature 90 Phase Differential CW CCW Max Input Frequency 500kHz Input Voltage...

Страница 7: ...nsor Current Sensor A B C LED S1 Isolated I O Interface JP4 JP3 Encoder Feedback A D Analog Input Voltage Protection DYN2 AC Servo Drive Model Model Number Type Resolution Data Type Interface Type Mea...

Страница 8: ...Status LED Green LED JP4 Encoder Feedback Port 1 Drive Body Grounding Terminal M3 x 5mm Max Located on left side of body 1 Pin Layout JP1 JP2 5V TxD RxD JP3 12 11 10 9 8 7 6 5 4 3 2 1 JP4 5V S S Gnd...

Страница 9: ...t JP2 with PC s RS232 port an intermediate cable with level shift buffer is necessary Intermediate cable shipped with drive tuning cable Model No CA MRS232 6 JP3 I O Port Position Command Input Connec...

Страница 10: ...mm Pitch Terminal Block Drive Header Phoenix MSTBA 2 5 3 G Plug Connector Phoenix MSTB 2 5 3 ST Recommended Wire Gauge 0 8mm2 AWG18 Signal Layout Pin 1 A Phase Pin 2 B Phase Pin 3 C Phase Motor frame...

Страница 11: ...D 12 5VDC 11 ENA 10 ZRI 9 ONPOS 8 ALM 7 COM 2 AGIN 1 GND 270 270 6 PUL A CW 5 PUL A CW 4 DIR B CCW 3 DIR B CCW JP3 JP4 Gnd S S 5VDC JP1 FG A B C Current Sensor Current Sensor JP5 Main Power Input 24...

Страница 12: ...mmands Disable clears all position error Max Voltage 5VDC 10 Max Current 20mA A See section 2 4 Refer to Section 2 4 JP3 I O Connection Circuit for example connection diagram Standard I O levels are 5...

Страница 13: ...on error within value set by OnPosRange parameter Max Voltage 30V Max Current 30mA B See section 2 4 Pin No Signal Symbol Type 8 Servo Alarm ALM Output Description Connection Circuit Transistor ON Sig...

Страница 14: ...put Compatible pulse form include Pulse Direction A B phase quadrature with 90 phase differential CW CCW Max input pulse frequency 500kHz Max Voltage 5VDC 10 Max Current 20mA Line Drive Open Collector...

Страница 15: ...A Connection Circuit General Input Circuit Applicable Signals Pin No Signal Symbol Type 11 Drive Disable Input ENA Input Open Collector Notes Sink circuit shown Source circuit can also be used Relay...

Страница 16: ...ircuit Applicable Signals Pin No Signal Symbol Type 10 9 8 7 Absolute Zero Position Index Output OnPosition Output Servo Alarm Common ZRI ONPOS ALM COM Output Output Output N A Collector Output Notes...

Страница 17: ...R B CCW Pulse Reference STEP STEP DIR DIR Input Line Driver Notes Twisted pair cable with shield grounded on receiver side Open Collector DYN2 Internal Power Supply Notes Twisted pair cable with shiel...

Страница 18: ...nnection Circuit Analog Command Reference Input Applicable Signals Pin No Signal Symbol Type 2 1 Analog Command Reference Ground AGIN GND Input N A Notes Twisted pair cable with shield grounded on rec...

Страница 19: ...ive according to the circuit size DC Power Supply 110 240VAC Supply R S T WARNING DO NOT reverse the polarity of the DC input power Reversing the polarity will perma nently damage the servo drive and...

Страница 20: ...t may be needed for applications with high load inertia deceleration Con tact DMM for DYN2 regenerative circuit requirements DC Power Supply JP1 DYN2 Servo Drive Axis 1 JP1 DYN2 Servo Drive Axis 1 JP1...

