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Manual

Corvus-eco

Functions

Movement profile of the sin²-acceleration function

For the sin²-acceleration the torque is not provided abruptly
but in form of a sine curve. A very soft start and deceleration
of the motor is achieved with this profile.

Because the acceleration is raised in the lower speed range
it does not lead to an extension of the positioning process.

Содержание Corvus ECO

Страница 1: ...Version 1 0 Manual Corvus eco high resolution positioning controller...

Страница 2: ...cteristics 18 Motor wirings 19 Commands to adapt the controller to different motor types 20 Measures against system resonances 21 Motor cable 22 Limit switches 23 Limit switch inputs 23 Limit switch f...

Страница 3: ...levant commands 50 Notices for the joystick mode 51 Closed Loop function 52 Digital encoder interface 53 Analog encoder interface with sin cos module 54 Limit switches 56 Broadcast limit switch teach...

Страница 4: ...dure 75 Installation step by step 75 Option index table 78 Troubleshooting 79 Chapter 6 Firmware update 81 Firmware update 82 Update procedure in three steps 82 What do you need to update the controll...

Страница 5: ...Manual Corvus eco Content 5...

Страница 6: ...etailed information about the hard ware and software features of the Corvus eco controller This includes specifications functions installation and con nector description The Venus 1 programming langua...

Страница 7: ...Warning This information must be observed strictly Important information Indicates that this function can be enabled with a release code This function must be installed from the factory personal or ex...

Страница 8: ...Chapter 1 Manual Corvus eco Introduction 8 Introduction...

Страница 9: ...Manual Corvus eco Introduction 9 Presentation of the controller Corvus eco Corvus eco with a built in joystick...

Страница 10: ...formance and a cool driver electronics Motion types Corvus eco provides point to point jogging linear interpolat ed moving and also velocity controlled moves with the possi bility of on the fly veloci...

Страница 11: ...sy motion programming the controller sup ports native units such as m mm inch m mm s mm s Manual operation For manual operation a analog joystick interface is provided Additionally Corvus eco is avail...

Страница 12: ...tor revolution 200 step motor 25 rev s Option Code Joystick operation for external joystick Standard Joystick operation with internal joystick Special order code ASCII command language Standard Motion...

Страница 13: ...Chapter 2 Manual Corvus eco Starting up 13 Starting up...

Страница 14: ...sons and things The use according to the regulations implies that the device is solely used in the way that is described in this documenta tion and that the stated safety advices are followed In no ev...

Страница 15: ...s Directive 73 23 EEC Directive 89 336 EEC Electrical Apparatus Electromag compatibility Low Voltage Directive European Standards EN61010 1 08 2002 EN61326 1 EN61000 3 2 EN61000 3 3 Remarks Initial op...

Страница 16: ...in put which adapts the controller automatically to input voltages from AC 90V up to AC 250V Mains protection The mains side is protected by a standard 250V 3A fuse It is located in the power entry mo...

Страница 17: ...r 1 8 Maximum phase current 1 5A We recommend Hybrid motors This motors have 200 rotor teeth and rotate at 1 80 step angles Other hybrid motors are available in 0 9 and 3 6 step angle configurations B...

Страница 18: ...rent per Phase Resistance per Phase Inductance per Phase Lead Wires The motor torque during operation depends on the speed and has to be taken from the motor characteristic curve Typical values Step A...

Страница 19: ...Manual Corvus eco Starting up 19 Motor wirings Following table shows different motor wirings We recommend Type 1 and Type 6 The diagrams are taken from a Oriental Motor data sheet...

Страница 20: ...lutions torque characteristic of the motor At lower and medium step rates the settings of umotmin and umotgrad are dominant for the motor characteristic setumotmin Determines the phase current if the...

Страница 21: ...se situation the stepping motor will stall with a whistling sound An effective countermeasure against this kind of resonances are damping elements which are for typically installed on the extended mot...

Страница 22: ...t cable losses by a modified configuration of the motor parameters setumotmin and setumotgrad For the EMC compatible fitting of the cable a total shielding is prescribed whereby the cable shield is co...

Страница 23: ...er limit switches Venus 1 command cal The controller moves all axes simultaneously in negative direction until the cal limit switches are reached teach in of upper limit switches Venus 1 command rm Th...

