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Resonances

Mechanical resonances are caused by springiness between motor
inertia and load inertia. This may result from belts, flexible
couplings, or the torsional stiffness of shafts. In general, the
stiffer the couplings, the higher the resonance frequency and
the easier it is to tune the system for good performance.

If the velocity loop breaks into an oscillation at a frequency well
above the calculated velocity loop bandwidth, a resonance
problem may well exist. A second symptom is that the frequency
of oscillation is relatively constant in the presence of changes to

ARF0

and

ARF1

.

ARF0 & ARF1

Two digital anti-resonant low-pass filters

ARF0

and

ARF1

are

included in the velocity loop. Their purpose is to lower the gain
above f

vc

and especially at any resonant frequency > f

vc

so that

oscillations do not occur. Default values, also a function of the
selected system response, are shown below:

Gentle

Medium

Stiff

ARF0 (Hz)

100

150

1500

ARF1 (Hz)

200

750

1x10

5

If the velocity loop bandwidth cannot be raised to an acceptable
value without encountering a resonant oscillation, the procedure
on the following page is recommended.

MA930 Manual

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Содержание OC930

Страница 1: ...0 OC930 Hardware Software Reference Manual SC900 Software Reference Manual Firmware Version 1 5 110 Fordham Road Wilmington MA 01887 978 988 9800 Fax 978 988 9940 Part MA930 List Price 30 U S January 1999 Rev E ...

Страница 2: ...ific Scientific Company It is supplied to the user with the understanding that it will not be reproduced duplicated or disclosed in whole or in part without the express written permission of Pacific Scientific Company Copyright 1995 1999 ...

Страница 3: ...ic Scientific must be furnished that the claimed defects were not caused by misuse abuse or neglect by anyone other than Pacific Scientific Pacific Scientific also warrants that each of the Pacific Scientific Motion Control Software Programs Program s will when delivered conform to the specifications therefore set forth in Pacific Scientific s specifications manual Customer however acknowledges th...

Страница 4: ... OR CONSEQUENTIAL DAMAGES INCLUDING WITHOUT LIMITATION DAMAGE OR LOSS RESULTING FROM INABILITY TO USE THE PRODUCTS OR PROGRAMS INCREASED OPERATING COSTS RESULTING FROM A LOSS OF THE PRODUCTS OR PROGRAMS LOSS OF ANTICIPATED PROFITS OR OTHER SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHETHER SIMILAR OR DISSIMILAR OF ANY NATURE ARISING OR RESULTING FROM THE PURCHASE INSTALLATION REMOVAL REPAIR OPERA...

Страница 5: ...the Variables Window 2 8 2 8 Reviewing and Editing Parameters 2 10 2 9 Downloading Parameters to the 930 2 11 2 10 Uploading Parameters from the OC930 2 12 2 11 Saving Parameters on Disk 2 12 2 12 Opening a Disk File 2 12 2 13 Exiting 930 Dialogue 2 12 3 OC930 Interfaces and Connections 3 1 3 1 Serial Port 3 1 3 2 Setting Up Serial Addresses using Switch S1 3 3 4 Selecting Motor Control Functional...

Страница 6: ...Slaving the SC900 to a Master Encoder 5 1 5 2 Controlling the SC900 with a Stepper Indexer 5 3 5 3 Converting from Another Mode 5 4 5 4 Turning Gearing On and Off 5 5 6 Servo Loop Parameters 6 1 6 1 Velocity Loop 6 1 6 2 Position Loop 6 8 6 3 Advanced Velocity Loop Tuning 6 10 7 Parameter Variable and Command Reference 7 1 7 1 Quick Reference 7 1 7 2 Keyword Reference 7 7 Appendix A OC930 Communic...

Страница 7: ...o alter when setting up the servo loops All parameters are downloaded using an RS 232 or RS 485 port and can be saved in non volatile memory in the SC900 or on the OC930 Automatic drive setup using 930 Dialogue Automatic Analog Command Offset adjustment using 930 Dialogue Simplified uploading downloading and disk storage of SC900 parameters for easy cloning and backup documentation Precise readout...

Страница 8: ... be read Chapter 7 is an alphabetized listing of commands and variable with detailed descriptions which is a very useful reference during setup 1 3 Warranty The Pacific Scientific OC930 has a two year warranty against defects in material and assembly Products that have been modified by the customer physically mishandled or otherwise abused through miswiring and so on are exempt from the warranty p...

Страница 9: ...with the OC930 and the 930 Dialogue PC interface software before installing the servo system in a machine 2 1 Setting Up the Hardware What you will need To go through this product introduction procedure you will need the following items SC900 Base Servo Drive OC930 Serial Com Option Card Appropriate Brushless Motor with nothing attached to the shaft PC Running Windows 3 1 or higher 930 Dialogue Fl...

Страница 10: ... by turning clockwise Wiring connections Connect the motor feedback and AC Power cables as shown in the following Connection Diagram but do not apply the AC Power at this time It is recommended that Pacific Scientific motor and feedback cables be used during setup since improper cabling is the number one cause of start up problems The RS 232 cable made by Pacific Scientific order number CS 232 750...

Страница 11: ... VAC 240 120 VAC 240 120 VAC CH A OUT CH A OUT CH B OUT CH B OUT CH A IN STEP STEP UP CH A IN STEP STEP UP CH B IN DIR STEP DOWN CH B IN DIR STEP DOWN 12 21 11 13 19 18 17 16 15 14 10 BDIO 4 PROBE 1 BDIO 5 BRAKE PROBE 2 1 2 3 4 5 6 7 8 9 SHIELD 5 VDC RTN 5 VDC I O RTN 5 VDC RTN TO HOST SET UP OR CONTROL COMPUTER SERIAL PORT J31 47 63 Hz 240 120 VAC 3 2 1 REGEN J5 REGEN R BUS BUS SC9x2 3 4 RESOLVER...

Страница 12: ...nu of Program Manager At the Command Line type A setup or B setup and press the enter key or click on OK Note When finished the 930 Dialogue disk should be removed from the drive and stored in a safe place 2 3 Starting 930 Dialogue Procedure To begin using 930 Dialogue for Windows perform the following 1 If not already open open the 930WIN Group in Program Manager Double click on the 930WIN icon 2...

Страница 13: ...click on the 930WIN icon the following window will appear Movement keys 930 Dialogue for Windows is a standard Windows application and the normal cursor movement keys operate the same way as in all windows applications F1 gives context sensitive on line help MA930 Manual 2 5 ...

Страница 14: ...roller The drive status display LED should be alternately flashing U C for unconfigured after the power up message Serial Port To specify the PC serial port that is connected to the OC930 1 Select Port Configuration from the Options Menu and the following dialogue box will appear 2 Specify the serial port that you want to use and click on OK 2 6 MA930 Manual ...

Страница 15: ...ed upon your choices are being downloaded to the controller After the parameters have been downloaded select Yes to the question Do an NVSAVE now and press The drive status display should now show a steady 0 for configured and not enabled To verify that the set up procedure worked cycle control AC power The status LED should repeat its power up message and then return a steady 0 If it is still alt...

Страница 16: ...orarily clamped to the table or bench The inertial forces created during speed steps may make the motor hop around 2 7 Using the Variables Window Changing Motor Velocity Move to the Drive menu with the mouse or by typing Alt D and select the Variables option The Variables window allows all parameters variables and commands to be examined changed or actuated as appropriate Type the proper key word ...

Страница 17: ...ound it uniquely matched the key word Velocity completed the spelling automatically and updated the Value on Drive box To continuously read and update the measured velocity press the Poll button via the mouse or by using the Tab key to move the focus to that button Pushing the button again will stop polling Getting Help To get help information on a particular key word press the F1 key while the cu...

Страница 18: ...es made using the Variables Window do not change the PC s RAM copy Getting Help A parameter in the PC s RAM can be edited by moving the highlighting bar to a parameter line and typing a new value followed by For example move the highlighting bar to ARF1 type 550 and press The value of ARF1 changes to the new value Context sensitive help is also available in the Parameter Edit Window Press F1 to ge...

Страница 19: ...o the question Are You Sure and the parameters will be downloaded to the OC930 Also respond Yes to the question Do an NVSAVE now This will save the parameters in the SC900 s non volatile memory Note 930 Dialogue sets the drive variable Enable to 0 at the beginning of the download To enable the drive you can use the Variables screen to set Enable 1 If the downloaded parameters were NVSaved cycling ...

Страница 20: ...Use the arrow keys to select STARTING PRM and press The Parameter Edit screen for STARTING PRM that you just saved to disk will be read from the disk and displayed In this way you can maintain a record of the drive s parameters If it is ever required to make a clone open the file in this way and use the DownLoad to Drive option of the Drive menu to download the parameters to the new drive 2 13 Exi...

Страница 21: ...al Port J31 The serial port J31 utilizes the 9 contact female D subminiature style connector shown below A brief description of each signal is included in the J31 I O table on following page For additional information please refer to the OC930 Serial Communications Transceiver Schematic at the end of this chapter J31 MA930 Manual 3 1 RS 485 TXD RS 485 RXD RS 485 TXD RS 485 RXD RS 232 TXD RS 232 RX...