Страница 21: ...lel the direction of the heat sink fin The servo drive internally do not have a cool ing fan Contact DMM if servo drives need to be placed adjacent without spacing DWG NO TITLE REV DO NOT SCALE DRAWIN...

Страница 22: ...off and 60 seconds is needed for full discharge This time may be longer if a larger smoothing capacitor is connected to the input power line The residual voltage may cause the servo motor to rotate fo...

Страница 23: ...ough time to initialize the control program during Enable and can cause unwanted or dangerous results Ensure that in the control program the below timing is satisfied Once Disabled do not Enable the s...

Страница 24: ...onds the on screen parameters will change according to the current internal parameter settings of the connected servo drive Ensure that the Driver Status indicates ServoOnPos to indicate that the driv...

Страница 25: ...ication PC Requirements Operating System Windows XP SP3 or higher Recommended Windows 7 32 bit 64 bit Processor Pentium 1 GHz or higher RAM 512 MB or more Framework NET Framework 4 or higher Minimum d...

Страница 26: ...24VDC is required Max pulse frequency 500kHz Minimum pulse width 0 8 s t1 t1 t4 0 8 s t2 t3 1 0 s t5 t6 5 0 s t2 t3 t4 t5 t6 PUL DIR Pulse Direction A B phase quadrature with 90 phase differential CW...

Страница 27: ...orward Reference Reverse Reference CW JP3 6 CCW JP3 4 CW JP3 6 CCW JP3 4 A B phase quadrature with 90 phase differential Forward Reference Reverse Reference A JP3 6 B JP3 4 A JP3 6 B JP3 4 A Leads B B...

Страница 28: ...Output Open Collector Output External Power Supply Open Collector Output Internal Power Supply 270 6 5 270 4 3 PUL A CW PUL A CW DIR B CCW DIR B CCW 270 6 5 12 5VDC 1 GND 270 4 3 PUL A CW PUL A CW DIR...

Страница 29: ...default value is 4 096 Gear number provides an electrical gear ratio 4096 Gear_Num from 0 25 8 192 For example if Gear number 4 096 the 16 384 input counts from pulse will turn motor exactly one revol...

Страница 30: ...can withstand the peak torque of the motor in use Control Reference The DYN2 servo drive accepts FORWARD reference as CLOCKWISE motor shaft rotation as viewed from motor shaft side Positive reference...

Страница 31: ...2 59 98 Max Acceleration 2 seconds 4 2 Speed Servo Mode Torque Filter Constant TrqCons is a first order low pass filter used to smooth torque delivery in speed servo mode which improves stability and...

Страница 32: ...ERSE COUNTER CLOCK WISE direction 10V 10V 5V 5V 5 0A 10 0A Reference Voltage Output Current Reference Direction Motor Direction 10V 10 0A FWD CW 5V 5 0A FWD CW 3V 3 0A REV CCW Control Reference L Capa...

Страница 33: ...ng and reading data by using DYN Drive s RS232 protocol The PC or DSP is working as Master and the servo drive is always as slave Several servo drives could be linked for a serial network integrated m...

Страница 34: ...lue of speed Gain means narrower frequency range of servo loop relatively Physically heavier loads or higher inertia loads should have lower dynamic ability so the servo loop fre quency range should b...

Страница 35: ...ses When RS485net box is checked and there are more than one Drive connected to the RS485 232 network only the setting for the Drive with the indicated ID number in the ServoSetting dialog box can be...

Страница 36: ...l the motor smoothly fol lows command without vibration noise or oscillations The user can then fine tune the parameters to make the motor harder faster response more rigid motion or softer slower res...

Страница 37: ...Drive Rigid systems Robots Depending on load mass and inertia increase Main Gain Speed Gain and Integration Gain until target response achieved Decrease Integration Gain if load inertia is big and sy...

Страница 38: ...r transistor tempera ture is too high Check that the drive s ventilation openings and heat sink are not being blocked Consult the servo drive s ambient temperature specifications and check if the oper...

