Glentek Omega SMC9930 Скачать руководство пользователя страница 29

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Glentek Inc. 208 Standard Street, El Segundo, California 90245, U.S.A. (310) 322-3026

Service Command Error Codes

When a service command fails the following error codes will be returned:

Error Code

Cause

Invalid Argument

The amplifier is enabled but command can only be executed when
the amplifier is disabled

The amplifier is disabled but command can only be executed when
the amplifier is enabled

Attempt to write to a read-only parameter

Monitor Tables

This section contains all entries in the node monitor table.
This table is exposed to the Motion-application programming
interface (MPI). (Direct commands (Monitor_X_Table)
0x0F, 0x011, 0x013 per page 34)

Notes:

Interpolator option Only.

Interpolator mode must be setup & cal to monitor these

channels. Sine and Cosine data are after user set gain and
offsets.

Monitor_

Data (16-bit)

R phase current

S phase current

T phase current

reserved

R demand voltage

S demand voltage

T demand voltage

Measured Bus voltage

reserved

measured current, 3 phase rectified
=max(abs(Ir), abs(Is), abs(It))

measured velocity

reserved

motor shaft position (bits 15..0)

motor shaft position (bits 32..16)

Demand A loopback

Demand B loopback

Interpolator/DBN Status

Interpolator Sine

1,2

Interpolator Cosine

SynqNet® Setup

Содержание Omega SMC9930

Страница 1: ...Preliminary INSTALLATION OPERATION MANUAL Omega Series Model SMC9930 Model SMC9975 with Interface Digital PWM Brush Brushless Servo Amplifiers...

Страница 2: ...dates The network is electrically isolated for noise immu nity and includes data path redundancy for fault tolerant operation SynqNet eliminates the traditional noise prone 10V analog signal and reloc...

Страница 3: ...puts A B and index channels passed to the controller Status indicator 7 segment display indicates amplifier status and fault codes Sine encoder interpolation Accepts 1Vpp sine cosine feedback and inte...

Страница 4: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 4 Omega Series Digital PWM Amplifier Manual Amplifier Setup Software Motion Maestro...

Страница 5: ...install disk is setup to utilize Install Shield to simplify installation There are only a few setup options offered In general you can press NEXT or YES until installation is complete When installati...

Страница 6: ...arameters Opening of Communications Before MotionMaestro can be used communications must be established between the amplifier and the PC that MotionMaestro is running on Before opening communications...

Страница 7: ...To view this dialog you must select the Tools option on MotionMaestro s main menu tool bar then select Model Info Here you will be able to view your firmware version and date amp model number power bo...

Страница 8: ...there are two sets of check boxes for each signal Wkg and Amp Amp displays the current amp setting while Wkg dis plays the users choice The amp is automati cally updated as the Wkg box changes If Wkg...

Страница 9: ...eters in the amplifier the amp must be disabled You can do this by clicking on the Disable Enable Amp button first then the Send Values To Amp button Pressing F1 displays the dialogs help text After t...

Страница 10: ...red Rotary Selecting lin ear instead of rotary will display parameters that are specific to a linear motor Edit boxes that are not available are values that are calculated based on other parameters en...

Страница 11: ...nd turns on off different traces You can monitor up to three traces at one time All traces are color coded on the Oscilloscope Display screen The Recording Data section is useful for recording test da...

Страница 12: ...as been designed so that only those applicable to the situation at hand can be displayed These dialogs continuously send queries to the amplifier to determine the amplifiers current status The size an...

Страница 13: ...rrants attention Current fold back is such a condition Display this dialog by selecting Status Warnings or via a button on MotionMaestro s toolbar Status All other amplifier conditions that are not a...

Страница 14: ...he right Creating a Back Up Copy of Amplifier Parameters on Disk An amplifier s current parameter settings can be saved to a disk file that can later be used to configure another amplifier or to resto...

Страница 15: ...gineer can determine the amplifier s true response to commanded signals The analog output is for reference use only It is not intended for control purposes At power on its value is undetermined until...

Страница 16: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 16 Omega Series Digital PWM Amplifier Manual SynqNet Setup Guide...