Страница 22: ...8 RS 485 receiver input to OC930 RS 485 RXD J31 9 The information provided in this section should be used to connect the SC930 to your computer for use with 930 Dialogue due to the intelligent communications protocol utilized it is not possible to operate the OC930 with a dumb terminal Two communication links are available RS 232 and RS 485 RS 485 allows a single computer to communicate with up to...

Страница 23: ...owing diagram shows the location of switch S1 Note Each SC900 subsystem connected to a multi drop master must have a unique serial address The diagram below shows the S1 default switch settings The OC930 factory default address is 255 The switches are On in the up position away from number Off in the down position toward number Note When using RS 232 communications it is recommended to leave the a...

Страница 24: ...On On 6 On Off Off On On On On On 7 Off Off Off On On On On On 8 On On On Off On On On On 9 Off On On Off On On On On 10 On Off On Off On On On On 250 On Off On Off Off Off Off Off 251 Off Off On Off Off Off Off Off 252 On On Off Off Off Off Off Off 253 Off On Off Off Off Off Off Off 254 On Off Off Off Off Off Off Off 255 Off Off Off Off Off Off Off Off factory default recommended for RS 232 opera...

Страница 25: ...m A 6 foot 1 8 m RS 232 Cable with 9 pin connectors and a 9 pin to 25 pin adapter is available from Pacific Scientific The Pacific Scientific order number is RS 232 750 Note Shielded wiring is recommended for the serial communications cable to minimize potential errors from electrical noise MA930 Manual 3 5 I O RTN RS 232 RXD RS 232 TXD 9 CONTACT FEMALE D SUBMINIATURE CONNECTOR TYPICAL CABLES 9 PI...

Страница 26: ... with the selected axis For example the RS 232 link can be used to completely setup and test an individual axis before connecting it into the multi axis configuration RS 485 RS 422 connections to J31 are shown below A multidrop interconnection diagram showing multiple axes connected to a single host is also shown Connection diagram 3 6 MA930 Manual 9 CONTACT FEMALE D SUBMINIATURE RS 485 TXD RS 485...

Страница 27: ...w shows a typical installation using the B B Model 422 RS 232 to RS 422 adapter RS 232 to RS 485 RS 422 adapters are available from many sources Note An adapter can be powered from the serial port 5 Vdc output on J31 4 as long as the load current on J31 4 and J4 25 both total less than 200 mA Installation diagram MA930 Manual 3 7 OC930 OC930 OC930 RS 485 CONVERTER RS 232 OUTPUT RXD TXD RXD TXD I O...

Страница 28: ...ematic 3 8 MA930 Manual J31 2 RS 232 TXD SN75155 SN75155 75176 75176 332 332 332 6 81 K 6 81 K 1000pF 5 V 5 V 1000pF 1000pF 6 RS 485 TXD 7 RS 485 TXD TXD RXD TO UART RS 485 ENABLE 1 SHIELD 5 I O RTN 4 5 VDC 3 RS 232 RXD 8 RS 485 RXD 9 RS 485 RXD ...

Страница 29: ...on and this chapter goes over these requirements Within these eight combinations of mode and command additional parameters allow further specialization For example BlkType 1 analog command velocity block can be further enhanced to be an emulation of a superior performance clutch brake with a number of features See section 4 2 3 for further details on this example Most of the drive s operating mode...

Страница 30: ...he analog torque block mode has the same signal processing as a velocity loop except that the velocity error signal VelErr is set to VelCmdA not to VelCmdA VelFB and that the VelCmd clamp is bypassed Thus the analog input goes through a number of signal processing steps before becoming the motor torque current command ICmd 1 Analog differential amplifier with 1200 Hz low pass filter 2 High resolut...

Страница 31: ... block set up AccelLmt 0 no Accel limiting DecelLmt 0 no Decel limiting ADF0 100 000 Hz to bypass 1000 Hz by auto set up ARF0 100 000 Hz ARF1 100 000 Hz ARZ0 0 not active ARZ1 0 not active KVP 1 A rad sec KVI 0 Hz Important The KVP parameter must be set to 1 A rad sec for the units on CmdGain to be correct If CmdGain is set to 1 Amp V and KVP to 2 A rad sec then an analog input of 1 volt will inco...

Страница 32: ... port But you can use the analog command torque block mode to virtually implement it First set VelCmdSrc 1 which sets VelCmd VelCmd2 Then send the desired torque current command to VelCmd2 If KVP 60 2π Amp rad sec then VelCmd2 1 RPM would command 1 Amp 4 2 Velocity Block Modes 4 2 1 Analog Command Velocity Block BlkType 1 This mode allows the differential analog voltage between terminals J4 1 and ...

Страница 33: ...motor torque current command ICmd The detailed signal processing steps to create ICmd are listed below and shown in Figure 2 in Appendix C 1 VelErr set equal to VelCmdA VelFB 2 The anti resonance second order velocity loop compensation block controlled by the ARF0 ARF1 ARZ0 and ARZ1 parameters to become the FVelErr variable 3 The proportional and integral velocity loop compensation block controlle...

Страница 34: ...n volatile value Changing VelCmd over the serial port then sets a new volatile velocity command Changing the non volatile velocity command requires the additional step of issuing the NVSave command Clutch Brake Example One useful variation of this mode is to implement a simple emulation of a mechanical clutch brake The procedure below lists the steps required to set up this mode Once set up clutch...

Страница 35: ...y the drive would be disabled to insure no powered drift Note that this example could be used with the digital frequency or analog command modes to allow the run speed to be externally adjusted Furthermore the analog command mode combined with the VelLmtHi and VelLmtLo parameters could make a clutch brake emulator with two selectable run speeds such as forward and reverse Just set CmdGain and ADOf...

Страница 36: ...ec To finish setting this mode up EncMode and EncF0 must be set to get the command working and PulsesIn and PulsesOut must be set to the desired block gain The easiest way to set up this mode is to select either the Position Block Step and Direction or Position Block Electronic Gearing options when doing New Set Up under the File menu or Drive Set Up under the Drive menu of 930 Dialogue See Chapte...

Страница 37: ...iled information please see the Position Control Block Diagram in Appendix C To set up this form of clutch brake emulation set EncMode 3 and VelCmd2 to the desired runspeed With VelCmdSrc active the motor runs at VelCmd2 clutch active state and with VelCmdSrc inactive the motor is in a position hold brake state The velocity trajectory between clutch and brake states is determined by the control lo...

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Страница 39: ... Appendix C shows the command scaling and position loop block diagram The setup for either mode of operation is very straightforward using the New Setup selection from the File menu or the Drive Setup selection from the Drive menu 5 1 Slaving the SC900 to a Master Encoder The following procedure describes how to use 930 Dialogue to easily set up your SC900 for use as an Electronic Gearing Slave wi...

Страница 40: ...esOut 8 Hit OK and then make your bandwidth selection 9 Enter the filename you would like to call your new parameter file 10 Download the parameter set to the SC900 using the Download to Drive selection on the Drive drop down menu At this point when the drive is enabled it will act as an electronic gearing slave and move relative to the enable time starting position The Position Block Electronic G...

Страница 41: ...licable 6 Select Position Block Step and Direction on the Mode of Operation screen 7 Specify the number of steps per motor revolution This number must be evenly divisible by four For industry standard step sizes select from the table below 1 8 Full Step Steps Rev Full 200 Half 400 1 5 1000 1 10 2000 1 25 5000 1 125 25000 1 250 50000 8 Hit OK and then make your bandwidth selection 9 Enter the filen...

Страница 42: ... 70 80 See Section 6 2 for additional information on Kvff 5 3 Converting From Another Mode It is not uncommon to start a system as a velocity block to either check out system mechanics or to optimize the velocity loop tuning If this is the case it is not required to go back and do a New Setup as described in the previous two sections to get the SC900 configured to do positioning By using the Varia...

Страница 43: ...e then the drive does a position hold Setting VelCmdSrc to inactive returns the drive to normal gearing See the Control Block Diagram in Appendix C When combined with an external computer or PLC this function can also be used for a crude homing routine Connect the home switch to the BDIO pin mapped to VelCmdSrc and set VelCmd2 to the homing velocity MA930 Manual 5 5 ...

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Страница 45: ...Chapter 4 should be reviewed for a description of the control loop architecture Refer to Appendix C for control loop block diagrams Note The two anti resonant zeroes ARZ0 and ARZ1 are assumed to both be off set to zero for this discussion 6 1 Velocity Loop The velocity loop block diagram is shown in Figure 2 of Appendix C Velocity loop bandwidth is the key indicator of system performance Systems w...

Страница 46: ...nt is the value of KT peak published in the Pacific Scientific Motion Control Solutions catalog Note fvc is the unity gain open loop crossover frequency of the idealized rigid single mass system See hardware specifications for maximum fvc value Default bandwidths The New Setup and Drive Setup utilities set KVP to achieve the velocity loop bandwidths shown below assuming there is no load on the mot...

Страница 47: ...setup problem is adding large load inertia without a corresponding increase in KVP The value of KVP to achieve a desired bandwidth can easily be calculated as follows KVP f J K f J K vc TOT T vc TOT T 2 3 2 726 π Example calculation For example to achieve 75 Hz bandwidth with an R32G motor having 20 to 1 load inertia 0 011 lb in sec2 JTOT 1 0 00055 0 011 0 01155 lb in sec2 KT 2 4 4 lb in amp KVP 7...

