ElectroCraft IQ 2000, Инструкция по эксплуатации, Страница: 14 / 120

1-2 Getting Started
P/N 0013-1027-005 Rev A
Functional Description
The IQ 2000/5000 system is for use as a servo drive and control system in industrial machinery.
It is intended to be used as a system comprised of at least a motor and a PDM. The PDM is not
intended for use with motors other than Electro-Craft motors as specified in this manual. PDMs
are intended to be permanently connected to the supply, not for portable equipment. The motors
are not intended to be directly connected to the supply and must only be connected to a suitable
Electro-Craft drive. The system is intended for use in a normal industrial environment (refer to
Chapter 6, “Specifications”) and precautions must be taken during storage, handling, installa-
tion and use to ensure that it does not encounter extreme environments exceeding the
specifications.
The IQ 2000/5000 motion control system is a positioning drive system which integrates a high
performance sinusoidal brushless motor velocity controller and a programmable position con-
troller into a single package. Traditional motion controller architecture uses separate drive and
position control modules, with an analog interface between individual components. The
IQ 2000/5000 motion controllers use advanced microprocessor technology to control both posi-
tion and velocity with a single processor, eliminating the need for any analog interface. The
single processor architecture eliminates the problems associated with analog circuitry, such as
offset and thermal drift. Both the velocity and position control loops are closed digitally, so gain
parameters are stored as numbers which give repeatable results over time and from controller
to controller.
The IQ may be used as a distributed motion control element integrated with a host computer
in a flexible automation system or as a stand-alone, programmable motion controller. Optically
isolated I/O and power supplies are integrated into the products.
The electronic gearing feature allows the closed-loop axis to follow a second (master) encoder
at a programmable ratio. A multi-axis addressing scheme (multi-drop operation) allows mul-
tiple IQs to be controlled from a host computer over a single serial communications link.
An IQ 2000/5000 system consists of a Positioning Drive Module (PDM), which controls the
position, velocity and torque of the motor; a Personality Module which plugs into the PDM to
match the controller with the motor used; a brushless motor with an integral optical encoder
for feedback; a Power Supply Module, integral to the IQ-2000 PDMs, and separate for the IQ-
5000 PDMs; and an optional Operator Terminal. Option cards for I/O or memory expansion or
other application specific functions mount directly on the PDM.
Combinations of matched PDMs and motors are available which provide continuous torques
of 0.34 Nm to 88.14 Nm (3 inch/pound to 750 inch/pound), and speeds up to 6000 RPM.
IQ 2000/5000 System Overview
An IQ 2000/5000 motion control system consists of a number of components connected to
accomplish a specific function. This section provides a brief overview of the various components
of the IQ 2000/5000 motion control system.
IQ Master for Windows
IQ Master is a Windows based software package that provides the user interface to the PDM.
It is used to edit and compile application programs, and to configure, monitor, and troubleshoot
the PDM.
Positioning Drive Module (PDM)
The IQ 2000/5000 PDM is a self-contained single axis programmable motion controller. The
PDM provides control and power for the brushless servo motor. Motion programs are stored
in on board nonvolatile memory. Two RS-232/RS-422 serial ports provide communications with
the personal computer and the optional Operator Terminal. Optically isolated digital I/O allows
simple machine interfacing and control.