Страница 24: ...or from authorized experts Function of limit switch types NPN the limit switch closes or opens to Ground PNP the limit switch closes or opens to VCC The function opener or closer is determined with t...

Страница 25: ...t be changed Motor moving is controlled from the deflection of the joystick axes this allows a very sensitive and intuitive positioning of the motors Joystick axes assignment The axis of the joystick...

Страница 26: ...s is pressed The second joystick speed can be defined with the Venus 1 command setnjoyspeed Relevant Venus 1 commands for the joystick operation Command Description setjoyspeed max joystick velocity v...

Страница 27: ...If the zero value of a joystick axis is out of a deter mined value the manual mode for this axis is dis abled If the joystick is disconnected during a manual posi tioning the axes are stopped immedia...

Страница 28: ...e controller Corvus eco provides the following programming interfaces RS 232 interface It is not necessary to install a driver to communicate with the Corvus eco RS 232 interface USB interface This co...

Страница 29: ...232 connection Procedure step by step Connect RS 232 cable to PC and controller Switch on the controller Start WinPos Select Com Port choose correct port settings Connecting WinPos WinPos automatical...

Страница 30: ...m in Chapter Connectors The interface configurations of the control unit has to correspond accurately with the following settings If the delivered RS 232 cable is used with an additional interface ada...

Страница 31: ...p pear as an additional COM port available to the PC Applica tion software can access the USB device in the same way as it would access a standard COM port VCP drivers are available which allow the FT...

Страница 32: ...on your machine before and the drivers that are about to be installed are different from those installed already the original drivers need to be uninstalled Download the latest available VCP drivers f...

Страница 33: ...l Corvus eco Starting up 33 Select Search for a suitable driver for my device rec ommended as shown below and then click Next Check the box next to Specify a location and uncheck all others as shown b...

Страница 34: ...Manual Corvus eco Starting up 34 Clicking Next displays a dialog box for you to enter to the location of the drivers Click Browse to display an open file dialog box...

Страница 35: ...cts the correct INF file in this case FTDIBUS INF Once Windows has found the required driver INF file click Next to proceed Windows should then display a message indicating that the installation was s...

Страница 36: ...procedure is the same as that above for installing the serial converter driver except the PC will autoselect the FTDIPORT INF file Open the Device Manager located in Control Panel System then select t...

Страница 37: ...on the appropriate connec tion and selecting Disable from the menu The con nection can be re enabled after the installation is com plete This is not necessary under Windows XP SP 2 if configured to as...

Страница 38: ...Manual Corvus eco Starting up 38 Select Install from a list or specific location Advanced as shown below and then click Next...

Страница 39: ...licking the browse button Once the file path has been entered in the box click next to proceed If Windows XP is configured to warn when unsigned non WHQL certified drivers are about to be installed th...

Страница 40: ...ws XP copies the required driver files Windows should then display a message indicating that the installation was successful Click Finish to complete the installation This has installed the serial con...

Страница 41: ...port emulation driver The procedure is the same as that above for installing the serial converter driver Open the Device Manager located in Control Panel System then select the Hardware tab and click...

Страница 42: ...Manual Corvus eco Starting up 42...

Страница 43: ...Chapter 3 Manual Corvus eco Functions 43 Functions...

Страница 44: ...riting commands execute the activities Reading com mands are used to check the controller configuration resp the current state An automatic status reply message can be generated by a combination of co...

Страница 45: ...command _ Example switching on the 2nd axis 1 2 setaxis Positioning commands axis 1 axis 2 axis 3 move Example Absolute move all axes are moved to the coordinates below 1 204 4 01 3 4 move Relative m...

Страница 46: ...sequence must be sent to the con troller to cause the controller to send a status reply automatically Example 10 12 4 m move to the desired coordinates 0 0 0 r no operation command locks interpreter u...

Страница 47: ...ration are equal A cross table with the axes x and y executes thereby a straight movement Velocity and acceleration The settings of the velocity and the acceleration always refers to the axis with the...

Страница 48: ...er the curve corresponds to the covered distance s and the pitch of the curve corresponds to the ac celeration a See v t graph below 1 accelerated move 2 continuos move 3 decelerated move Movement pro...