Страница 48: ...d or wear in coupled mechanics Remember it is the resulting motion at the end of any mechanical linkages that typically matters not the response at the motor shaft Problems with high load inertia It would seem from the above that setting KVP is simply a matter of increasing its value to compensate for load inertia Unfortunately the following problems often interfere particularly when the load iner...

Страница 49: ...econd symptom is that the frequency of oscillation is relatively constant in the presence of changes to ARF0 and ARF1 ARF0 ARF1 Two digital anti resonant low pass filters ARF0 and ARF1 are included in the velocity loop Their purpose is to lower the gain above fvc and especially at any resonant frequency fvc so that oscillations do not occur Default values also a function of the selected system res...

Страница 50: ...ep 3 Otherwise go to Step 4 3 Decrease both ARF0 and ARF1 by 20 and go back to Step 2 4 The velocity loop bandwidth should now be approximately one quarter the value of ARF0 and ARF1 For margin reduce KVP ARF0 and ARF1 by 20 Backlash Some backlash may be unavoidable especially when gear reduction is used If backlash is present the inertia match must be good load inertia should be roughly equal to ...

Страница 51: ...s not excessive Motor current ripple can often be reduced by lowering the ARF0 ARF1 low pass filter break frequencies This benefit is limited by velocity loop bandwidth and stability constraints Velocity feedback ripple and hence motor current ripple can also be reduced by specifying a higher accuracy resolver KVI The parameter KVI sets the so called lag break frequency of the velocity loop KVI is...

Страница 52: ... Figure 3 in Appendix C illustrates the structure of the position loop The velocity loop must be set up and evaluated in terms of bandwidth before attempting to setup the position loop KPP The position loop proportional gain KPP determines the settling time of the position loop KPP is the bandwidth of the position loop in Hz assuming an ideal velocity loop Default values for KPP are shown below Ge...

Страница 53: ...3 5000 10 1 33 1000 20 0 13 2000 20 0 27 5000 20 0 66 Note The following error can easily exceed one complete motor revolution In many electronic gearing applications such following errors are not acceptable real gears don t have following errors Also stepper systems don t have such errors Feed forward takes advantage of the fact that the SC900 DSP knows the frequency of the encoder or step inputs...

Страница 54: ...steady state following error when running at constant speed 6 3 Advanced Velocity Loop Tuning Continuous time transfer function approximation The transfer function for the velocity loop compensation block is given below FVelErr VelErr s s w Q s s z z z f 2 2 1 1 ω ω 1 1 Q s f f ω ICmd VelErr s s Q s s Q z z z f ω ω ω 2 2 1 1 1 f f s KVP KVI s ω π 1 1 2 Definitions for the terms used in the equatio...

Страница 55: ...f FvelErr VelErr s reduces to 1 If ARZ0 or ARZ1 is individually 0 the numerator reduces to s ARZx 2 1 π Discrete time transfer function The velocity loop compensation is actually implemented as a digital discrete time system function on the DSP The continuous time transfer function is converted to the discrete time domain by a backward Euler mapping s T z s 1 1 1 where Ts 250 µsec MA930 Manual 6 1...

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Страница 57: ...in non volatile memory MF in the type field indicates the variable is a mappable function Note A default value of set up indicates that the value assigned by 930 Dialogue is a result of the controller set up function Name Type Default Value Page AccelLmt NV parameter float set up 7 8 ADF0 NV parameter float set up 7 9 ADOffset NV parameter float set up 7 10 AlnNull MF variable integer 0 if not map...

Страница 58: ... 7 26 CCSNum variable integer R O 7 27 CcwInh MF variable integer 0 if not mapped 7 28 Cfgd variable integer R O 7 29 CmdGain NV parameter float set up 7 30 CmdGain2 NV parameter float 7 31 CommEnbl variable integer 1 7 32 CommOff NV parameter float set up 7 33 CommSrc NV parameter integer set up 7 34 Cwinh MF variable integer 0 if not mapped 7 35 DecelLmt NV parameter float set up 7 36 DM1F0 NV p...

Страница 59: ... not mapped 7 47 Enabled MF variable integer R O 7 48 EncFreq variable float R O 7 49 EncIn NV parameter integer set up 7 50 EncInF0 NV parameter float highest speed 7 51 EncMode NV parameter integer set up 7 52 EncOut NV parameter integer set up 7 53 EncPos variable integer R O 7 54 ExtFault variable integer R O 7 55 Fault MF variable integer R O 7 56 FaultCode variable integer R O 7 57 FaultRese...

Страница 60: ...nteger R O 7 68 Ipeak variable float R O 7 69 IR variable float R O 7 70 IS variable float R O 7 71 IT variable float R O 7 72 ItF0 NV parameter float set up 7 73 ItFilt variable float R O 7 74 ItThresh NV parameter integer set up 7 75 ItThreshA variable integer R O 7 76 Kii NV parameter float set up 7 77 Kip NV parameter float set up 7 78 Kpp NV parameter float set up 7 79 Kvff NV parameter float...

Страница 61: ...ate variable integer R O 7 90 OCSNum variable integer R O 7 91 Outputs variable integer 7 92 PoleCount NV parameter integer set up 7 93 PosCmd Set variable integer 7 94 PosCommand variable integer R O 7 95 PosError variable integer R O 7 96 PosErrorMax NV parameter integer set up 7 97 Position variable integer R O 7 98 PulsesFOut NV parameter integer 7 99 PulsesIn NV parameter integer 7 100 Pulses...

Страница 62: ... VBusThresh NV parameter float 7 109 VdCmd variable float R O 7 110 VelCmd NV parameter float 7 111 VelCmdA variable float R O 7 112 VelCmd2 NVparameter float set up 7 113 VelCmdSrc MF variable integer 7 114 VelErr variable float R O 7 115 VelFB variable float R O 7 116 VelLmtLo NV parameter float set up 7 117 VelLmtHi NV parameter float set up 7 118 Velocity variable float R O 7 119 ZeroSpeedThre...

Страница 63: ...otocol code is listed at the top of the page For additional information on the Serial Communications Protocol please refer to Appendix A The keyword is then described based on the following categories Purpose Units Range or Value Default Related Parameters Commands Guidelines Note NV indicates the parameter is stored in non volatile memory MF indicates the variable is a mappable function MA930 Man...

Страница 64: ...limit on actual velocity command magnitude increases See VelCmdA for the VelCmd value after slew limiting Guidelines Setting AccelLmt to 0 turns off the AccelLmt slew limiting VelCmdA can immediately increase to equal VelCmd See DecelLmt for control of VelCmdA magnitude decreases For position loops setting either AccelLmt or DecelLmt to a value is not recommended as it may cause excessive overshoo...

Страница 65: ...input channel on J4 1 to J4 2 Guidelines ADF0 is the corner frequency in Hz of the single order low pass filter The purpose of the filter is to attenuate the high frequency components from the digitized input signal Decreasing ADF0 lowers the response time to input changes but also increases the effective resolution of AnalogIn by removing more circuit noise ADF0 AnalogIn Effective Bits lsb Size M...

Страница 66: ...value set before last NVSAVE 930 Dialogue New Set Up or Drive Set Up sets its value to 0 Purpose ADOffset adjusts the steady state value of the analog command input Guidelines AnalogIn is equal to the differential voltage between J4 1 and J4 2 plus the ADOffset 7 10 MA930 Manual ...

Страница 67: ...in AnalogIn to 0 Guidelines When not mapped to a BDIO setting AInNull to 1 starts the nulling function by temporarily setting ADF0 to 1 Hz When AInNull goes back to 0 for normal operation ADF0 is restored and ADOffset is set to old ADOffset minus AnalogIn sampled at the 1 to 0 transition This new ADOffset is then stored in NV memory MA930 Manual 7 11 ...

Страница 68: ...nput is the digitized value of the analog input channel which is the differential voltage of J4 1 relative to J4 2 after ADOffset is added and passed through ADF0 low pass filter Guidelines AnalogIn can be monitored to check the presence and voltage of signals at the analog input terminals 7 12 MA930 Manual ...

Страница 69: ... Float f1 Units Volts Range 5 to 4 961 Default None Purpose AnalogOut1 directly sets the voltage level of DAC Monitor 1 J4 3 when DM1Map 0 Guidelines When DM1Map is not equal to 0 AnalogOut1 is not used MA930 Manual 7 13 ...

Страница 70: ...Float f261 Units Volts Range 5 to 4 961 Default None Purpose AnalogOut2 directly sets the voltage level of DAC Monitor 2 J4 4 when DM2Map 0 Guidelines When DM2Map is not equal to 0 AnalogOut2 is not used 7 14 MA930 Manual ...

Страница 71: ...ocity loop compensation anti resonance low pass filter corner frequency Guidelines ARF0 is the corner frequency in Hz of one of two single order low pass anti resonant filters or if 0 it is the under damped pole pair frequency in Hz and ARF1 would be the pole pair Q The purpose of the anti resonant filters is to attenuate the velocity loop gain at the mechanical resonant frequency See ARF1 ARZ0 AR...

Страница 72: ...the second velocity loop compensation anti resonance low pass filter corner frequency Guidelines ARF1 is the corner frequency in Hz of one of two single order low pass anti resonant filters or if ARF0 is 0 then ARF1 is the Q of the under damped pole pair The purpose of the anti resonant filters is to attenuate the velocity gain at the mechanical resonant frequency See ARF0 ARZ0 ARZ1 and Chapter 6 ...

