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Rev. 1.0

0012072012

TSM24P User Manual

+86-400-820-9661

5.2.4 Deri Filter: Torque Command Filter Term (KE)

A derivative control term can be rather noisy and even though it is effective in damping the

positioning control, it can cause objectionable audible or observable noise to the system. The filter

is a very simple single-pole low pass filter that is used to limit this high frequency noise and make

the system quieter and more stable.

5.3 Notch filter

For additional filtering, an over-all notch filter is added to the current command signal. This filter

is similar to the PID Filter in that it is active even when the driveis being used in Torque Control

Mode. Notch filters are typically used to filter at a particular frequency when there is a resonant

component in the mechanical system that may oscillate at that frequency. Couplers between the

motor and the load can commonly do this which may result in a control problem. When gains are

increased to improve performance the system may resonate in an uncontrollable manner. The

Notch Filter allows gain reduction at only the problematic resonant frequency, allowing the over-all

gain to be set higher for better system control.
The notch filter has two parameters that are described below. The notch filter can only be

configured though the Quick Tuner interface where the Quick Tuner software calculates the filter

constants used by the drive.

5.3.1 Frequency: Notch Filter Center Frequency

This defines the center frequency - the frequency where the most gain reduction occurs. For now,

finding the center frequency is a bit of a guessing game and different frequencies can be tried until

the system resonance is eliminated.

5.3.2 BandWidth: Notch Filter Frequency Bandwidth

This defines the frequency span where the signal is reduced by at least 3dB. For example if the

center frequency is set to 400Hz and the bandwidth to 200 the signal will be reduced by 3dB

starting at 300hz. It will have the greatest reduction at 400Hz, and then will be greater than 3dB

above 500Hz. When setting the notch filter a chart is displayed that provides an indication of the

filtering that will be accomplished.

Содержание TSM24P

Страница 1: ...TSM24P Integrated Step Servo Motor User Manual Rev 1 0 AMP MOONS Automation...

Страница 2: ...2 1 Connecting to the PC using RS 232 13 3 3 Inputs and Outputs 14 3 3 1 Connector Pin Diagram 14 3 3 2 X1 STEP and X2 DIR High Speed Digital Inputs 16 3 3 3 X3 EN and X4 AR Digital Inputs 17 3 3 4 Pr...

Страница 3: ...5 2 3 Deri Gain The Derivative Term KD 29 5 2 4 Deri Filter Torque Command Filter Term KE 30 5 3 Notch filter 30 5 3 1 Frequency Notch Filter Center Frequency 30 5 3 2 BandWidth Notch Filter Frequenc...

Страница 4: ...40 6 2 1 Jog Move 40 6 2 2 Single Move 41 6 2 3 Homing 41 6 3 Motion Status 41 6 4 Monitor 42 6 5 I O Status 42 6 6 Alarm 42 6 7 Drive Status 43 7 Troubleshooting 44 8 Reference Materials 45 8 1 Mech...

Страница 5: ...an integrated package Operates from a 12 to 70 volt DC power supply Control Modes Position Control Digital Signal type Step Direction CW CCW pulse A B Quadrature Encoder Following Communications RS 2...

Страница 6: ...tage Temp Det Over Current Det motor encoder 5 Volt DC Power Supply 3 3VDC Internal Logic Supply TSM24P I O Connector X1 STEP Digital Filter Software Filter Status A A B B Z Z Optical Iso Line Driver...

Страница 7: ...injury and damage to persons and machinery All technical information concerning the installation requirements must be strictly adhered to It is vital to ensure that all system components are connected...

Страница 8: ...e from the CD Connect the drive to the PC using the programming cable Connect the drive to the power supply See instructions below Launch the software by clicking Start Programs MOONS Apply power to t...

Страница 9: ...able operation Absolute minimum power supply input is 10 VDC If the Input supply drops below 10 VDC the low voltage alarm will be triggered This will not fault the drive Absolute maximum power supply...

Страница 10: ...ess current will be required from the power supply It is important to note that the current draw is significantly different at higher speeds depending on the torque load to the motor Estimating how mu...

Страница 11: ...2012 TSM24P User Manual 86 400 820 9661 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 5 0 0 5 1 1 5 2 2 5 3 3 5 0 10 20 30 40 50 Torque N m Speed RPS TSM24P 3AG 70V Power Amps Continuous Torque Boost Supply Current F...

Страница 12: ...n the internal fuse on the drive and void the warranty MOONS offers two matched power supplies for use with the TSM24P A 24VDC 150W P N MF150A24AG V and a 48VDC 320W P N MF320A48AG V These power suppl...

Страница 13: ...nication cable that came with the drive into the serial port of the PC Plug the small end into the crimp style connector on the TSM24P Secure the cable to the PC with the screws on the DB9 connector N...

Страница 14: ...ding position Quadrature signals from encoders can also be used X3 EN and X4 AR are 5 24 volt logic digital inputs X3 EN is used for motor enable disable X4 AR is used for alarm reset 3 3 1 Connector...

Страница 15: ...00 820 9661 Drives User Control 1 X1 STEP 2 X1 STEP 3 X2 DIR 4 X2 DIR 9 XCOM 5 24VDC 0VDC 0VDC 0VDC Under 30V 5 X3 SERVO ON 6 X4 ALARM RESET 17 Y1 ALARM 18 Y2 IN POSITION 19 Y3 BRAKE 20 YCOM 23 ENC Z...

Страница 16: ...nd other SCL or Q commands The diagrams below show how to connect the STEP DIR Inputs to various commonly used devices 5v to 24v out DIR STEP DIR DIR STEP STEP Indexer with Sinking Outputs Connecting...

