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6.3 Torque mode (4)

In the torque mode, the CMMB motor controller causes the motor to rotate with a specified torque value.

Table 6-10: Torque mode

Panel

address

Internal

address

Type

Name

Description

Value

6060.00

Int8

Operation_Mode

4

6071.00

Int16

Target_Torque%

Target torque,

percentage of rated torque

User defined

6040.00

Uint16

Controlword

See table 6-5

0x0F, 0x06

6.3.1 Analog torque mode

In the analog torque mode, the CMMB motor controller controls motor torque and / or maximum torque by
means of analog input voltage.
The analog torque object window in the PC software can be accessed via menu item Controller->Control
Modes->Analog Torque Mode.

Table 6-11: Analog torque mode

Panel

address

Internal

address

Type

Name

Description

Value

2501.06

Uint16

ADC1_Buff[1]

AIN1 real input voltage

Read Only

d1.13

2502.0F

Int16

Analog1_out

AIN1 valid input, analog input signal1

(AIN1), input voltage after filter,

deadband and offset

2501.07

Uint16

ADC2_Buff[1]

AIN2 input real data

d1.14

2502.10

Int16

Analog2_out

AIN2 valid input, analog input signal2

(AIN2), input voltage after filter,

deadband and offset

d3.22

2502.01

Uint16

Analog1_Filter

AIN1 filter (unit: ms)

User defined

d3.23

2FF0.1D

Int16

Analog1_Dead_V

AIN1 deadband (unit: 0.01V)

d3.24

2FF0.1E

Int16

Analog1_Offset_V

AIN1 offset (unit: 0.01V)

d3.25

2502.04

Uint16

Analog2_Filter

AIN2 filter (unit: ms)

d3.26

2FF0.1F

Int16

Analog2_Dead_V

AIN2 deadband (unit: 0.01V)

d3.27

2FF0.20

Int16

Analog2_Offset_V

AIN2 offset(unit: 0.01V)

d3.31

2FF0.21

Int16

Voltage_Torque_Factor

AIN-Torque factor (unit: mNM/V)

d3.30

2502.08

Uint8

Analog_Torque_Con

0: Analog_Torque_control OFF, target
torque is specified by Target_Torque%

0, 1, 2

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Содержание CMMB-AS-0x

Страница 1: ...Festo CMMB AS servo manual Motor controller CMMB AS 0x Description Mounting and installation For motor controller CMMB AS 0x 8068718 2017 07a 8068715 ...

Страница 2: ...t can cause minor injuries or serious damage to property Other symbols Note Material damage or loss of function Recommendations tips references to other documentation Essential or useful accessories Information on environmentally sound use Text designations Activities that may be carried out in any order 1 Activities that should be carried out in the order stated General lists Result of an action ...

Страница 3: ...MMB AS servo manual Revisions history Version Chapter Date Change 1 00 All 2017 03 17 First release 1 01 3 2 4 6 2 1 6 3 1 2017 05 09 Figure 3 5 tables 6 7 6 11 1 02 3 1 1 3 2 2 2017 07 18 Table 3 1 Table 3 2 ...

Страница 4: ...tion and certifications 3 Chapter 2 Introduction 3 2 1 Product overview 3 2 1 1 CMMB Motor controller 3 2 1 2 EMMB Servo motor 4 2 1 3 NEBM cables 4 2 2 Device view 6 Chapter 3 Installation of the CMMB motor controller 7 3 1 Mechanical installation 7 3 1 1 Environment requirements 7 3 1 2 Mounting conditions 7 3 2 Electrical installation 8 3 2 1 Front view of CMMB series motor controller 8 3 2 2 P...

Страница 5: ...5 Objects add delete help 28 5 2 Init save reboot 29 5 3 Firmware update 29 5 4 Read write controller configuration 30 5 4 1 Read settings from controller 30 5 4 2 Write settings to controller 30 5 5 Digital IO functions 31 5 5 1 Digital inputs 32 5 5 2 Digital outputs 34 5 5 3 Gear ratio switch expert only 35 5 5 4 Gain switch expert only 36 5 5 5 Fast Capture 38 5 6 Scope 39 5 7 Error display an...

Страница 6: ...Tuning of the position loop 70 7 3 Factors which influence tuning results 72 Chapter 8 Alarms and troubleshooting 73 Chapter 9 List of CMMB series motor controller parameters 75 9 1 F001 75 9 2 F002 76 9 3 F003 78 9 4 F004 81 9 5 F005 82 Chapter 10 Communication 83 10 1 RS232 wiring 83 10 1 1 Point to point connection 83 10 1 2 Multi point connection 83 10 2 Transport protocol 83 10 2 1 Point to p...

Страница 7: ...e controller is off Note Danger from unexpected movement of the motor or axis Make sure that motion does not endanger anyone Perform a risk assessment in accordance with the EC machinery directive Based on this risk assessment design the safety system for the entire machine taking into account all integrated components This also includes the electric drives Bypassing safety equipment is impermissi...