Страница 73: ...compensation zero Guidelines ARZ0 is generally not needed and should be set to 0 which eliminates it entirely For very demanding compensation schemes it can be used to add lead compensation or with ARZ1 to add a notch filter ARZ0 positive sets a zero frequency in Hz and if 0 sets an under damped zero pair frequency in Hz while ARZ1 is the zero pair Q See ARF0 ARF1 ARZ1 and Chapter 6 for more infor...

Страница 74: ... velocity loop compensation zero Guidelines ARZ1 is generally not needed and should be set to 0 which eliminates it entirely For very demanding compensation schemes it can be used to add lead compensation or with ARZ0 to add a notch filter ARZ1 sets a zero frequency in Hz or if ARZ0 is set 0 then ARZ1 sets the under damped zero pair Q See ARF0 ARF1 ARZ0 and Chapter 6 for more information 7 18 MA93...

Страница 75: ...ust be set in 930 Dialogue to correspond to the address setting of the dip switch of the SC930 option card For most applications the default setting of address 255 is recommended 930 Dialogue provides a find axis feature which can determine the axis setting of an SC930 option card provided proper serial communications cabling and connections between the PC and the drive have been made MA930 Manual...

Страница 76: ...e state of BDIO3 J4 9 BDIn4 reads the state of BDIO4 J4 10 BDIn5 reads the state of BDIO5 J4 11 BDIn6 reads the state of BDIO6 J4 12 Guidelines BDInX indicates whether BDIOX input voltage is above or below the logic threshold selected by the variable BDLgcThr BDInX 0 indicates a logic low input BDInX 1 indicates a logic high input 7 20 MA930 Manual ...

Страница 77: ...High BDIOMap6 Fault Output Active High Purpose Sets the logical function of the BDIOs on J4 7 to J4 12 Guidelines Although the value is a 32 bit integer the value is easily set in the Variables Screen or the Parameter Form by menu pick First select Off Input or Output then pick a function and finally select the logic polarity as active high or low Input Functions FaultReset RunStop Enable2 VelCmdS...

Страница 78: ... Set Up sets its value to 0 5 volt logic Purpose BDLgcThr sets the switching threshold of all the discrete inputs and the pull up voltage for the BDIOs Guidelines 0 selects 5 volt logic compatibility 1 selects 24 volt logic compatibility BDLgcThr Low volts High volts Pull up volts 0 2 1 3 1 5 0 1 4 0 5 0 12 0 7 22 MA930 Manual ...

Страница 79: ...t function via BDIOMap BDOut1 sets the state of BDIO1 J4 7 BDOut2 sets the state of BDIO2 J4 8 BDOut3 sets the state of BDIO3 J4 9 BDOut4 sets the state of BDIO4 J4 10 BDOut5 sets the state of BDIO5 J4 11 BDOut6 sets the state of BDIO6 J4 12 Guidelines 0 turns on the pull down transistor 1 turns off the pull down transistor MA930 Manual 7 23 ...

Страница 80: ... the alternative BlkType settings When used in any of the analog modes the analog control is the differential voltage applied to the Analog Cmd and Analog Cmd inputs J4 1 and J4 2 respectively BlkType Servo Configuration 0 Analog Torque Block 1 Analog Velocity Block 2 Digital Position Block 4 EncFreq Torque Block 5 EncFreq Velocity Block 8 Serial Port Command Velocity block If Position Block Input...

Страница 81: ...is not powered and a mechanical brake is needed to hold the motor Guidelines 0 the motor is powered and the brake should be off 1 the mechanical brake should engage To insure that a mechanical brake is engaged when a drive s control power is removed the Brake function should be mapped active high to a BDIO pin MA930 Manual 7 25 ...

Страница 82: ...CCDate Variable Integer Read Only i280 Range 0 to 2 31 Default none Purpose OCDate gives the Control card date code 7 26 MA930 Manual ...

Страница 83: ...CCSNum Variable Integer Read Only i279 Range 0 to 2 31 Default none Purpose CCSNum gives the Control card serial number MA930 Manual 7 27 ...

Страница 84: ... 1 counter clockwise rotation is inhibited That is VelCmdA is clamped to be only positive For positioning BlkType PosError must return to near 0 or be positive to exit this mode When CcwInh and CwInh are both active VelCmdA is set to 0 and the first inhibit to go inactive stops that inhibit immediately independent of BlkType While actively inhibiting CCW motion the status LED alternates 8 With Bot...

Страница 85: ...er Read Only i3 Range 32 768 to 0 Purpose Configuration state of the drive s RAM 0 is a fully configured drive 1 is a completely unconfigured drive and other minus numbers indicate partial configuration MA930 Manual 7 29 ...

Страница 86: ...r and drive Purpose CmdGain sets the scale factor of the analog input Guidelines CmdGain is a floating point variable that sets the command gain of the analog input voltage from J4 1 to J4 2 for BlkType s 0 Analog torque block and 1 Analog velocity block and the encoder input frequency for BlkType s 4 EncFreq Torque and 5 EncFreq Velocity If Use CmdGain2 is mapped to a BDIO Input and the input is ...

Страница 87: ... Dialogue New Set Up or Drive Set Up sets this parameter to 0 0 Purpose CmdGain2 sets the scale factor of the analog input when a BDIO Input that has been mapped to CmdGain2 function is asserted Guidelines CmdGain2 is a floating point variable that sets the command gain of the analog input voltage from J4 1 to J4 2 for BlkType s 0 Analog torque block and 1 Analog velocity block and the encoder inp...

Страница 88: ...ws disallows normal commutation Guidelines 0 disables commutation commutation angle set only by CommOff 1 enables normal commutation IMPORTANT NOTE CommEnbl must always be 1 for normal operation Leaving CommEnbl at 0 can overheat and possibly damage the motor 7 32 MA930 Manual ...

Страница 89: ...sets its value to 0 degrees Purpose CommOff sets the origin for the electrical commutation angle Guidelines Proper value for standard Pacific Scientific motors is 0 Note For CommSrc 1 incremental encoder commutation CommOff is set to 0 on every power up independent of the value in the non volatile memory Drive RAM value is always read write MA930 Manual 7 33 ...

Страница 90: ...te from motor resolver feedback Purpose CommSrc selects between resolver or incremental encoder feedback for motor commutation Guidelines 0 selects resolver feedback commutation and PoleCount set to number of motor poles 1 selects incremental encoder feedback commutation PoleCount set to number of quadrature encoder counts per electrical cycle 7 34 MA930 Manual ...

Страница 91: ...nh 1 clockwise rotation is inhibited That is VelCmd is clamped to be only negative For positioning BlkType s PosError must return to near 0 or be negative to exit this mode When CwInh and CcwInh are both active VelCmdA is set to 0 and the first inhibit to go inactive stops that inhibit immediately independent of BlkType While actively inhibiting CW motion the status LED alternates 8 With Both CCW ...

Страница 92: ... limit on actual velocity command magnitude decreases See VelCmdA for the VelCmd value after slew limiting Guidelines Setting DecelLmt to 0 turns off DecelLmt slew limiting VelCmdA can immediately decrease to equal VelCmd See AccelLmt for control of VelCmdA magnitude increases For position loops setting either AccelLmt or DecelLmt to a value is not recommended as it may cause excessive overshoot 7...

Страница 93: ... to 1000 Purpose DM1F0 sets the frequency in Hz of a single pole low pass filter on the DAC Monitor 1 output J4 3 Guidelines DM1F0 can be used to attenuate high frequency components from the DM1Map selected signal Setting DM1F0 to 1 Hz and using DM1Out to examine the filtered value is an easy way to accurately measure the selected signal s dc value MA930 Manual 7 37 ...

Страница 94: ...e to 1000 Purpose DM2F0 sets the frequency in Hz of a single pole low pass filter on the DAC Monitor 2 output J4 4 Guidelines DM2F0 can be used to attenuate high frequency components from the DM2Map selected signal Setting DM2F0 to 1 Hz and using DM2Out to examine the filtered value is an easy way to accurately measure the selected signal s dc value 7 38 MA930 Manual ...

Страница 95: ... to a signal with identical units such as VelCmdA to VelFB DM1Map 1 to 2 Set DM1Gain to keep the signal in the DAC Monitor 5 volt range Below lists units when DM1Gain 1 Monitor Scale Factor Monitor Scale Factor 0 No effect 15 1 v Cycle 1 1 v kRPM 16 1 v Amp 2 1 v kRPM 17 1 v Amp 3 1 v kRPM 18 1 v Amp 4 1 v kRPM 19 1 v 100 5 1 v Rev 20 1 v 100 6 1 v Rev 21 1 v 100 7 1 v Rev 22 1 v v 8 1 v Amp 23 1 ...

Страница 96: ... to a signal with identical units such as VelCmdA to VelFB DM2Map 1 to 2 Set DM1Gain to keep the signal in the DAC Monitor 5 volt range Below lists units when DM2Gain 1 Monitor Scale Factor Monitor Scale Factor 0 No effect 15 1 v Cycle 1 1 v kRPM 16 1 v Amp 2 1 v kRPM 17 1 v Amp 3 1 v kRPM 18 1 v Amp 4 1 v kRPM 19 1 v 100 5 1 v Rev 20 1 v 100 6 1 v Rev 21 1 v 100 7 1 v Rev 22 1 v v 8 1 v Amp 23 1 ...