Страница 17: ...does not change to NO use MotionMaestro to determine the cause of the fault clear the cause and click the Clear Fault button again To zero the Actual Position click the Zero Position button on the Act...

Страница 18: ...plifier by checking the Enabled Check box on the MoCon Motor Summary window Carefully rotate the motor shaft by hand and verity the motor rotates smoothly without any cogging torque or torque bias Com...

Страница 19: ...Actual Position decreases Zero the DAC Offset Disable the Amp Set the Algorithm on the Config Tab of the Filter Summary Window back to PID Set the Error Limit Action on the Events Tab of the MoCon Mot...

Страница 20: ...U16 162 Pre Amp Tab U16 163 Continuous Current Rating U15 See Parameter 166 for engineering conversion 164 Peak Current Rating U15 See Parameter 166 for engineering conversion 165 Bus Over Voltage Th...

Страница 21: ...parameter 169 for engineering conversion 176 S V Phase ADC Offset I16 See parameter 169 for engineering conversion 177 T W Phase ADC Offset I16 See parameter 169 for engineering conversion 178 189 Spa...

Страница 22: ...locity 0 Do not negate 4 Encoder Reverse 1 Negate Encoder 0 Do not negate 5 Hall Type 1 Special Halls e g reduced wire encoders 0 Standard Halls 6 7 Reserved 8 Interpolator En coder Fault Disable Inte...

Страница 23: ...to 180 degrees 45 Commutation Lead Gain I16 Proportional to degrees RPM conversion TBD 46 Commutation Angle I16 Normalized to 180 to 180 degrees 47 49 Spare Commutation Initialisation Options 50 Init...

Страница 24: ...curacy This limit is bypassed for the first eight edge corrections following a commutation reset power on reset or fault reset 68 69 Spare Current Loop Tuning 70 Loop Gain U15 0 to 32767 0 to 1 0 71 P...

Страница 25: ...2768 to 32767 1 0 to 1 0 114 B1 I16 32768 to 32767 1 0 to 1 0 115 B0 I16 32768 to 32767 1 0 to 1 0 116 Scale I16 Bit shift used to scale coefficients to within 1 0 range Coefficients should be scaled...

Страница 26: ...t 9 Phase R Measured Current 10 Phase S Measured Current 11 Phase T Measured Current 12 Phase R Commanded Voltage 13 Phase S Commanded Voltage 14 Phase T Commanded Voltage 15 Aux Command sum of all so...

Страница 27: ...e This example demonstrates how to read existing encoder resolution and write a new encoder resolution 1 read 4 retrieve encoder resolution setting refer to page 27 2 0x200 hex decimal number for 512...

Страница 28: ...r_C_Table R W N Using the data passed Pointer_C is set to one of the tabulated values in Error Reference source not found 0x14 Get_Monitor_C_Memory Set_Monitor_C_Memory R W N Using the data passed Poi...

Страница 29: ...tion application programming interface MPI Direct commands Monitor_X_Table 0x0F 0x011 0x013 per page 34 Notes Interpolator option Only Interpolator mode must be setup cal to monitor these channels Sin...

Страница 30: ...er page 34 Will clear all but NVRAM and CPLD faults which require a Hardware reset i e a power cycle Bus Under Volt age is now a warning Fault Count Direct command 0x09 per page 34 Always reads as 1 a...

Страница 31: ...ct Command Note This example demonstrates how to read amp faults 1 0x08 Fault Read per page 34 2 0x00000860 hex decimal number for 100001100000 bin 3 Bit 5 100001100000 Invalid Hall State per page 36...

Страница 32: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 32 Omega Series Digital PWM Amplifier Manual Reading Amp Fault Data by Using sqDriveMsg Command...

Страница 33: ...bit warning word Warning Clear Direct Command 0x0B per page 34 Warnings and the warning flag are latching the warning code is held in a register until cleared Warning Count Direct Command 0x0B per pag...

Страница 34: ...l Firmware Flash Download with Using Motion Console MoCon 1 Select Binary Download in SyqNode Summary window 2 Select Drive Processor 0 Firmware 3 Locate firmware file using Browse button 4 Highlight...

Страница 35: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 35 SynqNet with Sine Interpolator and DBN SMC99XX 10X 001 000 See page 79 for model numbering SynqNet Setup...