Страница 39: ...nspection Inspect the servo drive regularly for Dirt dust or oil on the servo drive make sure the servo drive cooling duct and heat sink are free from debris Environment ambient temperature humidity a...

Страница 40: ...ice is working as a master and the servo drive is always working as a slave Several drives can be linked for a serial network in RS485 DYN232M DYN232M D Y N A C S E RV O S Y S T E M R S 2 3 2 M O T I...

Страница 41: ...232 The CA MRS232 6 and CA MTUSB 60 tuning cables has the level shift buffer built in RxD and TxD RS232 signal from connector JP2 is TTL CMOS level Do not connect servo drive directly to PC RS232 port...

Страница 42: ...ach data packet is complete and accurate before transmission 7 1 Interface and Format Reception The DYN servo drive follows same data packet format and structure when returning data Each data packet i...

Страница 43: ...rall function of that packet ID One byte Start byte packetLength functioncode One byte data One to four bytes checksum One byte 7 2 1 Structure 7 2 3 Start byte Bn The MSB bit of start byte is always...

Страница 44: ...0x0b 1 3 See section 7 4 2 Sin_Wave 0x0c 1 3 See section 7 4 2 SS_Frequency 0x0d 1 3 See section 7 4 2 General_Read 0x0e 1 4 Read Drive position set ForMotorDefine 0x0f 1 Internal Function Not custome...

Страница 45: ...2 5 Bn 2 B1 bytes Bn 2 B1 n 2 are used for representing the data in the packet 7bits of a byte is used for containing the data The first bit MSB is always 1 Minimum packet length is 4 There is at lea...

Страница 46: ...5 After receiving a packet then calculate Temp Mod S 128 if Temp B0 there is no error otherwise there is error during the packet transmission Example manual calculation Given Command to rotate ID 8 mo...

Страница 47: ...pleted waiting for next motion b5 1 means buit in S curve linear circular motion is busy on current motion b6 pin2 status of JP3 used for Host PC to detect CNC zero position or others Drive Configurat...

Страница 48: ...tion rpm s MaxAcl 635 78 Gear Ratio Motor Movement Position Command Position Gear Ratio 4 Set parameter Output Gear_Num 4096 MaxSpd 48 MaxAcl 30 Command Position 140 000 Gear Ratio 1 Maximum Motor Spe...

Страница 49: ...nt by host b 4 0 Data Bytes Square_Wave 0x0b 1 3 SS_Frequency 0x0d 1 3 The servo motor makes a square wave motion with instantaneous acceleration and deceleration com mand The amplitude is set by the...

Страница 50: ...smoothest servo motor motion At each S Curve transition point the normally rigid path is curved into smooth speed transitions Efficiency When the axis is command to a new position the servo drive imme...

Страница 51: ...d Transition Points Speed Time t1 t2 t1 Safety warning hazard detected axis commanded to retract t2 Current positioning reached axis commanded to retract Dynamic Target Position Update DTPU allows the...

Страница 52: ...es Read_Drive_Status 0x09 1 dummy Received Packet from DYN drive Is_Status 0x19 1 0xxxxxxx Bn 1000100 0 Bn 1 1 b6 b5 b4 b3 b2 b1 b0 Bn 2 1 xxxxxxx B0 Dummy bits 0xxxxxxx Bn 1001100 1 Bn 1 1 b6 b5 b4 b...

Страница 53: ...ion 0x00 EXAMPLE 2 Condition Make 3th axis motor back to absolute zero position 0 ID 3 Move to position 0 0x00 One byte data PacketLenght 4 Method B3 0x03 B2 0x80 PacketLenght 4 32 Go_Absolute_Pos 0x8...

Страница 54: ...B0 0x80 Mod S 128 0x80 0x2d 0xad EXAMPLE 5 Condition Make 2th axis motor turn at 60rpm ID 2 Method Speed is 60 One Byte data is enough 60 0x3c Packet Length 4 B3 0x02 B2 0x80 PacketLength 4 32 Turn_Co...