Страница 97: ... AnalogOut1 16 IR 1 VelFB 17 IS 2 VelCmdA 18 IT 3 VelErr 19 VR 4 FVelErr 20 VS 5 Position 21 VT 6 PosError 22 VBus 7 PosCommand 23 ResPos 8 ICmd 24 Non Trq Icmd 9 IFB 25 Non Trq IFB 10 AnalogIn 26 Trq VCmd 11 EncFreq 27 Non Trq Vcmd 12 EncPos 28 VelCmd 13 ItFilt 65536 Clamp Off 14 HSTemp 65537 Clamp On 15 Comm Ang Will wrap around when the signal exceeds the output voltage range The value of the s...

Страница 98: ... 0 AnalogOut2 16 IR 1 VelFB 17 IS 2 VelCmdA 18 IT 3 VelErr 19 VR 4 FVelErr 20 VS 5 Position 21 VT 6 PosError 22 VBus 7 PosCommand 23 ResPos 8 ICmd 24 Non Trq Icmd 9 IFB 25 Non Trq IFB 10 AnalogIn 26 Trq VCmd 11 EncFreq 27 Non Trq Vcmd 12 EncPos 28 VelCmd 13 ItFilt 65536 Clamp Off 14 HSTemp 65537 Clamp On 15 Comm Ang Will wrap around when the signal exceeds the output voltage range The value of the...

Страница 99: ...reported in the units of the selected variable For example DM1Map 1 selects VelCmdA and the units would be RPM Guidelines With DM1F0 set low such as 1 Hz DM1Out s value will accurately measure the DM1Map selected signal s dc component DM1Out can also be used to examine variables that can not be directly queried such as motor phase voltage duty cycle DM1Map 19 20 or 21 MA930 Manual 7 43 ...

Страница 100: ... reported in the units of the selected variable For example DM2Map 1 selects VelCmdA and the units would be RPM Guidelines With DM2F0 set low such as 1 Hz DM2Out s value will accurately measure the DM2Map selected signal s dc component DM2Out can also be used to examine variables that can not be directly queried such as motor phase voltage duty cycle DM2Map 19 20 or 21 7 44 MA930 Manual ...

Страница 101: ...essible over the serial port Range 0 or 1 Purpose Square wave whose frequency is equal to the motor electrical frequency Guidelines There are PoleCount 2 motor electrical revolutions cycles per mechanical revolution ElecRev Hz Shaft RPM Polecount 60 2 MA930 Manual 7 45 ...

Страница 102: ...or power terminals J2 0 to disable the drive 1 to enable the drive Guidelines Before power can flow to the motor verify that the following conditions are all true 1 Drive is not faulted Status display 0 or 8 2 Enable input J4 6 connected to I O RTN 3 Enable2 function is 1 4 Enable variable is 1 See also Enabled 7 46 MA930 Manual ...

Страница 103: ...able if other conditions permit For incremental encoder based commutation Enable2 should be mapped to a BDIO and be used to enable disable motion since the dedicated hardware enable J4 6 is used to start commutation alignment Before applying power to the motor verify that the following conditions are true 1 Drive is not faulted Status display 0 or 8 2 Enable input J4 6 connected to I O RTN 3 Enabl...

Страница 104: ...er power can flow to the motor 0 drive disabled 1 drive enabled Guidelines Before power can flow to the motor verify that the following conditions are all true 1 Drive is not faulted Status display 0 or 8 2 Enable input J4 6 connected to I O RTN 3 Enable2 function is 1 4 Enable variable is 1 7 48 MA930 Manual ...

Страница 105: ...e pulses per second of the external encoder or steps per second if step and direction format is used Calculation EncFreq Encoder Speed RPM Encoder Line Count 15 Guidelines Calculated from delta EncPos at position loop update rate Although the values returned do not have fractional parts this variable is communicated as a floating point quantity See EncInF0 for recommended maximum count frequencies...

Страница 106: ...0 Dialogue New Set Up or Drive Set Up sets its value to 1024 Purpose EncIn specifies the line count of the encoder being used or one fourth the steps revolution if step and direction input format is used Guidelines EncIn is used to insure proper units in KPP KVP VelFB when using an encoder for Servo feedback See also RemoteFB When RemoteFB 0 EncIn is not used 7 50 MA930 Manual ...

Страница 107: ...ncInF0 selects digital low pass filter frequency on the incremental encoder input connected to J4 21 through J4 24 Guidelines EncInF0 is the maximum recommended count frequency for reliable operation If the maximum input frequency is EncInF0 lowering it will give better noise rejection The maximum hardware count limits require ideal timing with exact 50 duty cycle perfect quadrature symmetry etc T...

Страница 108: ...ype of digital command expected at the incremental position command port Guidelines BlkType 2 uses the incremental position command port J4 21 J4 22 J4 23 J4 24 for its position command Value of EncMode Description 0 Selects quadrature encoder pulses 1 Selects step and direction input signals 2 Selects up down count input signals 3 Ignores input signal EncPos value held 7 52 MA930 Manual ...

Страница 109: ...ive Set Up sets its value to 1024 Purpose EncOut selects the resolution of the incremental encoder shaft position output J4 14 J4 15 J4 16 J4 17 and J4 19 J4 20 emulated from the resolver Guidelines EncOut 0 cross connects the incremental position command port input J4 21 J4 22 and J4 23 J4 24 to the incremental shaft position output port to provide buffering CH Z out J4 19 J4 20 is held fixed for...

Страница 110: ... Position indicates the position of the external encoder or the accumulation of step inputs if step and direction input format is used For example with a 1024 line encoder each increment of EncPos is equal to 1 4096 of a revolution of the encoder shaft Guidelines See EncInF0 for maximum count frequencies See EncMode for input decoding mode 7 54 MA930 Manual ...

Страница 111: ...tFault information E 1 Resolver Calibration data corrupted E 2 Excessive dc offset in current feedback sensor E 3 DSP incompletely reset by line power dip E 6 Excessive dc offset in Analog Command A D E 7 Unable to determine option card type E 8 DSP stack overflow E 10 Firmware and control card ASIC incompatible E 11 Actual Model does not match value in non volatile memory E 12 Unable to determine...

Страница 112: ...86 Range 0 or 1 Purpose Fault indicates whether the drive has faulted and is disabled Guidelines 0 is not faulted normal operation 1 is faulted no power flow to motor See FaultCode and ExtFault for further information 7 56 MA930 Manual ...

Страница 113: ...Fault Meaning 0 Solid 0 Not Faulted Not Enabled 8 Solid 0 Not Faulted Enabled 8 Alternating 0 Not Faulted Enabled CwInh active 8 Alternating 0 Not Faulted Enabled CCwInh active 8 Alternating 0 Not Faulted Enabled CwInh CCwInh active Faultcodes Status LED Value Fault Meaning Blinking 1 1 Velocity feedback VelFB over speed Blinking 2 2 Motor Over Temp Blinking 3 3 Drive Over Temp Blinking 4 4 Drive ...

Страница 114: ...ommutation align failed Only CommSrc 1 Alternating E4 228 Drive software incompatible with NV memory version Alternating E5 229 Control Card hardware not compatible with drive software version Alternating E6 230 Drive transition from unconfigured to configured while enabled Alternating E7 231 Two AInNull events too close together Alternating F1 241 Excessive Position Following Error Jam Alternatin...

Страница 115: ...ve automatically disables the drive When not mapped to a BDIO setting FaultReset to 1 via the serial port will reset the latched fault condition If the fault persists when FaultReset is active the drive remains faulted If the fault condition does not persist then setting FaultReset to 1 clears the latched fault and returning FaultReset to 0 resumes normal operation MA930 Manual 7 59 ...

Страница 116: ...30 Units RPM Range 48000 to 48000 Purpose FVelErr is commanded velocity measured velocity VelCmdA VelFB after being processed by the velocity loop compensation anti resonant filter section See also ARF0 ARF1 ARZ0 ARZ1 7 60 MA930 Manual ...

Страница 117: ...FwV Variable Integer Read Only i84 Range 1000 to 65535 Purpose FwV indicates the 930 firmware version number For example FwV 1100 would be version 1 1 MA930 Manual 7 61 ...

Страница 118: ...es the drive heat sink temperature Guidelines The drive heat sink temperature is monitored to determine if the drive is within a safe operating region for the power electronics This variable can be used to see how much thermal margin remains for a given application See also ItThresh 7 62 MA930 Manual ...

Страница 119: ...HwV Variable Integer Read Only i130 Range 0 Purpose HwV indicates the drive s control electronics hardware version number Guidelines 12 first production control card version MA930 Manual 7 63 ...

Страница 120: ...md Variable Float Read Only f28 Units Amperes Range Ipeak to Ipeak Purpose ICmd indicates the commanded motor torque current Note ILmtMinus and ILmtPlus limit the range of this variable 7 64 MA930 Manual ...

Страница 121: ...f29 Units Amperes Range Ipeak to Ipeak Purpose IFB indicates the measured motor torque current value Guidelines IFB can be monitored to observe the actual torque current flowing in the motor IFB should equal ICmd MA930 Manual 7 65 ...