Страница 36: ...put a nd must be configured as an input in the Node logic to prevent driver contention 2 Set Encoder Type to Drive to read the interpolated date from the drive 3 Set Position1 Position2 Velocity Accel...

Страница 37: ...and Cosine signals This swap may cause a step change in the interpolated position data and should only be performed when the drive is disabled The second switch is the drive processor s local encoder...

Страница 38: ...Sine input to calibrate signal inaccuracies for improved interpolator accu racy This parameter should be set after selecting the encoder direction since changing the encoder direc tion swaps the sine...

Страница 39: ...and Cosine input channels to reverse the encoder count direction 0 Do not swap Sine and Cosine input channels Bits 12 15 Interpolator Factor n 0 to 14 Setup Cal Interpolation factor 2 n 2 n interpolat...

Страница 40: ...the drive processor to the Inter polator DBN processor and the calibrated sine cosine signals are continuously uploaded from the Interpo lator DBN processor to the drive processor and can be monitored...

Страница 41: ...Sequence Completed must exit DBN_Enable Mode to clear 0 Sequence not completed Bit 12 DBN_Auto_Reenable 1 DBN auto re enable bit is set in Interpolator DBN_Config register 0 DBN auto re enable bit is...

Страница 42: ...mode is changed back to DBN_Enable 11 If DBN_Enable mode is exited before the sequence has completed the frames must be re loaded to reset the sequence to frame 0 If the frames are not reloaded the s...

Страница 43: ...V differential max I 6 Encoder A Sine 7 Encoder B Cosine 8 Encoder B Cosine 9 Encoder Z Index 10 Encoder Z Index 11 Hall U 26LV32 or equivalent RS422 line receiver inputs Compatible with differential...

Страница 44: ...inals of each optical output are available at the I O connector al lowing the ability to configure each output as sourc ing or sinking All outputs are controlled by the SynNet controller VCE max 35V I...

Страница 45: ...standard 26LV31 or equivalent RS422 line drivers All outputs are controlled by SynqNet Controller Iout max 20mA O 34 TX_0 35 TX_1 36 TX_1 5VDC out Short circuit protected Pin Number Desctiption I O 3...

Страница 46: ...I 6 Receive I 4 5 7 8 Earth ground Pin Number Description I O 1 Receive I 2 Receive I 3 Transmit O 6 Transmit O 4 5 7 8 Earth ground Connector Description Type 8 Pin Male Mating Connector RJ 45 Molex...

Страница 47: ...Power I O Connector Pin Name Description I O 1 AC 1 AC I 2 AC 2 AC I 3 AC 3 AC I 4 Ext Regen Out Reserved O 5 Ext Regen Out Reserved O 6 R Motor Phase R O 7 S Motor Phase S O 8 T Motor Phase T O Appen...

Страница 48: ...ault or state Display Name Description 1 EEPROM Fault Parameter EEPROM checksum fault 2 RAM Fault Power up RAM read write test failed 3 CPLD Fault CPLD communication timeout 4 Interpolator Fault Sine...

Страница 49: ...r Output Power Rated Peak SMC9930 100 135 260VAC 30 60 SMC9930 103 135 260VAC 30 60 SMC9975 100 50 135VAC 75 150 SMC9975 103 75 150 50 135VAC Appendix C Sine Encoder Interpolation Sine Cosine Input Ma...

Страница 50: ...standard 26LV31 or equivalent RS422 line driver Iout max 20mA TX0 is controlled by the interpolator and should be configured as an input on the controller Divide by N function TX1 is controlled by the...

Страница 51: ...ter with MotionMaestro installed B With the power off connect the motor encoder outputs and the Hall sensor outputs to the amplifier Leave the motor power leads disconnected Connect the RS232 serial c...

Страница 52: ...ation dialog If not check the Encoder Data Reverse box The Encoder Data Position should now count up as the seven segment display cycles clockwise G Save the new settings by selecting Save to NVM from...

Страница 53: ...ermine which BEMF waveform is in phase or 180 out of phase with the phase R command Label this lead Phase R NOTE For each phase R S and T one direc tion of rotation should cause the back EMF BEMF to b...