Страница 55: ...acket as above exam ples EXAMPLE 8 Condition Make a circular arc on X Y Plane Suppose right now position for three motors are X0 Y0 0 0 and the End point of arc is X1 Y1 200 0 in CW direction It is ea...

Страница 56: ...o the RMS current output by servo drive This value is different between each servo motor capacity and varies between the DYN2 and DYN4 servo drive The customer can measure the change in MotorTorqueCur...

Страница 57: ...ed a new ID number to that drive without checking the RS485 232 Net check box in the DMMDRV software The RS485 network is a serial network if there is a packet in the network one Drive will receive it...

Страница 58: ...ffer 8 Read_Num Read_Package_Length Global_Func unsigned char MotorPosition32Ready_Flag MotorTorqueCurrentReady_Flag MainGainRead_Flag long Motor_Pos32 int MotorTorqueCurrent MainGain_Read void DlgRun...

Страница 59: ...age_Buffer MotorPosition32Ready_Flag 0x00 break case Is_TrqCurrent MotorTorqueCurrent Cal_SignValue Read_Package_Buffer MotorTorqueCurrentReady_Flag 0x00 break case Is_MainGain MainGain_Read Cal_SignV...

Страница 60: ...TempLong TempLong 7 B 4 unsigned char TempLong 0x0000007f TempLong TempLong 7 B 3 unsigned char TempLong 0x0000007f TempLong TempLong 7 B 2 unsigned char TempLong 0x0000007f Package_Length 7 TempLong...

Страница 61: ...nd void DlgRun ReadMotorTorqueCurrent void Below are the codes for reading the motor torque current Read motor torque current char ID 0 Suppose read 0 axis motor Global_Func General_Read Send_Package...

Страница 62: ...otorPosition32Ready_Flag 0xff While MotorPosition32Ready_Flag 0x00 ReadPackage MotorPosition32Ready_Flag is cleared inside ReadPackage or inside Get_Function exactly after the Motor_Pos32 is updated v...

Страница 63: ...ead_Package_Buffer i 0 Read_Num Read_Package_Length 0 Reading motor 32bits position char ID 0 Suppose read 0 axis motor Global_Func General_Read Send_Package ID Is_AbsPos32 while i 10000 10 20ms waiti...

Страница 64: ...the servo drive each byte received is sequentially saved into the InputBuffer with the InBfTopPointer incremented each time This is done until the host hardware RS232 receiver buffer is empty meaning...

Страница 65: ...70 Chassis Ground Terminal 32 85 3 4 JP4 JP2 Name Plate 1 Name Plate 2 10 2 31 70 Chassis Ground Terminal WEIGHT MATERIAL DATE SIGNATURE NAME FINISH UNLESS OTHERWISE SPECIFIED DIMENSIONS ARE IN MILLIM...

Страница 66: ...or current setting of the servo drive At any time pressing Save All will save the parameters into the servo drive 9 Under Servo Mode select Position Servo 10 Under command input mode select Pulse Dir...

Страница 67: ...ock Damages resulting from transportation or shipping after the original factory delivery Unauthorized alterations or modifications have been made to the product Alterations have been made to the Name...

Страница 68: ...rsion Manual Number Details Date A1 DYN2MS 01E 0814A1 Release Version August 2014 A1 4 DYN2MS 01E 0115A14 Updated pulse timing Section 4 1 Updated mounting dimensions January 2015 A1 5 DYN2MS 01E 0315...

Страница 69: ...sion DYN2MS 02F 0116A17 A1 7 D37 DMM TECHNOLOGY CORP 120 21320 Gordon Way Richmond British Columbia V6W1J8 Canada PHONE 1 604 370 4168 FAX 1 604 285 1989 WEB http www dmm tech com SALES sales dmm tech...

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