Страница 122: ...e Current Limit sets the maximum allowable torque current amplitude in the counter clockwise direction This is a percentage of the drive s peak current rating Ipeak Guidelines Only integer values may be entered i e no fractional numbers Warning If ILmtMinus 0 01 Ipeak twice the motor s continuous current rating the motor s over temperature sensor is not guaranteed to always respond fast enough to ...

Страница 123: ... Current Limit sets the maximum allowable torque current amplitude in the clockwise direction This is a percentage of the drive s peak current rating Ipeak Guidelines Only integer values may be entered i e no fractional numbers Warning If ILmtPlus 0 01 Ipeak twice the motor s continuous current rating the motor s over temperature sensor is not guaranteed to always respond fast enough to prevent mo...

Страница 124: ...BDIO input pins J4 7 to J4 12 Guidelines Inputs value is weighted so that BDIO 1 s individual value is x1 BDIO 2 s is x2 BDIO 3 s is x4 etc 0 corresponds to a low input while 1 corresponds to a high input Inputs 12 means that BDIO 1 2 5 6 are low and BDIO 3 4 are high See BDIn1 6 to query inputs individually Inputs 1xBDIO1 2xBDIO2 4xBDIO3 8xBDIO4 15xBDIO5 32xBDIO6 7 68 MA930 Manual ...

Страница 125: ...ble Float Read Only f20 Units Amperes Range single value see Default below Default Model Number Ipeak 932 7 5 933 15 0 934 30 0 935 60 0 Purpose Ipeak is the drive s maximum 0 peak current rating MA930 Manual 7 69 ...

Страница 126: ...IR Variable Float Read Only f270 Units Amps Purpose IR is the measured current flowing in Motor Phase R J2 4 7 70 MA930 Manual ...

Страница 127: ...IS Variable Float Read Only f271 Units Amps Purpose IS is the measured current flowing in Motor Phase S J2 3 MA930 Manual 7 71 ...

Страница 128: ...IT Variable Float Read Only f272 Units Amps Purpose IT is the measured current flowing in Motor Phase T J2 2 7 72 MA930 Manual ...

Страница 129: ...ss filter implementing the I t drive thermal protection circuit Guidelines ItF0 in conjunction with ItThresh specifies the thermal protection circuit for the drive ItF0 is the corner frequency of a low pass filter which processes an estimate of the drive s power dissipation Increasing ItF0 makes the response more sensitive to over current conditions Note The minimum frequency for ItF0 slowest to f...

Страница 130: ...ltered by ItF0 and normalized by Ipeak to a percentage ItFilt is the input to the drive s I t thermal protection fault Guidelines ItFilt provides a means of evaluating the I t protection circuit When ItFilt exceeds the threshold specified by ItThreshA the drive faults with FaultCode 4 ItFilt ItF0 low pass filter of I I I Ipeak r s t 100 2 7 74 MA930 Manual ...

Страница 131: ... drive Purpose ItThresh sets the desired maximum continuous output current as a percentage of Ipeak before the I t thermal protection faults the drive Guidelines ItThresh in conjunction with ItF0 specifies the thermal protection fault for the drive The actual I t fault threshold may be lowered if the heat sink temperature HSTemp gets too high see ItThreshA Note The maximum value for ItThresh is li...

Страница 132: ... fault Guidelines ItThresh sets the desired value for ItThreshA and the two are equal for lower heat sink temperatures i e lower HSTemps At higher HSTemps ItThreshA may be clamped to protect the power stage When ItFilt exceeds ItThreshA the drive will I t fault While doing a worst case motion profile examining ItThreshA ItFilt and HSTemp will indicate how much drive thermal margin remains 7 76 MA9...

Страница 133: ...e current loops Guidelines Kii is the current loop s integral gain It defines the frequency where the current loop compensation transitions from predominantly integral characteristics gain decreasing with frequency to predominantly proportional characteristics constant gain with frequency This value should typically be less than 10 of the current loop s bandwidth See Kip for more information MA930...

Страница 134: ...Kip sets the proportional gain of the current loop Guidelines 930 dialogue automatically sets Kip as long as the motor being used is in 930 Dialogue s motor database or the motor inductance is entered in Manual entry mode Current loop bandwidth in Rad sec is Kip L where L is the motor s line to line inductance in henries Recommended bandwidth is 2π 1000 Rad sec maximum bandwidth is 2π 1500 Rad sec...

Страница 135: ...fore last NVSAVE 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected system response Purpose Kpp sets the proportional gain of the position loop Guidelines Kpp is defined by the following relationship VelCmd rad sec 2π KPP PosError radians MA930 Manual 7 79 ...

Страница 136: ...om PosError For this case there will be a static non zero PosError commanding a constant shaft speed This error is known as the following error Velocity feed forward adds a term to VelCmd proportional to delta PosCommand at the position loop update rate which can reduce following error Increasing Kvff reduces steady state following error and gives faster response time However if Kvff is too large ...

Страница 137: ...vi sets the integral gain of the velocity loop Guidelines Kvi is the velocity loop integral gain It defines the frequency where the velocity loop compensation transitions from predominantly integral characteristics gain decreasing with frequency to predominantly proportional characteristics constant gain with frequency This value should typically be less than 10 of the velocity loop bandwidth See ...

Страница 138: ... Kvp is defined by the following relationship Kvp Commanded motor torque current Velocity Error where Commanded motor torque current has units of amperes and Velocity Error has units of radians second Kvp must be adjusted for total load inertia and motor torque constant as described in Chapter 6 Note Idealized velocity loop bandwidth in Rad sec equals Kvp Kt J where J is the total shaft inertia an...

Страница 139: ...s electrical frequency which is typically equal to the mechanical Rev sec Guidelines Resolvers can have multiple electrical cycles per mechanical revolution and this is usually specified as the resolver speed MechRev Hz Shaft RPM Resolver Speed 60 The resolver speed is nearly always 1 so MechRev frequency is usually mechanical Rev sec See also ElecRev MA930 Manual 7 83 ...

Страница 140: ...Model NV Parameter Integer Read Only i77 Range 932 933 934 935 Purpose Model indicates the drive model number power level 7 84 MA930 Manual ...

Страница 141: ...t Up calculates its value based on the selected motor Purpose Motor indicates the first 4 characters of the motor part number used to determine the Signature Series current waveshape used to eliminate torque constant ripple Guidelines This is a read only parameter that can only be set by 930 Dialogue s Drive Setup New Setup or Drive Download MA930 Manual 7 85 ...

Страница 142: ...on volatile memory Guidelines Use NVLoad to update all NV parameters This might be useful if you have changed one or more parameters using the serial link and now wish to restore the original values assuming the NVSave command was NOT issued after changing parameters See also NVLoadOpt 7 86 MA930 Manual ...

Страница 143: ...le memory Guidelines Use NVLoadOpt to update all NV parameters from the Option Card This might be useful if you have changed one or more parameters using the serial link and now wish to restore the original values assuming the NVSaveOpt command was NOT issued after changing parameters See also NVLoad MA930 Manual 7 87 ...

Страница 144: ...ave when you wish to save all parameters in non volatile memory The 930 will then utilize these values even after the power cycles The NVRAM utilized is rated to allow 100 000 write cycles This is far greater than should ever be needed However repeated use of NVSave from a host computer should be avoided See also NVSaveOpt 7 88 MA930 Manual ...

Страница 145: ...on card non volatile memory allows the drive control card to function with a removable Personality Module the option card when the drive control card non volatile memory is not configured The 930 will then utilize these values even after the power cycles The NVRAM utilized is rated to allow 100 000 write cycles This is far greater than should ever be needed However repeated use of NVSaveOpt from a...

Страница 146: ...OCDate Variable Integer Read Only i282 Range 0 to 2 31 Default none Purpose OCDate gives the Option card date code 7 90 MA930 Manual ...

Страница 147: ...OCSNum Variable Integer Read Only i281 Range 0 to 2 31 Default none Purpose OCSNum gives the Option card serial number MA930 Manual 7 91 ...

Страница 148: ... x1 BDIO 2 s is x2 BDIO 3 s is x4 etc 0 will turn on the corresponding pull down transistor while 1 turns off the pull down transistor Outputs 12 would pull down BDIO 1 2 5 6 and open circuit BDIO 3 4 Note BDIOs mapped to output functions via their BDIOMap are determined by that function and their value in Outputs will be ignored See BDOut1 6 to set outputs individually Outputs 1xBDIO1 2xBDIO2 4xB...

Страница 149: ...lates its value based on the selected motor Purpose PoleCount matches the drive for the appropriate motor pole count or encoder quadrature counts per motor electrical cycle Guidelines For CommSrc 0 sets the number of motor poles For CommSrc 1 sets the number of encoder quadrature counts motor cycle WARNING When the PoleCount set does not match the actual pole count the motor s operation will be er...

Страница 150: ...d is in resolver counts When RemoteFB 1 or 2 PosCommand is in EncPos units WARNING Caution should be used when changing PosCmdSet The new value becomes the input to the position loop no profiling Therefore large changes to PosCommand via PosCmdSet will result in violent motion and very likely large overshoot If PosCmdSet is to be used for position control over the serial port a sequence of closely...

