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Omron CK3W-AX1313 Series, Руководство для стартапов

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5

Open the global definitions.pmh under

PMAC Script Language

 ‒ 

Global

Includes

 in the Solution Explorer.

6

Add the gain values obtained from tun-
ing to the global definitions.pmh.

Motor[1].IiGain = ***
Motor[1].IpfGain = ***
Motor[1].IpbGain = ***
Motor[1].Servo.Kp = ***
Motor[1].Servo.Kvfb = ***
Motor[1].Servo.Kaff = ***
Motor[1].Servo.Kvff = ***

7

Open the pp_startup.txt under

Configuration

 in the Solution Explorer.

8

Write the phase search implementation
command shown on the right.

Motor[1].PhaseFindingStep = 1

3 DirectPWM Interface Connection Procedure

3-29

CK3M-series Startup Guide DirectPWM Interface (O047)

3-6
 Motor T

uning

3

3-6-6

 Checking of Operation and Creation of T

uning Parameter Project

Содержание CK3W-AX1313 Series

Страница 1: ...CK3W AX1313 CK3W AX2323 Programmable Multi Axis Controller Startup Guide for DirectPWM Interface O047 E1 01...

Страница 2: ...herwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improv...

Страница 3: ...in this Manual 1 2 3 Summary of Materials Target Equipment and Device Configuration DirectPWM Interface Connection Procedure 1 2 3 Sections in this Manual 3 CK3M series Startup Guide DirectPWM Interf...

Страница 4: ...Setting Preparations 3 3 3 2 1 Creation of a New Project 3 3 3 2 2 Controller Initial Setting 3 4 3 3 Various Equipment Connection 3 6 3 4 Various Controller Settings 3 8 3 4 1 Notes List 3 13 3 5 Con...

Страница 5: ...hen proceed with use The manuals for OMRON Corporation hereafter OMRON and Delta Tau Data Systems Inc here after DT are as shown below Manufac turer Cat No Model Manual Name OMRON O036 CK3M CK3W Progr...

Страница 6: ...ppears as a suffix to the catalog number on the front and back covers O047 E1 01 Revision code Revision code Revision date Revised content 01 July 2019 Original production Revision History 6 CK3M seri...

Страница 7: ...hat is used to configure the Motion Controller create user programs and perform monitoring DirectPWM This is a proprietary interface method developed by Delta Tau Data Systems Inc for connecting Servo...

Страница 8: ...he customer must check all regulations laws and rules that are applicable to the system them selves Copying duplication or redistribution of part or all of these materials without the permission of OM...

Страница 9: ...1 Summary of Materials This section lists a summary of these materials 1 1 Summary of Materials 1 2 1 1 1 Intended Audience 1 2 1 1 CK3M series Startup Guide DirectPWM Interface O047 1...

Страница 10: ...1313 1 1 If CK3W AX2323 is used the same DirectPWM interface as CK3W AX1313 is available but the encoder setting needs to be changed because a different type of encoder needs to be connected Refer to...

Страница 11: ...ent and Device Configuration This section lists the target equipment and system configurations for connections in these materials 2 1 Device Configuration 2 2 2 1 CK3M series Startup Guide DirectPWM I...

Страница 12: ...ions for Correct Use Always secure a Servomotor and encoder Starting the motor that is not secured leads to a fail ure Manufacturer Name Model Version OMRON Programmable Multi Axis Controller CPU Unit...

Страница 13: ...e Model Version Windows PC DT Power PMAC Setting Tool Power PMAC IDE Version 4 3 or later 2 Target Equipment and Device Configuration 2 3 CK3M series Startup Guide DirectPWM Interface O047 2 1 Device...

Страница 14: ...2 Target Equipment and Device Configuration 2 4 CK3M series Startup Guide DirectPWM Interface O047...

Страница 15: ...1 Creation of a New Project 3 3 3 2 2 Controller Initial Setting 3 4 3 3 Various Equipment Connection 3 6 3 4 Various Controller Settings 3 8 3 4 1 Notes List 3 13 3 5 Confirmation of Settings 3 17 3...

Страница 16: ...Various Controller Settings on page 3 8 Perform the Controller settings 3 5 Confirmation of Settings on page 3 17 Check that the settings up to here are cor rect 3 6 Motor Tuning on page 3 19 Use Powe...

Страница 17: ...access rights is displayed at the time of startup se lect the option for starting up 4 The Communication screen is dis played so specify the IP address of the Controller to be connected to and click...

Страница 18: ...the initial settings for the Controller Precautions for Correct Use Since all memory is cleared by the initial settings be sure to save any data remaining in the Controller that you may need 1 Type t...

Страница 19: ...he Termi nal 3 Type the command in the Power PMAC IDE Terminal When the reset is completed PowerPMAC Reset complete is dis played in the Terminal 3 DirectPWM Interface Connection Procedure 3 5 CK3M se...

Страница 20: ...Name Model Length OMRON DirectPWM Cable CK3W CAAD009A 0 9 m CK3W CAAD018A 1 8 m CK3W CAAD036A 3 6 m b Connection between the Servo Drive and Servomotor Use the following dedicated cables to connect th...

Страница 21: ...Red Black Red Black Red Brown Blue Black Black red stripes White White red stripes Orange Orange red stripes Power supply Vcc 0 V common Output phase A Output phase A Output phase B Output phase B Ou...