Страница 49: ...the sin acceleration the torque is not provided abruptly but in form of a sine curve A very soft start and deceleration of the motor is achieved with this profile Because the acceleration is raised i...

Страница 50: ...enormous The internal calculation works with 32 bit and reaches a resolution of theoretically 23 2 fm femtometer Joystick button speed The two parallel wired push buttons of the joystick can switch to...

Страница 51: ...me If zero value of a joystick axis is out of a determined value the manual mode for this axis is disabled If the joystick is disconnected during a manual posi tioning the axes are stopped immediately...

Страница 52: ...f the absolute accuracy Step monitoring Load compensation during the movement and a standstill Improved controlling behavior Supports fast and high precise positioning procedures using the closed loop...

Страница 53: ...e wave pulse trains and their in verted pulse trains The encoder interface is also provided with a reference signal input Technical data Encoder signal input RS422 differential Encoder index input RS4...

Страница 54: ...a 12 Bit or 16 Bit data acqui sition interface Technical data To calculate the maximum positioning resolution of the sin cos module the cycle time of the measurement signal pe riod must be divided by...

Страница 55: ...e or sensor error not active Sensor ok Command Description setcloop enables closed loop mode setscaleinterface configurates sin cos module setclperiode adapts to the encoder types setclfactor adapts t...

Страница 56: ...ch in procedure is de criped See also in Chapter Installation Programmed broadcast limit switch teach in All axes are moved to the limits simultaneously Programmed single axis limit switch teach in Th...

Страница 57: ...s are moving automatically in the opposite direction until the switch es are released At this point the limit switch teach in of one direction is complete The limit switch movement can be aborted with...

Страница 58: ...d Description cal moves all axes to the minus limit switch direction ncal moves a single axis to the minus limit switch direction rm moves all axes to plus limit switch direction nrm moves a single ax...

Страница 59: ...the opposite direction until the limit switch is released 3 If defined an additional move is performed to the opposite direction see command setcalswdist If the limit switch teach in procedure is perf...

Страница 60: ...switch is disabled and the lower limit value is changed to negative val ues with the command setlimit The origin can be changed subsequently with the command setpos With command rm or nrm the controll...

Страница 61: ...int the limit is registered If all limits are teached in the working area is determined In regular conditions further on all movements will be ramped down and terminated at the limits without activati...

Страница 62: ...are activated this causes a back electromotive force bemf that can reset the controller To much speed can bring the axis in collision with the the mechanical limits To achieve a good repeatability of...

Страница 63: ...ied with an in put output interface with 3 digital inputs and 3 digital outputs Input circuit The input voltage range of the digital inputs is between 0 to 24V The inputs are optically isolated but no...

Страница 64: ...qualified for switching inductive loads The maximum current capacity of each output is 500 mA The total output current of all outputs may not exceed 1000 mA Related Venus 1 commands Command Descriptio...

Страница 65: ...mmand setout generates digital output signal at Pin s 4 8 9 Input signal detection The command getin reads the binary state of the data inputs at Pin s 2 6 7 Safety function The function setinfunc use...

Страница 66: ...he user voltages 5V or 12V These voltages are protected with a electronic fuse The fuse elements are self resetable this means the electric circuit is closed again after a while when the overload situ...

Страница 67: ...Chapter 4 Manual Corvus eco Technical data 67 Technical data...

Страница 68: ...tion joystick mode 0 233 nm Positioning modes Absolute relative vector error correction speed controlled with on the fly velocity updates Limit move algorithm Origin move algorithm Acceleration modes...

Страница 69: ...eration Input frequency max 500 kHz Safety functions Motor disable interface Isolated relay contact Accessories Analog joystick interface with 2 or 3 axes Analog joystick with display Digital encoder...

Страница 70: ...Manual Corvus eco Technical data 70 Layout and dimensions...

Страница 71: ...Chapter 5 Manual Corvus eco Releasing options 71 Releasing options...

Страница 72: ...released from the customer with a so called release code Informations to purchase a release code To purchase an option following informations are essential 1 Serial number of the controller The number...