Страница 151: ...PosCommand can be used to determine the position being commanded It is a read only variable it cannot be used to change the commanded position PosCmdSet allows PosCommand to be changed using the serial link When RemoteFB 0 PosCommand is in resolver counts When RemoteFB 1 or 2 PosCommand is in EncPos units Note This variable only makes sense for position control blocks i e when BlkType 2 MA930 Manu...

Страница 152: ...PosError Actual Position Error is equal to the difference between the position command PosCommand and the actual position Position When RemoteFB 0 PosError is in resolver counts When RemoteFB 1 or 2 PosError is in EncPos units Note This variable only makes sense for position control blocks i e when BlkType 2 7 96 MA930 Manual ...

Страница 153: ...or the position loop following error fault Guidelines The following error fault compares PosError with the PosError predicted from EncFreq and Kvff and if the magnitude of the difference is larger than PosErrorMax continuously for longer than 1 second or statistically larger over half the time the drive will following error fault F 1 If you have mapped one of the BDIO outputs as PosErrorWarning th...

Страница 154: ...its Resolver Counts Range 2 147 483 648 to 2 147 483 647 Purpose Position indicates the measured resolver position including integral resolver cycles since power up Guidelines Position is always the measured resolver position 7 98 MA930 Manual ...

Страница 155: ... 0 Purpose PulsesFOut specifies the fractional number of resolver counts the motor will move for each PulsesIn number of EncPos command counts Fractional part of numerator of the exact electronic gearing ratio Guidelines PosCommand New PosCommand Old Ratio EncPos New EncPos Old Ratio PulsesOut PulsesFOut PulsesIn 2 16 calculated once per position loop update period MA930 Manual 7 99 ...

Страница 156: ...s value to 1 Purpose PulsesIn specifies the number of steps or quadrature encoder counts used for selecting an exact gear ratio Guidelines PosCommand New PosCommand Old Ratio EncPos New EncPos Old Ratio PulsesOut PulsesFOut PulsesIn 2 16 Calculated once per position loop update period PulsesIn specifies the number of EncPos command counts required to increase PosCommand by PulsesOut resolver count...

Страница 157: ...alue to 1 Purpose PulsesOut specifies the number of resolver counts the motor will move for each PulsesIn number of EncPos command counts Integral part of numerator of the exact electronic gearing ratio Guidelines PosCommand New PosCommand Old Ratio EncPos New EncPos Old Ratio PulsesOut PulsesFOut PulsesIn 2 16 calculated once per position loop update period MA930 Manual 7 101 ...

Страница 158: ...Purpose RemoteFB selects the source of the feedback signal for the loops Guidelines 0 Resolver velocity and resolver position feedback 1 Resolver velocity and encoder position feedback 2 Encoder velocity and encoder position feedback When RemoteFB is not equal 0 make sure EncIn is set to the proper value so that scaling of KPP KVP and VelFB will be in the default units 7 102 MA930 Manual ...

Страница 159: ...absolute mechanical orientation of the resolver relative to the motor housing Guidelines ResPos varies from zero to maximum range and then back to zero as the motor rotates clockwise through one complete resolver electrical cycle Standard resolvers have one electrical cycle per mechanical revolution MA930 Manual 7 103 ...

Страница 160: ...peration and setting the velocity command to zero and then disabling the drive once VelFB goes to 0 Guidelines This mappable function is a specialized form of mechanical clutch brake emulation where the shaft is left with no holding torque e g brake and clutch off once the speed drops to zero or once the StopTime is exceeded 7 104 MA930 Manual ...

Страница 161: ...logue New Set Up or Drive Set Up sets it value to 0 Purpose Maximum time out to disable the drive for the RunStop mappable BDIO function Guidelines When the RunStop function enters the stop state a timer starts and if the actual shaft velocity has not reached 0 by StopTime the drive is disabled regardless MA930 Manual 7 105 ...

Страница 162: ...UncfgDrv command 260 Purpose UncfgDrv sets the control card non volatile memory to the unconfigured state 7 106 MA930 Manual ...

Страница 163: ...UncfgOpt command 261 Purpose UncfgOpt sets the option card non volatile memory to the unconfigured state MA930 Manual 7 107 ...

Страница 164: ... from the AC line used to power the motor Guidelines Monitoring this variable can be used to detect the presence of the AC line power for the motor DC supply For 115 VAC line power the Bus is nominally 160 VDC For 240 VAC line power the Bus is nominally 330 VDC For 480 VAC line power the Bus is nominally 670 VDC 7 108 MA930 Manual ...

Страница 165: ...the drive to fault if the AC line power for the motor DC supply is low Guidelines When VBus VBusThresh the drive will fault and display a blinking E 1 This functionality allows the drive to have an interlock so that it will not try to move the motor unless there is sufficient motor bus voltage VBusThresh 255 is a good value to detect a 230 Vac line more than 15 low Note A value of 1 disables the B...

Страница 166: ... Units percentage Range 300 to 300 Purpose Motor terminal voltage PWM duty cycle amplitude command of the torque producing current control loop Guidelines VdCmd is a fraction of the motor power dc bus voltage See VBus 7 110 MA930 Manual ...

Страница 167: ...lLmtHi 21 000 to 21 000 Default Parameter value set before last NVSAVE 930 Dialogue New Set Up or Drive Set Up sets it value to 0 Purpose VelCmd is the net desired velocity loop command input See VelLmtHi VelLmtLo AccelLmt DecelLmt and VelCmdA MA930 Manual 7 111 ...

Страница 168: ...nits RPM Range VelLmtLo to VelLmtHi Purpose Actual velocity loop command Guidelines VelCmdA is VelCmd or VelCmd2 if VelCmdSrc 1 after being slew limited by AccelRate DecelRate and potentially clamped by CwInh and or CcwInh 7 112 MA930 Manual ...

Страница 169: ...Set Up sets it value to 0 Purpose Non volatile second velocity command selected when VelCmdSrc 1 Guidelines This parameter allows easy emulation of mechanical clutch brake functionality If VelCmd2 0 then VelCmdSrc 1 corresponds to VelCmd 0 and the brake engaged while VelCmdSrc 0 corresponds to the brake off and the clutch engaged MA930 Manual 7 113 ...

Страница 170: ...ined by BlkType or is set to VelCmd2 Guidelines 0 has VelCmd selected by BlkType 1 sets VelCmd to VelCmd2 for all BlkTypes This parameter allows easy emulation of mechanical clutch brake functionality If VelCmd2 0 then VelCmdSrc 1 corresponds to VelCmd 0 and the brake engaged while VelCmdSrc 0 corresponds to the brake off and the clutch engaged 7 114 MA930 Manual ...

Страница 171: ...VelErr Variable Float Read Only f27 Units RPM Range 48000 to 48000 Purpose VelErr is commanded velocity measured velocity VelCmdA VelFB MA930 Manual 7 115 ...

Страница 172: ...esolver 30 000 to 30 000 for encoder Default none Purpose Instantaneous value of the velocity feedback Guidelines For normal operation RemoteFB 0 or 1 VelFB is the resolver velocity For RemoteFB 2 VelFB is based on delta EncPos at position loop update rate 7 116 MA930 Manual ...

Страница 173: ...VelFB overspeed fault threshold Guidelines For BlkTypes that have a velocity loop BlkType 1 2 5 8 VelCmd and VelCmd2 are clamped to be less than VelLmtHi In torque control BlkTypes 0 4 VelLmtHi has no clamping function If VelLmtHi is reduced to below the current value of VelCmd2 or VelCmd then VelCmd2 and or VelCmd are reduced to VelLmtHi For all BlkTypes a fault with FaultCode 1 will occur if Vel...

Страница 174: ...FB overspeed fault threshold Guidelines For BlkTypes that have a velocity loop BlkType 1 2 5 8 VelCmd and VelCmd2 are clamped to be greater than VelLmtLo In torque control BlkTypes 0 4 VelLmtLo has no clamping function If VelLmtLo is increased to above the current value of VelCmd2 or VelCmd then VelCmd2 and or VelCmd are increased to VelLmtHi For all BlkTypes a fault with FaultCode 1 will occur if...

Страница 175: ...ose Velocity is VelFB passed through a 3 5 Hz low pass filter Guidelines When the measured velocity exceeds Velocity s range Velocity s value will be incorrect See VelFB for an instantaneous indication of measured velocity that is accurate to higher speeds MA930 Manual 7 119 ...

Страница 176: ...eroSpeed output on or off If the absolute value of the motor speed is below ZeroSpeedThresh then the ZeroSpeed output will be turned on If the absolute value of the motor speed is greater than ZeroSpeedThresh then the ZeroSpeed output will be turned off Guidelines To use this function you must map a BDIO point to the ZeroSpeed function This function may be used as a general speed indicator instead...

Страница 177: ...his is the same protocol that 930 Dialogue uses for communicating with the OC930 Message Format To the Drive Field Name Width in Bytes Header 2 Target Address 2 Command Code 2 Message Length 4 Message Data Variable Checksum 2 Response Format From the Drive Field Name Width in Bytes Header 2 Drive Address 2 Command Code 2 Message Length 4 Message Data Variable Checksum 2 MA930 Manual A 1 ...

Страница 178: ...Hex number specifying the type of message being sent The types of messages are 05 Read a Variable from the Drive 06 Write a New Value to the Drive 0B Execute a Command Response Code The response code field of a response message from a drive to the PC contains an ASCII hex number indicating whether or not the corresponding message from the PC was received properly by the drive The values for the re...