Страница 8: ... the machine or system in which this product is used Make sure that the specifications of the documentation are always complied with Also consider the documentation for the other components and modules Take legal regulations applicable at the destination into consideration as well as Regulations and standards Regulations of testing organizations and insurers National specifications 1 2 1 Transport...

Страница 9: ...w festo com sp The product has been certified by Underwriters Laboratories Inc UL for the USA and Canada and is marked as follows UL listing mark for Canada and the United States Chapter 2 Introduction 2 1 Product overview The CMMB motor controller series consists of four models of motor controllers for four different power ratings Together with the EMMB servo motor series the CMMB series provides...

Страница 10: ...es provide plug and play connectivity between the motor controller and the servo motors and are available in four different standard lengths Table 2 2 Motor cable Standard cable Length unit m Type 2 5 NEBM H6G4 K 2 5 Q13N LE4 5 NEBM H6G4 K 5 Q13N LE4 7 5 NEBM H6G4 K 7 5 Q13N LE4 10 NEBM H6G4 K 10 Q13N LE4 Flexible cable useable in cable chain Length unit m Type 2 5 NEBM H6G4 E 2 5 Q13N LE4 5 NEBM ...

Страница 11: ...M REG6 E 2 5 Q14N REG6 5 NEBM REG6 E 5 Q14N REG6 7 5 NEBM REG6 E 7 5 Q14N REG6 10 NEBM REG6 E 10 Q14N REG6 Table 2 4 Brake cable Standard cable Length unit m Type 2 5 NEBM H7G2 K 2 5 Q14N LE2 5 NEBM H7G2 K 5 Q14N LE2 7 5 NEBM H7G2 K 7 5 Q14N LE2 10 NEBM H7G2 K 10 Q14N LE2 Flexible cable usable in cable chain Length unit m Type 2 5 NEBM H7G2 E 2 5 Q14N LE2 5 NEBM H7G2 E 5 Q14N LE2 7 5 NEBM H7G2 E 7...

Страница 12: ...6 2 2 Device view Figure 2 3 Device view ...

Страница 13: ...0 70 no ice Storage humidity 5 95 RH no condensation Assembly requirement Indoors without sunlight corrosive gas non flammable gas no dust Altitude Less than 2000 m power derating between 1000m and 2000m Vibration Less than 5 9m s2 10 60Hz not to be used at the resonance point Degree of protection IP20 3 1 2 Mounting conditions Figure 3 1 Installation orientation distances and clearances 10mm 10mm...

Страница 14: ...an internal fan Warning In the case of use of an external brake resistor provide adequate space around the brake resistor since it can become very hot No burnable material should touch or be close to the brake resistor Otherwise there is risk of fire especially in case of a malfunction of the brake chopper 3 2 Electrical installation 3 2 1 Front view of CMMB series motor controller Figure 3 2 Fron...

Страница 15: ...0W 3A 100W 1 5A Supply earthing systems TN S TN C TN C S TT not corner earthed L2 DC RB1 DC DC bus Information Short circuit DC RB1 and RB2 if choosing controller internal braking resistor power 10 W Note It is forbidden to use the internal braking resistor if the average brake power is more than 10 W RB1 External braking resistor input RB2 Internal braking resistor input RB External braking resis...

Страница 16: ...500KHz MB MB MZ MZ ENCO_A ENCO_A Encoder output Voltage Voh 3 4V Vol 0 2V Maximum current 20mA maximum frequency 10MHz ENCO_B ENCO_B ENCO_Z ENCO_Z AIN1 AIN1 AIN2 AIN2 Analog input Resolution 12 bit input resistance 350 KΩ Analog bandwidth 1KHz input voltage range 10V 10V 5V GND 5VDC power supply output Maximum current 100mA VDD VEE 24VDC power supply output Voltage range 24VDC 20 maximum current 3...

Страница 17: ...Output Internal 24V Output Internal 5V Output Internal 5V Output Internal 5V Output Encoder Output Encoder Out A Encoder Out A Encoder Out B Encoder Out B Encoder Out Z Encoder Out Z Digital Output Ready Motor Brake Pos Reached Zero Speed Error Output Common Analog Speed Analog Torque Analog Max Torque AIN1 AIN1 AIN2 AIN2 19 21 23 25 A D Figure 3 4 X4 wiring Figure 3 4 shows NPN wiring for the dig...

Страница 18: ...ucting any installation or maintenance work on the CMMB controller switch supply power off After switching off the power wait for at least 10 minutes before touching any contacts and make sure that the charge lamp on the controller s front panel is off Never open the device during operation Keep all covers and control cabinet doors closed during operation Never remove safety devices and never reac...