Страница 54: ...set any current limits foldback thresholds to the desired operational settings Reset the Control Panel options to appropriately safe values Set the Analog Input Signal Gain back to the de sired operat...

Страница 55: ...that you will enter in your Commutation dia log Note For better accuracy you may rotate by 10 turns and divide by 40 instead of 4 Common encoder line counts include but are not limited to 250 256 500...

Страница 56: ...entek motor that is correctly com mutated where the encoder is not reversed FER 0 and the tachometer feedback is reversed TR 1 Commutation track signals and phase to phase BEMF 180 to 180 degrees As m...

Страница 57: ...MI is called the device s Electromagnetic Compatibility EMC Equipment which is to be brought into the European Union legally requires a specific level of EMC Since this applies when the equipment is b...

Страница 58: ...and provides electrical iso lation In addition it provides common mode filtering although the effect is limited in frequency by the interwinding capacitance Use of a Faraday shield between the winding...

Страница 59: ...situation is similar to a leaky boat All the holes must be plugged to prevent sinking If the filter is mounted excessively far from the drive it may be necessary to mount it to a grounded conductive...

Страница 60: ...should be used as the single point where circuits are grounded This will minimize common ground impedance noise coupling The ground bus bar GBB should be con nected to the AC ground and if necessary t...

Страница 61: ...ial to meet European EMC requirements The following suggestions are recommended for all installations 1 Motor cables must have a continuous shield and be terminated at both ends The shield must connec...

Страница 62: ...chine builder to ensure that the machine meets the appropriate requirements as installed RECOMMENDATIONS FOR GLENTEK AMPLIFIERS All amplifiers installed in a NEMA 12 enclosures or equivalent with wiri...

Страница 63: ...locity or po sition There are many forms and methods by which commands are submitted to an amplifier Tradi tionally the command was given as an analog voltage input to the amplifier Today there is ana...

Страница 64: ...ngle based on this known location This method unlike Twang or Dither does not move the rotor shaft at power up Instead it uses a non optimal commutation angle at start up and corrects to the optimal c...

Страница 65: ...first step in selecting a commutation initialization method is to determine whether motion can be tolerated upon power up If motion is not acceptable then the motor must be equipped with Hall sen sors...

Страница 66: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 66 Omega Series Digital PWM Amplifier Manual...

Страница 67: ...types SMC9930 SMC9975 In order to accurately select a complete part number please follow the steps shown below 1 Select the amplifier type which meets your power requirements i e SMC9930 or SMC9975 a...

Страница 68: ...er Continuous Current Amps Peak Current Amps 100 135 260VAC SMC9930 30 60 SMC9975 75 150 103 SMC9930 30 60 SMC9975 75 150 50 135VAC Note For brush type configurations please contact Glentek SMC9930 SM...

Страница 69: ...Amplifier Continuous Current Amps Peak Current Amps 100 135 260VAC SMC9930 30 60 SMC9975 75 150 103 SMC9930 30 60 SMC9975 75 150 50 135VAC SMC9930 SMC9975 Stand Alone Amplifier With Sine Interpolator...

Страница 70: ...the unit C A brief notation explaining the malfunction D Date the unit is being returned 3 Repackage the unit with the same care and fashion in which it was received La bel the container with the app...

Страница 71: ...y is limited to repair or replacement of defective parts Any product or part manufactured by others and merely installed by us such as an electric motor etc is specifically not warranted by us and it...

Страница 72: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 72 Omega Series Digital PWM Amplifier Manual...

Страница 73: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 73 Appendix K...

Страница 74: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 74 Omega Series Digital PWM Amplifier Manual...

Страница 75: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 75 Appendix K...

Страница 76: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 76 Omega Series Digital PWM Amplifier Manual...

Страница 77: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 77...

Страница 78: ...Glentek Inc 208 Standard Street El Segundo California 90245 U S A 310 322 3026 78 Omega Series Digital PWM Amplifier Manual...

Страница 79: ...iers to 28KW Analog Brushless Servo Amplifiers Linear Brushless servo amplifiers to 3 5KW PWM Pulse Width Modulated Brushless servo amplifiers to 51KW Permanent Magnet DC Brush Type Servo Motors Conti...

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