Страница 17: ...he TSM24 drives if you are using sourcing PNP input signals then you will want to connect COM to ground power supply If you are using sinking NPN signals then COM must connect to power supply Note If...

Страница 18: ...tach signal or to provide a timing output 50 pulses rev These outputs can also be turned on and off by program instructions like Set Output SO The output can be used to drive LEDs relays and the inpu...

Страница 19: ...showing all the Step Servo Quick Tuner files on the hard drive When a large number of identical machines are being built it is useful to be able to exactly duplicate each set up When development of on...

Страница 20: ...alarm conditions The Alarm History dialog can also be used to clear the Alarm History 4 1 4 LED Flashing Clicking on this button will bring up a screen where the LED flashing for certain warnings can...

Страница 21: ...ironment This can prevent mis information being sent to or received back from the drive 4 1 7 Servo On Off The Enable button energizes the motor and tells it to be ready to accept motion commands The...

Страница 22: ...er is to prevent noise pulses from being added to the step count Setting the filter value just above the maximum intended input frequency will help prevent noise pulses from being added to the step co...

Страница 23: ...50 counts the fault limit could safely be set at 100 4 2 5 Maximum Speed The maximum speed allowable may also be set If the maximum speed is set below the speed a command signal demands the final spee...

Страница 24: ...rror Fault and Maximum Acceleration that will appear to the left of the Control Mode box when this option is checked refer to the section 4 2 above in Page26 for help in parameter setting Smoothing Fi...

Страница 25: ...he performance over the whole range of desired speeds should be considered Digital Signal Types There are three types available Pulse Direction accepts signals such as those generated by a step motor...

Страница 26: ...e output will close if a fault occurs Open on fault the output will open if a fault occurs Not used generic programmable output Options for Y2 are Closed when motor is moving The output is closed when...

Страница 27: ...Position Loop control requires first tuning the Velocity Loop As mentioned above Current Loop tuning is not required as it is already optimized for the motor Position Loop Velocity Loop Current Loop...

Страница 28: ...locity calculation has reported and produces a torque that is added to the torque command from the VP term The equation for this is T VP Vn VI V In the example the VP term allowed the motor to reach e...

Страница 29: ...se The KP term also called KP gain governs how much torque will be applied for a given amount of error Un In general more load inertia or load friction requires more torque and therefore a higher KP g...

Страница 30: ...ance the system may resonate in an uncontrollable manner The Notch Filter allows gain reduction at only the problematic resonant frequency allowing the over all gain to be set higher for better system...

Страница 31: ...ical system should be set up as close to the final configuration as possible so that the tuning represents what will be expected The critical components include the coupler mechanical interface and si...

Страница 32: ...Continuously after the Start button is clicked the move will be repeated and the results displayed until the Stop button is clicked During continuous sampling the tuning gains can be changed at any ti...

Страница 33: ...n the value it will automatically download the new value The Download button in the upper right of the window does not need to be clicked Once a successful move has been accomplished no fault occurs t...

Страница 34: ...34 Rev 1 0 0012072012 TSM24P User Manual 86 400 820 9661...

Страница 35: ...stment was too large and the value should be adjusted in smaller amounts until there is as near to zero error as possible The Rescale button next to the Auto Scale may be clicked at any time to re sca...

Страница 36: ...parameters for a Position based move can be entered There is one consideration that must be addressed here If the TSM is being operated in the Position Control Mode with a Pulse Direction Digital Sign...

Страница 37: ...profile of the move will be displayed and may give a clue as to why a fault is occurring 5 6 3 Adjusting the Gain KP and Deri Gain KD parameters Adjust the KP and KD parameters and observe the results...

Страница 38: ...ev sec the capture will Capture data for 0 300 seconds and there will be a 10 Capture delay from the beginning of the capture to the trigger point The Capture delay allows viewing of the data prior to...

Страница 39: ...ng the gain settings may compromise the system performance too much When performing the move profiles as discussed above a significant resonate frequency may be experienced visually on the plot window...

Страница 40: ...he drive during the configuration tuning or testing operations The response window will indicate the exact command syntax that is being used This means that the user will be able to see both the Check...

Страница 41: ...Homing function is a bit more complicated because it requires that CW and CCW limit sensors and a Home sensor be available to perform the homing function Homing is a complex operation that causes the...

Страница 42: ...y affect the drive status Alarm faults indicate that a serious condition has occurred the drive has been shut down and is in a disabled state Warnings are informational and may or may not be serious T...

Страница 43: ...s an overall indication of the drive condition In a typical application this is the most common information that should be collected from the drive Collecting the drive status information allows the s...

Страница 44: ...shing above for information on how to do this and which warnings may be masked Code Error solid green motor disabled flashing green motor enabled 1 red 1 green position limit 1 red 2 green drive disab...

Страница 45: ...d Curves Note all torque curves were measured at 20 000 steps rev Note 5 amp rating is continuous 7 5 amp rating is boost 9 5 Flat 8 58 5 38 1 20 24 129 15 1 90 77 47 14 60 5 Max 47 14 60 5 Max 4 4 5...

Страница 46: ...ection CW CCW pulse A B quadrature pulse Digital Inputs X1 STEP Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function Step CW step A quadrature encoder followi...

Страница 47: ...out of the drive s command buffer Buffered commands are executed one at a time and in sequential order The buffer can be filled with commands without the host controller needing to wait for a specific...

Страница 48: ...parameters But it can be used at any time to dynamically alter the serial communications The SCL Utility Software Manual contains the complete command listing as well as instructions on connecting and...

Страница 49: ...d Shenzhen 518001 P R China Tel 86 0 755 25472080 Fax 86 0 755 25472081 Beijing Branch Office Room 202 Unit 2 7th Building Huilongsen International Science Technology Industry Park No 99 Kechuang 14th...

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