Страница 19: ...the electric cabinet such as fuses circuit breakers and contactors in relation with the mains power supply of the motor controller In order to comply with EMC directive and standards use suitable RF filters for installation of the motor controller mains supply 3 3 1 Selection of fuses braking resistors and circuit breakers Fuses braking resistors and circuit breakers should be selected according t...

Страница 20: ... Panel view Item Function Dot N A Dot N A Dot When setting parameters distinguishes between the data for the current object group and the object address inside the group When the internal 32 bit data_appears at the display the display is showing the high 16 bit of the current 32 bit data Indicates that the earliest error information in the error history is being displayed when the error history re...

Страница 21: ...a warning state 4 2 Panel menu structure and navigation The following flowchart shows the main structure of the panel The user can select single parameters modify values and access special functionsusing this flow A list of all accessible parameters and values can be found in chapter 9 Monitor State SET Switch on Driver ID MODE MODE MODE MODE MODE MODE MODE MODE MODE MODE SET SET SET SET SET Param...

Страница 22: ...lts The controller is ready for use for a wide range of standard applications and can be tested Step 2 If the servo control performance of the controller has to be further improved the tunE panel menu must be accessed With the help of the functions in this menu the controller can start an auto tuning motor run in order to identify motor load conditions and to measure the inertia After that the con...

Страница 23: ...and table explain the procedure for settings in the EASY menu in detail Figure 4 3 Flowchart of the EASY menu Information The menu is exited automatically if there is no operation in 30s and users have to start again Entered data is valid immediately but must be saved via EA00 ...

Страница 24: ...pulse train mode Operation mode 4 2 A B phase control master slave mode Operation mode 4 6 Analog velocity mode by AIN1 Operation mode 3 7 Analog velocity mode by AIN2 Operation mode 3 8 Communication 9 Position table mode Operation mode 1 1 EA03 Gear Factor Numerator Used when EA02 is set to 0 2 By default the display shows the values in decimal format If the number is greater than 9999 the displ...

Страница 25: ... EA02 Pulse Train Position table Analog Input for Velocity Control Control via RS232 CW CCW P D default A B Channel 1 Channel 2 EA02 0 1 2 9 6 7 8 DIN1 Enable Enable Enable Enable Enable Enable DIN2 Reset Errors Reset Errors Reset Errors Reset Errors Reset Errors Reset Errors DIN3 Start Homing Start Homing Start Homing Start Homing Start Homing Start Homing DIN4 P limit P limit P limit PosTable Id...

Страница 26: ...ing has been changed by other way rather than through EA01 e g by PC software After the motor type becomes confirmed in EA01 the contents of the entries in the menus get default values and the menus get back the full function The following pages show four different I O function configurations based on different command type settings in EA02 and typical related wiring diagrams for I O connector X4 ...

Страница 27: ...nternal 24V Output Internal 24V Output Internal 5V Output Internal 5V Output Internal 5V Output Encoder Output Encoder Out A Encoder Out A Encoder Out B Encoder Out B Encoder Out Z Encoder Out Z DIN1 DIN2 DIN3 DIN4 DIN5 DIN6 DIN7 COMI 4 6 8 10 12 14 16 2 Digital Output Ready Motor Brake Velocity Reached Zero Speed Error Output Common Analog Speed Command Max Torque Limit AIN1 AIN1 AIN2 AIN2 19 21 ...

Страница 28: ...ut B Encoder Out Z Encoder Out Z OUT1 OUT1 OUT2 OUT2 OUT3 OUT4 OUT5 COMO 1 3 5 7 9 11 20 13 ENCO_A ENCO_ A ENCO_B ENCO_ B ENCO_Z ENCO_ Z 34 36 30 32 26 28 5V GND 22 24 5V GND VDD VEE 15 17 24V VEE DIN1 DIN2 DIN3 DIN4 DIN5 DIN6 DIN7 COMI 4 6 8 10 12 14 16 2 Digital Input P limit P limit Home Signal Input Common Digital Output Ready Motor Brake Pos Reached Zero Speed Error Output Common Figure 4 7 X...

Страница 29: ...he different servo control loops to each other That s why it is highly advisable to obtain a precise inertia ratio result by means of inertia measurement The following flowchart and table explain the procedure for settings in the tunE menu in detail SET Stiffness Write 1 to start inertia ratio measuring Measuring Distance unit is 0 01 cycle Inertia ratio unit is 0 1 Write 1 to save all the paramet...

Страница 30: ... 12 depending on the inertia ratio The control loop parameters are set according to Stiffness and Inertia_Ratio If the inertia measurement fails Tuning_Method indicates the fail reason 0 The controller could not be enabled by any reason 1 Inertia cannot be measured due to too little motion or too little current 2 The measured inertia result is outside the valid range 3 The resulting Inertia_Ratio ...

Страница 31: ... 600 392 31 13889 5000 Information When the setting for the stiffness or inertia ratio results in a Kvp value of greater than 4000 it isn t useful to increase stiffness any more Note The EASY procedure must be run first and completed before tunE may be used Inertia measurement might cause the machine to oscillate please be prepared to shut off controller power immediately Provide enough mechanical...