Страница 73: ...leased options are labeled on the rear side of the controller The options index can also readout with the command getoptions Options Axis 3 High speed 25 rev s Input Output Axis 1 Closed loop RS 422 1...

Страница 74: ...type Serial number Desired option Already released options current index getoptions Date TABLE 1 Fill out form for release code requests Options Axis 3 High speed 25 rev s Input Output Axis 1 Closed...

Страница 75: ...uld be used venuscom dat is found in the WinPos directory Installation step by step Connect serial line with Host and controller Switch on the controller Start WinPos Establish a proper communication...

Страница 76: ...Manual Corvus Releasing options 76 Controller connected Venus 1 command line Release Code with command setcode...

Страница 77: ...Manual Corvus Releasing options 77...

Страница 78: ...mber from 0 to 1023 as shown in the following table Example Options 3 rd Axis Input Output getoptions 8 1 9 Option getoptions Index Bit 3 rd Axis 1 D0 not used 2 D1 not used 4 D2 Input output 8 D3 not...

Страница 79: ...l options In most cases you got the code via E mail It is a reasonable way to copy the number from the E mail into the clipboard and insert it directly in the Venus command line Don t forget to send c...

Страница 80: ...Manual Corvus Releasing options 80...

Страница 81: ...Chapter 6 Manual Corvus eco Firmware update 81 Firmware update...

Страница 82: ...ngs are read from the disk and stored to the controller again What do you need to update the controller 1 Update Tool with following files 2 New Firmware bin file This file can be uploaded from the ho...

Страница 83: ...Manual Corvus Firmware update 83 Update Tool...

Страница 84: ...Manual Corvus Firmware update 84...

Страница 85: ...Chapter 7 Manual Corvus eco Connectors 85 Connectors...

Страница 86: ...9 6 5 1 9 6 C Joystick Motor Axis 2 RS 232 Host Encoder Axis 2 Encoder Axis 3 Encoder Axis 1 S Motor Axis 1 USB Motor Axis 3 RS 232 Service Input Output C C S S Cycle Closed Loop interface Firmware up...

Страница 87: ...from the factory personal or from authorized experts Pin Name Description 1 Ph 1A Motor Phase 1A 2 Ph 1B Motor Phase 1B 3 Ph 2A Motor Phase 2A 4 Ph 2B Motor Phase 2B 5 GND Ground 6 cal Limit switch i...

Страница 88: ...is fixed Pin Name Function 1 Ua 1 Channel A positive 2 Ua 2 Channel B positive 3 Ua 0 Reference positive 4 DGND GND 5 User 5V Encoder supply User output max 1000mA 6 Ua 1 Channel A negative 7 Ua 2 Ch...

Страница 89: ...upply for each encoder the value is fixed Stability has to be achieved for longer supply lines Pin Name Function 1 5V analog Encoder supply Analog Vcc 2 Event Event 3 Ua 1 sin 4 Ua 1 sin 5 Ua 2 cos 6...

Страница 90: ...ND 2 Input 2 Input 2 0 24V 3 User 5V User output 4 Output 2 Output 2 0 24V 5 SPNG SPNG 6 Input 1 Input 1 0 24V 7 Input 3 Input 3 0 24V 8 Output 3 Output 3 0 24V 9 Output 1 Output 1 0 24V TABLE 6 Digit...

Страница 91: ...signals RTS and CTS are not supported DTR and DSR are internal connected Pin Name Function 1 nc nc 2 RxD Corvus data input 3 TxD Corvus data output 4 DTR Connected with Pin6 5 GND GND 6 DSR Connected...

Страница 92: ...ectors 92 RS 232 Service interface Pin Name Function 1 nc nc 2 RxD Corvus Data input 3 TxD Corvus Data output 4 DTR Connected with Pin6 5 GND 6 DSR Connected with Pin4 7 8 9 TABLE 9 RS 232 service int...

Страница 93: ...Axis 1 X Analog input 0 3 3V 2 Axis 2 Y Analog input 0 3 3V 3 Axis 3 Z Analog input 0 3 3V 4 Joystick enable Enable input GND enables joystick 5 5V User User output 6 SW Joystick button 7 GND GND 8 AG...

Страница 94: ...Manual Corvus eco Connectors 94 Your notices...

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