Страница 22: ...et value is not ap propriate an excessive current flows which may cause the equipment to fail Refer to Notes 24 through 26 in 3 4 1 Notes List on page 3 13 for the settings If Motor 1 IaBias and Motor...

Страница 23: ...Type 1 1 EncTable 1 pEnc Gate3 0 Chan 0 ServoCapt a 2 EncTable 1 ScaleFactor 1 exp2 8 3 Gate3 0 EncClockDiv 5 3 125MHz Gate3 0 Chan 0 EncCtrl 7 4 DirectPWM AD Convertor setting Gate3 0 AdcAmpStrobe f...

Страница 24: ...pt a Motor 1 pEncCtrl Gate3 0 Chan 0 OutCtrl a Motor 1 pEncStatus Gate3 0 Chan 0 Status a Motor 1 pMasterEnc EncTable 1 a Motor 1 CurrentNullPeriod 1 18 Motor 1 pEnc EncTable 1 a 19 Motor 1 pEnc2 EncT...

Страница 25: ...tput Win dow If there is a program error fix the program 5 Type the save command in the Power PMAC IDE Terminal When the save is completed Save Completed is displayed in the Termi nal 6 Type the comma...

Страница 26: ...he Terminal 10 Check the Motor 1 PhasePos value in the Watch window 11 Set Motor 1 IbBias 200 in the Termi nal Motor 1 IaBias remains 200 12 Check the Motor 1 PhasePos value in the Watch window 3 Dire...

Страница 27: ...ion window The EncTable 1 ScaleFactor value is set to 8000 counts per rotation in this example so 8000 mu is added to the current position per rotation Precautions for Correct Use If the save command...

Страница 28: ...me 15 Set the PWM signal dead time to 800 ns Calculate the dead time in accordance with the formula below Dead time 0 0533 s Gate3 0 Chan 0 PwmDeadTime Set it depending on the Servo Drive specificatio...

Страница 29: ...control the motor position The digital quadrature encoder is assigned to EncTable 1 in Notes 2 in this example 20 Motor 1 pEnc2 EncTable 1 a Specify the digital quadrature encoder as the address used...

Страница 30: ...sPha sePosOffset 400 Specify the minimum operation that is considered to be an efficient phase search Although the commutation cycle 2048 1 4 512 90 is ideal it is set to approximately 80 in this exam...

Страница 31: ...that time 1 2 Type the 1 out1 command from the Terminal 3 Make sure that the motor is rotating In addition check that the Position win dow Position value is increasing in the positive direction If the...

Страница 32: ...Sf set value is appropriate If an error occurs in I2tFault status during phase search decrease the value of Motor 1 PhaseFindingDac or Motor 1 PhaseFindingTime If the Motor 1 New 0 Pos value indicates...

Страница 33: ...r rect 1 From the Tools menu in Delta Tau se lect Advanced Tuning to open the Tune screen and then select Open LoopTest Step Test 2 Set the following tuning parameters Test Amplitude 1 0 1 Test Time 1...

Страница 34: ...rameter is set to 8 0 3 6 2 Current Loop Gain Setting Follow the procedure below to perform current loop gain settings and adjust them to achieve desired response characteristics 1 In the Tune screen...

Страница 35: ...If the overshooting or vibration is large increase the IpfGain or IpbGain parameter Increase each gain parameter gradu ally starting from a small value 3 6 3 Bandwidth Automatic Setting Follow the pro...

Страница 36: ...in the open loop in step 3 in 3 6 1 Open Loop Test on page 3 19 For Encoder Resolution set the pulse counts per one motor rotation In this example 2000 pulses per ro tation of the digital quadrature...

Страница 37: ...andwidth Follow the procedure below to set a more appropriate bandwidth while monitoring the step response characteristic 1 Select Position Loop Interactive Tuning Step in the Tune screen 2 Set the fo...

Страница 38: ...as not been reached return to the Advance Auto tune screen and set an even larger value for Bandwidth 6 Click the Recalculate button 7 If the screen on the right appears click the Implement button 3 D...

Страница 39: ...g Follow the procedure below to set a more appropriate bandwidth while monitoring the step response characteristic 1 In the Tune screen select Position Loop Auto tune Advance Auto tune and insert chec...

Страница 40: ...elect Position Loop InteractiveTuning Parabolic Vel and set the following parameters Move Size 2500 mu Move Time 500 ms Left Axis Velocity Right Axis Following Error 6 Click the Parabolic Velocity Mov...

Страница 41: ...n the same way if Following Error has a correlation to Acceleration Position etc increase or decrease the Kaff and Kfff values 3 6 6 Checking of Operation and Creation of Tuning Parameter Project Foll...

Страница 42: ...value be comes larger than the Motor 1 AbsPhasePosOffset set value The AMP ENAB 0 LED is turned on at that time 2 Type the 1 j command from the Ter minal 3 Make sure that the motor is rotating In addi...

Страница 43: ...otor 1 Servo Kp Motor 1 Servo Kvfb Motor 1 Servo Kaff Motor 1 Servo Kvff 7 Open the pp_startup txt under Configuration in the Solution Explorer 8 Write the phase search implementation command shown on...

Страница 44: ...can be downloaded on PMAC as a pro gram if you write gains in the global definitions pmh As shown in step 7 and 8 the phase search is automatically performed af ter the power is turned ON or reset to...

Страница 45: ......

Страница 46: ...60169 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com...

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