Страница 32: ...G mode configured Limit Switch functions are not working the limit switches will be ignored Be aware of the human reaction time when controlling the motor in Jog mode Use slow velocity settings for the Jog mode especially if the motor travel is limited by mechanical blocks Information If the digital input function Pre_Enable is configured the Jog mode requires this function active either by the co...

Страница 33: ...nese via menu item Tools Language 5 1 2 Opening and saving project files Create a new project file via menu item File New or by clicking the button Open an existing project via menu item File Open or by clicking the button and selecting a kpjt file Save a project via menu item File Save or by clicking the button and saving as a kpjt file Information Only the windows object list scope etc are saved...

Страница 34: ...than one controller is being used in an application you may need different node ID for different controllers in order to distinguish amongst them The controller s Node ID can be changed via menu item Controller Controller Property Table 5 1 Node ID and baud rate Internal address Type Name Value Unit 100B 00 Uint8 Node_ID DEC 2FE0 00 Uint16 RS232_Baudrate Baud Information Node ID and baud rate sett...

Страница 35: ...ollowing window appears Figure 5 4 Init save reboot Click the corresponding item to finish the necessary operation Information After completing the init control parameters the Save Control Parameters and Reboot buttons must be clicked to load the default control parameters to the controller 5 3 Firmware update A new motor controller is always delivered with the latest firmware version If the firmw...

Страница 36: ...ols R W Controller Configuration Read Settings from Controller or click the button The following window appears Figure 5 6 Transfer settings Click Open List to select a parameter list file cdo The parameter appears in the window Click Read Settings from Controller to get the Drive Value and Result and then click Save to File to save the settings as a cdi file Information The cdo file defines which...

Страница 37: ...ediately in red ion the Result fied Click Write to Controller to get the Check Value and Result The False Result means the value has not been written successfully probably because the object doesn t exist in the controller Click Save in EEPROM and Reboot to activate all parameters 5 5 Digital IO functions Click menu item Controller Digital IO Functions or click the button The following window appe...

Страница 38: ...gic status 1 0 means no impact on the digital input logic status Polarity Inverts the logic status of the digital input 1 means Internal is set to 1 by active signal 0 means Internal is set to 1 by inactive signal Internal This is the result of Simulate Real and Polarity via the logic formula Internal Real OR Simulate XOR NOT Polarity 1 means active logic status of the selected function is 1 0 mea...

Страница 39: ...o 0x06 before 0x0F for enabling if the enable function is configured in Din just re enable it Start Homing Starts homing Only makes sense if the controller is enabled The controller returns to the previous operation mode after homing Activate Command Activates the position command Controls bit 4 of the Controlword e g Controlword 0x2F 0x3F Multifunction0 Gear ratio switch refer to chapter 5 5 3 fo...

Страница 40: ...gic status 1 0 means no impact on the digital output function logic status Polarity Inverts the logic status of the digital output function 1 means Real physical digital output is set to ON by digital output function logic status 1 0 means Real physical digital output is set to ON by digital output function logic status 0 Real Shows the real digital output status This is the result of Simulate Pol...

Страница 41: ...side a range around the index position This range is defined by Index_Window 2030 00 Speed Limit In torque mode actual speed reached Max_Speed 607F 00 Driver Enabled Controller enabled Position Limit Position limit function is active Home Found Home found Enc Warning Encoder warning PosTable Active Position table mode running 5 5 3 Gear ratio switch expert only Information This function is recomme...

Страница 42: ...tifunction0 0 Multifunction1 1 Multifunction2 1 so x 6 actual gear ratio is Gear_Factor 6 Gear_Divider 6 5 5 4 Gain switch expert only Information This function is recommended for experienced users only who are familiar with the basics of servo loop tuning There are 4 groups of PI gain settings where each group contains the proportional Kvp and integral Kvi gain of the velocity control loop and th...

Страница 43: ... 1 If only one bit is configured the other bit is 0 Example Figure 5 12 Din gain switch example Gain Switch0 1 Gain Switch1 0 then PI_Pointer 1 the valid PI gain settings are Kvp 1 Kvi 1 and Kpp 1 Method 2 If Method 1 is not applied set PI_Switch 6069 09 to 1 Then while the motor is rotating set PI_Pointer ti 0 As soon as Pos Reached or Zero Speed set PI_Pointer to 1 This is the function for a sys...

Страница 44: ...n1 Dec 2010 26 Int32 Rising_Capture_Position2 Dec 2010 27 Int32 Falling_Capture_Position2 Dec When DIN function Fast_Capture1 is configured to DIN and a rising DIN edge occurs Rising_Captured1 is changed to 1 At the same moment Pos_Actual is stored to Rising_Capture_Position1 If a falling DIN edge occurs Falling_Captured1 is to 1 At the same moment Pos_Actual is stored to Falling_Capture_Position1...