Страница 179: ...CII characters in the message is 722 The modulo 256 value of 722 is 210 This is equal to the hex number D2 Therefore the checksum for this message will be D2 The complete message is A B FF 05 0005 D000E D2 Read Messages Read Messages are used to read the value of variables in the drive To read the value of a variable you must specify its type Integer or Floating Point and its Identifier Number Mes...

Страница 180: ...ers One character is used to specify whether the variable is a Integer variable D or a floating point variable C The next four characters are used to specify the particular variables Identifier Number in 16 bit ASCII hex format The remaining 8 characters specify the value to be written to the variable as described below If the variable being written is an integer variable then the eight bytes are ...

Страница 181: ...essage A B FF 05 0005 C 0006 C2 Response A B FF 00 0008 66067A44 69 Write New Value for ILmtPlus to the Drive IlmtPlus is an Integer Variable D IlmtPlus s Identifier Number is 0005 For this example let s write a new value of 50 percent decimal 50 32 hex Message A B FF 06 000D D 0005 32 00 00 00 57 Response A B FF 00 0002 00 11 Write New Value for AccelLmt AccelLmt is a Floating Point Variable C Ac...

Страница 182: ...Examples cont d Restore Parameters from NV Memory NVLoad s Identifier Number is 256 which corresponds to 0100 in hexadecimal Message A B FF 0B 004 0100 86 Response A B FF 00 0002 00 11 A 6 MA930 Manual ...

Страница 183: ... are stored on the OC930 and the NV memory on the SC900 control card is unconfigured On power up the SC900 reads the value of each non volatile parameter from the OC930 In this configuration the OC930 must be installed in order to operate the drive The AInNull mappable function saves the new ADOffset to the NV memory on the OC930 when configured as a Personality Module Procedure To configure an OC...

Страница 184: ...Page empty ...

Страница 185: ... VelCmd from Position Loop BlkType 0 1 VelCmdSrc MAPPABLE INPUT RPM VelCmd2 4 1 2 Other DIFF AMP 1 2 KHZ LPF J4 2 J4 1 ANALOG CMD LOW PASS FILTER ADF0 10 VOLT AnalogIn CLAMP 13 5 Volt 13 5 Volt VOLT ADOffset VOLT To Velocity Loop VelCmdA RAD SEC 2 VelCmdA RPM CLAMP ACCUM DELTA d dt RPM SEC DecelLmt AccelLmt RPM SEC SLEW LIMIT CLAMP VelLmtLo RPM VelLmtHi RPM BlkType 0 4 1 2 5 8 Figure 1 ...

Страница 186: ...KVI INTEGRATOR RESET STOP INTEGRATOR KIP KII CW EncPos TORQUE CURRENT DEROTATE W eIn 1 2 3 4 5 6 7 8 9 10 12 13 0 ANALOG OUT 11 VelFb VelCmdA VelErr FVelErr Position PosError PosCommand ICmd IFB AnalogIN EncFreq EncPos ItFilt DAC MONITOR CH X SELECTION AND UNITS CONVERSION 14 HsTemp 28 VelCmd LOW PASS FILTER CLAMP DMxF0 CLAMP ON DAC MONITOR x OUTPUT 8 BIT DAC DMxOut 5 V DMxGAIN DMxMap IDEALIZED ME...

Страница 187: ...md To Velocity Loop PosError 6 d dt 1 mSec Update KVFF 100 ACCUMULATOR PRESET 0 EncFreq PulsesOut 2 PulsesFOut 16 PulsesIn RemoteFB VelCmd2 RPM VelCmdSrc MAPPABLE INPUT DIGITAL ACCUM ELECTRONIC GEAR RATIO d dt 11 1 2 1 0 0 7 1 mSec Update PosCommand PosCmdSet RESOLVER COUNTS RPM COUNTS RAD kHz RAD RAD SEC COUNTS COUNTS EncPos 12 RAD COUNTS Figure 3 ...

Страница 188: ...Page empty ...

Страница 189: ... 21 000 RPM Limit VelCmd appropriately Note For Encoder velocity feedback CommSrc 1 or 2 check that EncIn is set properly to correctly scale the VelFB units Motor Over Temperature Fault Blinking 2 Loose or open circuit wiring to motor PTC thermal sensor J3 8 and J3 9 Check connections Tighten TB screws on J3 8 and J3 9 High ambient temperature at motor Lower ambient temperature Insufficient motor ...

Страница 190: ...an replacement Drive I t Fault Blinking 4 Mechanically jammed motor Motion profile accelerations too high Machine load on the motor increased e g friction increased Problem with wiring between drive and motor yielding improper motion Drive and or motor under sized for application Ensure motor shaft is not jammed Change profile or load Note See HSTemp ItFilt ItThresh and ItF0 for information on det...

Страница 191: ...neutral internal motor winding short circuit Check for short Insufficient motor inductance for output over current faults Check motor inductance against drive minimum specification Motor ac power input voltage too high Reduce ac input voltage to within specification Disconnected regeneration resistor on J5 or external regeneration resistor ohmage too small for Bus Over Voltage fault Check the conn...

Страница 192: ...olid E Drive hardware failure Cycle control power Drive software bug Cycle control power Power Up Self Test Failure Blinking E Internal drive software error See ExtFault for further information about the exact failure The drive control power must be cycled to clear this fault Bus Voltage Fault Alternating E 1 Motor power bus voltage dropped below VBusThresh Check the measured bus voltage VBus and ...

Страница 193: ...upgrade card Firmware Version Incompatible with Hardware Alternating E 5 Non volatile parameter memory was written with a newer drive software than the drive just powered up with Check the drive software version via the FwV status variable Contact factory for upgrade details Attempted to Configure with Drive Enabled Alternating E 6 Unconfigured drive Status LED alternates U C was fully configured ...

Страница 194: ...o sensitive Increase the value of PosErrorMax Parameter Checksum Error Fault Alternating F 3 Glitch while last saving the NV parameters Download parameters again and NVSave Option card has corrupted NV memory contents See ExtFault status variable to determine whether NV memory corruption is inside the drive or on the option card Hardware problem with the NV memory Cycle power D 6 MA930 Manual ...

Страница 195: ...7 21 BDLgcThr 7 22 BDOutx 7 23 BlkType 7 24 Brake 7 25 C CCDate 7 26 CCSNum 7 27 CcwInh 7 28 Cfgd 7 29 Checksum A 3 CmdGain 7 30 CmdGain2 7 31 Command Code A 2 Command connections 2 2 CommEnbl 7 32 CommOff 7 33 CommSrc 7 34 Communications Protocol A 1 Configuring an OC930 as a Personality Module B 1 Configuring Drive 2 7 Configuring System 2 6 Connection diagram 2 3 Control block diagrams C 1 Cont...

Страница 196: ...Enabled 7 48 Enabling Drive 2 8 EncFreq 7 49 EncIn 7 50 EncInF0 7 51 EncMode 7 52 EncOut 7 53 EncPos 7 54 Exiting 930 Dialogue 2 12 ExtFault 7 55 F Fault 7 56 FaultCode 7 57 FaultReset 7 59 Features 1 1 File Menu 2 12 FVelErr 7 60 FwV 7 61 G Getting Help 2 5 2 9 2 10 H Header A 2 HSTemp 7 62 HwV 7 63 I I O values 3 2 ICmd 7 64 IFB 7 65 ILmtMinus 7 66 ILmtPlus 7 67 Inputs 7 68 Install to Hard Drive...

Страница 197: ...Message Data A 3 Message Format A 1 Message Length A 2 Model 7 84 Motor 7 85 Motor Part Number 2 7 Movement Keys 2 5 N NVLoad 7 86 NVLoadOpt 7 87 NVSAVE 2 7 2 11 7 88 NVSaveOpt 7 89 O OCDate 7 90 OCSNum 7 91 Opening a Disk File 2 12 Options menu 2 6 Outputs 7 92 Overshoot 6 10 P PoleCount 7 93 Port Configuration 2 6 PosCmdSet 7 94 PosCommand 7 95 PosError 7 96 PosErrorMax 7 97 Position 7 98 MA930 ...

Страница 198: ...nstallation 3 7 diagram 3 7 RS 485 RS 422 Connections 3 6 diagram 3 6 RunStop 7 104 S S1 3 3 Saving Parameters 2 9 Selecting Motor Control Functions 4 1 Serial Port Configuration 2 5 Servo Loop Parameters 6 1 Slaving to a Master Encoder 5 1 Setting up Hardware 2 1 Setting Up Serial Addresses using S1 3 3 definition 3 3 procedure 3 4 StopTime 7 105 T Target Address Drive Address A 2 Torque Block Mo...

Страница 199: ...elocity 2 9 7 119 Velocity Block Modes 4 4 Analog Command Velocity Block 4 4 command processing 4 5 velocity loop compensation 4 5 Digital Command Velocity Block 4 6 Serial Port Command Velocity Block 4 6 clutch brake 4 6 Velocity Loop 6 1 calculation 6 3 Velocity loop bandwidth 6 1 Velocity scale factor accuracy 6 8 Voltage 2 7 W Warranty 1 2 Write Messages A 4 Z ZeroSpeedThresh 7 120 MA930 Manua...

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