Страница 45: ...y means sample continuously Zoom in zoom out the oscillogram Press the right mouse key and drag to lower right upper left Left mouse click on activates the horizontally drag mode the icon changes to and inside the oscillogram display area the mouse cursor changes to finger shape A zoomed oscillogram can be moved then in horizontal direction by pressing the left mouse button and dragging to left ri...

Страница 46: ...cillogram the Scope Mode Normal or Import is shown Normal all buttons are active Figure 5 16 Scope mode Normal Import If the oscillogram is an import from a scope file the scope mode will be Import in this mode the Start Reread button will be inactive The Import mode can be quit by clicking the Here on the hint Figure 5 17 Scope mode Import 5 7 Error display and error history Error Click Controlle...

Страница 47: ...offset or ripple too large 1 Watchdog 0x6010 Software watchdog exception 2 Wrong interrupt 0x6011 Invalid interrupt exception 3 MCU ID 0x7400 Wrong MCU type detected 4 Motor configuration 0x6320 No motor data in EEPROM motor never configured 5 Reserved 6 Reserved 7 Reserved 8 External enable 0x5443 DIN pre_enable function is configured but the DIN is inactive when the controller is enabled going t...

Страница 48: ...please see table5 7 and table 5 8 Default 2605 01 Uint16 Error_Mask Mask of Error_State 2601 00 Bit 0 means related error will be ignored 0xFFFF 2605 02 Uint16 Store_Mask_ON Error mask for Error_History of Error_State 2601 00 when controller is enabled Bit 0 means related error won t be stored in the Error_History 0xFBFF 2605 03 Uint16 Store_Mask_OFF Error mask for Error_History of Error_State 260...

Страница 49: ...ue hex description d3 01 2010 03 Uint16 Din1_Function 0001 Enable 0002 Reset Errors 0004 Operation Mode sel 0008 Kvi Off 0010 P limit 0020 P limit 0040 Homing Signal 0080 Invert Direction 0100 Din Vel Index0 0200 Din Vel Index1 1000 Quick Stop 2000 Start Homing 4000 Activate Command 8001 Din Vel Index2 8004 Multifunction0 8008 Multifunction1 8010 Multifunction2 8020 Gain Switch 0 8040 Gain Switch ...

Страница 50: ...0 DIN1 Bit 1 DIN2 Bit 2 DIN3 Bit 6 DIN7 d3 54 2010 0D Unit16 Dout_Polarity Bit 0 OUT1 Bit 1 OUT2 Bit 2 OUT3 Bit 5 OUT6 Switch_On_Auto expert only If the Enable function is not configured to DIN the controller can be auto enabled at power on or reboot with the following setting Table 6 4 Switch_On_Auto Panel address Internal address Type Name Value d3 10 2000 00 Unit8 Switch_On_Auto 1 Note This met...

Страница 51: ...n command for Operation_Mode 1 0x0F 0x1F Start homing for Operation_Mode 6 0x06 0x86 Reset the controller error 0x06 Disable the controller 6060 00 Int8 Operation_Mode 3 Instantaneous velocity mode 3 Profile velocity mode 1 Position mode 4 Pulse train mode 4 Torque mode Information Operation_Mode itself is not savable however it is set in accordance with the settings in the Command_Type 3041 02 or...

Страница 52: ... Table 6 7 Analog speed mode Panel address Internal address Type Name Description Value 2501 06 Uint16 ADC1_Buff 1 AIN1 input real data Read only d1 13 2502 0F Int16 Analog1_out AIN1 valid input analog input signal1 AIN1 input voltage after filter deadband and offset 2501 07 Uint16 ADC2_Buff 1 AIN2 input real data d1 14 2502 10 Int16 Analog2_out AIN2 valid input analog input signal2 AIN2 input vol...

Страница 53: ... offset Analog_out Analog1_out or Analog2_out depends on wiring and Analog_Speed_Con setting It s the result of AIN real input filter offset and deadband Final result Analog_Speed control ON If Analog_out is not limited by Analog_Dead_High or Analog_Dead_Low Target speed rpm Analog_out V Analog_Speed_Factor rpm V otherwise Target speed rpm 0 Analog_MaxTorque control ON Max torque Nm Analog_out V A...

Страница 54: ...Bit 2 Din Vel Index2 A bit which is not configured means 0 User defined d3 19 2020 06 Int32 Din_Speed 1 d3 20 2020 07 Int32 Din_Speed 2 d3 21 2020 08 Int32 Din_Speed 3 d3 44 2020 14 Int32 Din_Speed 4 d3 45 2020 15 Int32 Din_Speed 5 d3 46 2020 16 Int32 Din_Speed 6 d3 47 2020 17 Int32 Din_Speed 7 Example IO configuration Figure 6 1 DIN Speed example Table 6 9 DIN speed example Panel address Internal...

Страница 55: ...escription Value 2501 06 Uint16 ADC1_Buff 1 AIN1 real input voltage Read Only d1 13 2502 0F Int16 Analog1_out AIN1 valid input analog input signal1 AIN1 input voltage after filter deadband and offset 2501 07 Uint16 ADC2_Buff 1 AIN2 input real data d1 14 2502 10 Int16 Analog2_out AIN2 valid input analog input signal2 AIN2 input voltage after filter deadband and offset d3 22 2502 01 Uint16 Analog1_F...

Страница 56: ...g speed mode 6 4 Position mode 1 In the position mode the CMMB motor controller causes the motor to rotate to an absolute or relative position The position velocity command is specified via Target_Position Profile_Speed or via position table Position Table Mode Table 6 12 Position mode Panel address Internal address Type Name Description Value 6060 00 Int8 Operation_Mode 1 607A 00 Int32 Target_Pos...

Страница 57: ...low PosTable Idx0 Entry index of position flow bit0 PosTable Idx0 bit1 PosTable Idx1 bit2 PosTable Idx2 A bit which is not configured to DIN means 0 PosTable Idx1 PosTable Idx2 Abort PosTable Abort position flow Table 6 14 OUT functions of the position table mode Name Description PosTable Active Position table mode running In the PC software click menu item Controller Control Modes Position Table ...

Страница 58: ...celeration and deceleration table CTL Reg Contains following bits Bits 0 4 Next index defines the index of the next position control task Bits 5 7 reserved Bit 8 Next stop 1 Next go to next task if condition see bit9 11 1 and loops checking is OK see Loops after current positioning task is finished 0 Stop stop after current positioning task is finished Bit9 Cond0 ON 1 Cond0 ON condition0 means Log...

Страница 59: ...window appears Figure 6 5 Position table copy Click Copy Row and then click PasteRow in another selected row When the position table is completed click the button to write it to the controller Start the table via DIN with the Start PosTable function The entry index task is triggered and position flow is started via StartCond rule The DIN AbortPosTable signal rising edge or deleting the Start PosTa...

Страница 60: ...d See table 6 5 0x0F 0x06 d3 36 2508 03 Uint8 PD_CW Pulse train mode 0 CW CCW 1 Pulse direction 2 A B incremental encoder 0 1 2 d3 37 2508 06 Uint16 PD_Filter Pulse filter ms User defined d3 38 2508 08 Uint16 Frequency_Check Frequency limit inc ms if pulse count in 1 ms is greater than Frequency_Check over frequency error occurs Table 6 16 PD_CW schematic Pulse mode Forward Reverse P D CW CCW A B ...

Страница 61: ...ave mode Panel address Internal address Type Name Description Value 2340 0F Int32 Encoder_Out_Res Specify encoder output pulse number for 1 motor encoder revolution User defined For slave controller parameter setting please refer to upper introduction of pulse mode Wiring between the master and the slave is as follows ENCO_A 34 ENCO_ A 36 ENCO_B 30 ENCO_ B 32 ENCO_Z 26 ENCO_ Z 28 MA 27 MA 29 MB 31...

Страница 62: ...r a number directly to the Pre Set Home Method field Click to set it to the controller The corresponding diagram of the Pre Set Home method appears in the middle area All homing mode objects are listed in following table Table 6 18 Homing mode Panel address Internal address Type Name Description Value 607C 00 Int32 Home_Offset Zero position offset to the home position User defined 6098 00 Int8 Hom...

Страница 63: ...lind If the homing_method needs home signal position limit home switch and index signal Home_N_Blind function can avoid the homing result being different with the same mechanics when the Index signal is very close to the home signal By setting to 1 before homing the controller detects a suitable blind window for homing automatically It can be used to assure that homing results are always the same ...

Страница 64: ...58 2 Homing with positive position limit switch and index pulse 3 Homing with home switch and index pulse 4 Homing with home switch and index pulse 5 Homing with home switch and index pulse ...

Страница 65: ...d index pulse 7 Homing with positive position limit switch home switch and index pulse 8 Homing with positive position limit switch home switch and index pulse 9 Homing with positive position limit switch home switch and index pulse ...

Страница 66: ...g with negative position limit switch home switch and index pulse 12 Homing with negative position limit switch home switch and index pulse 13 Homing with negative position limit switch home switch and index pulse 14 Homing with negative position limit switch home switch and index pulse ...

Страница 67: ...61 17 Homing with negative position limit switch 18 Homing with positive position limit switch 19 Homing with home switch 20 Homing with home switch ...

Страница 68: ...me switch 22 Homing with home switch 23 Homing with positive position limit switch and home switch 24 Homing with positive position limit switch and home switch 25 Homing with positive position limit switch and home switch ...

Страница 69: ...me switch 27 Homing with negative position limit switch and home switch 28 Homing with negative position limit switch and home switch 29 Homing with negative position limit switch and home switch 30 Homing with negative position limit switch and home switch ...

Страница 70: ...64 33 34 Homing with index pulse 35 Homing to actual position 17 18 Homing via mechanical limit ...

Страница 71: ...The auto tuning function will try to stimulate the motor and load system by some motions and get the inertia of the load If auto tuning is successful stiffness will be auto set according to the inertia ratio Stimulate generator Control Loops power module Motor Load Position Speed Current Autotuning Module Inertia Auto Stiffness Figure 7 2 Auto tuning Current loop PWM Motor Feedback Notch filter Ob...

Страница 72: ... to a higher value reduce disturbance influence and makes results more reliable but alsoresults in greater oscillation 22 0 40 RWS 7 1 2 Start of auto tuning Via the LED panel see chapter 4 3 Open the tunE menu in the LED panel and go to tn03 Write 1 to tn03 The motor oscillates with a small amplitude the oscillation lasts less than 1s If tn03 remains at 1 after auto tuning is done auto tuning has...

Страница 73: ...by SET or the Inertia_Ratio 3040 0B must be written once Information Reasons for the failure of auto tuning Incorrect wiring of the CMMB servo system DIN function Pre_Enable is configured but not active Too much friction or external force is applied to the axis to be tuned Too big backlash in the mechanical path between the motor and the load Inertia ratio is too large The mechanical path contains...

Страница 74: ...on manual tuning is the right choice The manual tuning process makes use of test motion Match the controller to the actual application on the basis of experience with the application and a given scope of data by changing loop gain and filter settings Since current loop parameters are calculated internally based on the motor parameters there is normally no need to set current loop parameters manual...

Страница 75: ...feedback after 1st order LPF and the velocity command is filtered by a 1st order LPF Both filters have the same bandwidth 1 60F915 Output_Filter_N A 1st order lowpass filter in the forward path of the velocity loop 1 1 127 60F908 Kvi_Sum_Limit Integral output limit of the velocity loop 0 2 15 Velocity feedback filter adjustment The velocity feedback filter can reduce noise that comes from the feed...

Страница 76: ...nsiderable friction integral gain kvi should be set to a higher value If the entire system needs to respond quickly integral should be set to a small value or even 0 and the gain switch should be used Adjust Kvi_sum_limit Normally the default value is fine This parameter should be added if the application system has a big extend force or should be reduced if the output current is easily saturation...

Страница 77: ... amplified the noise Position loop acceleration feedforward It is not recommended that the user adjust this parameter If very high position loop gain is required acceleration feedforward K_Acc_FF can be adjusted appropriately to improve performance The acceleration feedforward function can be treat as the upper controller e g PLC have a chance to directly control the torque in a position operation...

Страница 78: ...otch filter to eliminate mechanical resonance generated when the motor drives the machine The formula is F Notch_N 10 100 For example if mechanical resonance frequency F 500 Hz the parameter setting should be 40 45 0 90 d2 04 60F9 04 Notch_On Used to turn on or turn off the notch filter 0 Turn on the notch filter 1 Turn off the notch filter 0 0 1 7 3 Factors which influence tuning results The cont...

Страница 79: ...wer module has reached the alarm value Improve the cooling environment of the controller 002 0 Overvoltage Supply power voltage exceeds the allowable input voltage range In case of emergency stop there is no external braking resistor or braking Check to see if supply power voltage is unstable and if a suitable braking resistor is connected 004 0 Undervoltage The power voltage input is lower than t...

Страница 80: ...Circuit of current sensor is damaged please contact the supplier 000 2 Watchdog Software watchdog exception Please contact the supplier and try to update the firmware 000 4 Wrong interrupt Invalid interrupt exception Please contact the supplier and try to update the firmware 000 8 MCU ID Wrong MCU type detected Please contact the supplier 001 0 Motor configuration Motor type is not auto recognized...

Страница 81: ...ernal address Name Description Default Range RWS d1 00 2FF00F20 Soft_Version_LED Firmware version display at the LED R d1 02 2FF01008 Motor_IIt_Rate Displays the rate of real iit and max iit of the motor 0 0 100 R d1 04 2FF01108 Driver_IIt_Rate Display the rate of real iit and max iit of the controller 0 0 100 R d1 06 2FF01208 Chop_Power_Rate Display the rate of real power and rated power of the c...

Страница 82: ... Battery Warning Bit 1 Mixed Warning Bit 2 Encoder Busy 0 0 7 R d1 49 30440008 Cur_IndexofTable Range 0 31 current index in the position table 0 0 31 R 9 2 F002 This panel menu contains parameters for the control loop settings Controller Panel Menu Control Loop Setting F002 Table 9 2 Panel F002 Panel address Internal address Name Description Default Range RWS d2 00 2FF00108 Store_Data Save or init...

Страница 83: ...WS d2 13 60F60210 Kci Ki of current loop 0 1000 RWS d2 14 2FF01C10 CMD_q_Max_Arms Maximuml current command in q axis unit 0 1Arms 0 32767 RWS d2 15 60F60310 Speed_Limit_Factor A factor for limiting max velocity in the torque mode 10 0 1000 RWS d2 16 607E0008 Invert_Dir Invert motion 0 CCW is positive direction 1 CW is positive direction 0 0 1 RWS d2 24 60800010 Max_Speed_RPM Motor s max speed unit...

Страница 84: ...unction enable is not defined 0 0 255 RWS d3 11 20100F10 Dout1_Function See chapter 6 1 table 6 2 0x0001 0 65535 RWS d3 12 20101010 Dout2_Function See chapter 6 1 table 6 2 0x0010 0 65535 RWS d3 13 20101110 Dout3_Function See chapter 6 1 table 6 2 0x0004 0 65535 RWS d3 14 20101210 Dout4_Function See chapter 6 1 table 6 2 0x0008 0 65535 RWS d3 15 20101310 Dout5_Function See chapter 6 1 table 6 2 0x...

Страница 85: ...nalog max torque factor unit mNM V 32768 32767 RWS d3 34 25080110 Gear_Factor0 Numerator of electronic gear 1000 32768 32767 RWS d3 35 25080210 Gear_Divider0 Denominator of electronic Gear 1000 1 32767 RWS d3 36 25080308 PD_CW Pulse control mode 0 CW CCW mode 1 pulse direction mode 2 incremental encoder mode 1 0 255 RWS d3 37 25080610 PD_Filter Filter parameter of pulse input 3 0 255 RWS d3 38 250...

Страница 86: ... the fault state of encoder 2 Read the full fault state 3 Clear the fault state and the MT data 0 0 255 RW d3 52 2FF02310 Jog_RPM Set Jog velocity unit RPM not savable 30 32767 32768 RW d3 53 20100110 Din_Polarity Define the polarity of Din signal 0 normal closed 1 normally open Bit 0 Din1 Bit 1 Din2 Bit 2 Din3 65535 0 65535 RWS d3 54 20100D10 Dout_Polarity Define the polarity of Dout signal 0 nor...

Страница 87: ...tion unit ms 0 32767 R d4 07 64100910 Motor_IIt_I Current of motor I t protection unit 0 0707 Arms 1 1500 R d4 08 64100A10 Motor_IIt_Filter Time const of motor I t protection unit 0 256 s 100 2 32767 R d4 09 64100B10 Imax_Motor Maximum motor current unit 0 0707 Arms 0 32767 R d4 10 64100C10 L_Motor Motor winding inductance unit 0 1mH 1 32767 R d4 11 64100D08 R_Motor Motor winding resistance of uni...

Страница 88: ...005 Panel address Internal address Name Description Default Range RWS d5 00 2FF00108 Store_Data Save or init parameters 1 save control parameters 10 init control parameters 0 0 255 RW d5 01 100B0008 Node_ID Controller ID 1 0 255 RWS d5 02 2FE00010 RS232_Baudrate Serial port baudrate 540 19200 270 38400 90 115200 Effective after reboot 270 0 65535 RWS d5 03 2FE10010 U2BRG Serial port baudrate 540 1...

Страница 89: ...ve and reboot the controller after setting In that case the RS232 cabling must have a loop structure as follows 2 RX 5 GND 3TX PC 6 4 3 X3 ID n 6 4 3 X3 ID 2 6 4 3 X3 ID 1 Figure 10 2 Communication wiring between PC DSub 9 pin and multiple CMMB controllers 10 2 Transport protocol RS232 communication of the CMMB motor controller strictly follows master slave protocol The host computer send data to ...

Страница 90: ...te 9 ID host data CHKS The slave sends The host receives RS232_Loop_Enable d5 15 1 byte 0 byte 1 byte 8 byte 9 byte 0 byte 1 byte 8 byte 9 ID host data CHKS ID slave data CHKS If the host sends a telegram with an unused ID data will pass the RS232 loop but no slave answer will return The slave which finds it s own ID in the host telegram checks the CHKS value If the checksum does not match the sla...

Страница 91: ...or 32 bit value The slave answers byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 RES INDEX SUB INDEX RESERVED RES Displays slave response 60 hex Data successfully sent 80 hex Error bytes 4 7 contain error cause INDEX 16 bit value copy of index in host telegram SUBINDEX 8 bit value copy of sub index in host telegram RESERVED Not used 10 3 2 Upload from slave to host Upload means the master...

Страница 92: ...f index in host telegram SUBINDEX 8 bit value copy of subindex in host telegram DATA Data or error cause depending on RES 10 4 RS232 telegram example Following table shows the RS232 telegram example Table 10 1 RS232 telegram example ID R W Index Sub index Data Checksum Meaning 01 2B 40 60 00 2F 00 00 00 05 Set Controlword 0x2F enable the controller 01 2F 60 60 00 06 00 00 00 0A Set Operation_Mode ...

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