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A.3 Position Block Modes

A.3.1 Digital Command Position Block (BlkType = 2)

This mode is just a velocity block mode with the VelCmd coming
from the position loop. See Figure 3. In particular,

PosError = PosCommand

- Position Feedback

(

)

VelCmd

KPP PosError KVFF

PosCommand

= 2 *

100







where:

PosCommand

is the position command in counts

KPP

is the proportional position loop gain

KVFF

is the velocity feed forward gain percentage.

When the SC900 is disabled and

BlkType = 2

PosCommand

is set to the position feedback value. This insures

that when the drive is enabled, it picks up motion from its present
position.

MA950

A - 5

Содержание OC950 EPROM

Страница 1: ...A 9 5 0 OC950 Installation Hardware Reference Manual 110 Fordham Road Wilmington MA 01887 978 988 9800 Fax 978 988 9940 Part MA950 List Price 30 U S February 1999 Rev E HIGH PERFORMANCE MOTORS DRIVES...

Страница 2: ...cientific 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 Scienti...

Страница 3: ...c 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 Sci...

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 PROGRAM...

Страница 5: ...ating a New Program 2 7 2 6 1 Using Wizards 2 8 2 7 Compiling a Program 2 11 2 8 Run Program 2 11 2 9 Working with Breakpoints 2 12 2 10 Using the Variables Window 2 13 2 11 Viewing Variables 2 14 2 1...

Страница 6: ...dvanced Velocity Loop Tuning 4 10 5 Maintaining Troubleshooting 5 1 5 1 Maintaining the SC950 Servocontroller 5 1 5 2 Troubleshooting the SC950 Series Servocontroller 5 1 Appendix A Selecting Motor Co...

Страница 7: ...al servo drive The SC950 inherits all the advanced high performance functionality as well as the small package size of the SC900 platform The SC950 also inherits all the hardware resources of that pla...

Страница 8: ...ion Standard version Combinations of the two memory offerings and the PacLAN option results in four standard versions of the OC950 OC950 501 01 Base 950 Option Card 32kx8 NVRAM OC950 502 01 Base 950 O...

Страница 9: ...rom the OC950 1 3 Warranty The Pacific Scientific OC950 has a two year warranty against defects in material and assembly Products that have been modified by the customer physically mishandled or other...

Страница 10: ...with the OC950 and the 950IDE 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...

Страница 11: ...ws 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...

Страница 12: ...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 47 63 Hz 240 120 VAC 3 2 1...

Страница 13: ...you which drive default is C and directory default is 950Win you want 950IDE installed in 3 Windows will then ask you to select a Program Manager Group default is Pacific Scientific that you would li...

Страница 14: ...double click on the 950 icon the following window will appear Movement keys 950IDE is a standard Windows application and the normal cursor movement keys operate the same way as in all windows applicat...

Страница 15: ...e Serial Port To specify the PC serial port that is connected to the OC950 1 Select Communications from the Options Menu and the following dialogue box will appear 2 Specify the serial port that you w...

Страница 16: ...x will appear Select the appropriate Motor Part Number from the dropdown menu Select the Drive you re using Example SC953 Select Medium Select an inertia ratio and click on OK Select a filename with a...

Страница 17: ...ameters have been set to a medium response approximately 75 Hz velocity loop bandwidth for the unloaded motor Additional default settings have also been implemented Note For additional tuning click on...

Страница 18: ...plate to create a jog move perform the following 1 Select Move Command from the Wizards Menu and the following window will appear 2 Select the Velocity Move tab and enter the appropriate parameters 3...

Страница 19: ...led at this time by closing the switch between the Enable input J4 6 and I O RTN J4 5 The commanded motor speed will be the power up default set to 0 during configuration WARNING Before proceeding the...

Страница 20: ...ing compilation will abort further compilation after the error is encountered display the compilation status and return to the program highlighting the program line containing the error 2 Make necessa...

Страница 21: ...set breakpoints 1 Place the cursor on the line of code in which you want a breakpoint set 2 Select Set Breakpoint from the Debug menu or press F9 Removing breakpoints To remove a breakpoint 1 Place t...

Страница 22: ...by clicking on the Single Step icon 2 10 Using the Variables Window Monitoring Motor Velocity Select Variables in the Compile Menu The Variables window allows all parameters variables and commands to...

Страница 23: ...ck on the Modify button Type GOVEL in the Variable expression box and press The motor should now run at the new speed 2 11 Viewing Variables Introduction Multiple variables can be monitored using a Wa...

Страница 24: ...name of the variable you which to watch in the Variable Expression box and then click on the Watch button The Variable is added to the Watch window Removing variables from Watch Window You can remove...

Страница 25: ...e the File Name FIRST BAS and click on OK The program will be saved on disk in a file named FIRST BAS 2 13 Opening a Program Select Open from the File menu Select FIRST BAS from the list of file names...

Страница 26: ...lock screws located on the front panel of the OC950 should be turned until resistance is met in order to properly seat the OC950 into the base unit A communications address selection switch resides o...

Страница 27: ...OCIO6 OCIO7 OCIO8 OCIO9 OCIO10 OCIO11 OCIO12 OCIO13 OCIO14 OCIO15 OCIO16 OCIO17 OCIO18 OCIO19 OCIO20 5_VDC LAN LAN OCIO5 J51 J52 OC950 OPTION CARD J53 I O_RTN RS 232_TXD RS 485_TXD RS 485_RXD RS 485_...

Страница 28: ...ansceiver Schematic at the end of this section I O Table Input Output Pin Number Explanation 5 VDC RTN Shield J51 1 Common shield RS 232 TXD J51 2 RS 232 transmitter output from OC950 RS 232 RXD J51 3...

Страница 29: ...program the OC950 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 32 SC950s in multi axis configurations A DIP s...

Страница 30: ...minal is a Burr Brown TM2500 Procedure 1 Solder the cable leads to the SC950 mating connector and the T10 connector as shown 2 Assemble the connector housings 3 Plug the connectors into the SC950 and...

Страница 31: ...the following values VW 4 Default LE 0 Local Echo OFF TM 0 Character Mode EN 1 Line Terminator CR TD 0 Turnaround Delay KC 2 Key Click BR 2 Baud Rate 9600 KR 1 Key Repeat DF 4 8 Bits No Parity CU 2 C...

Страница 32: ...s the location of switch S1 Note Each SC950 subsystem connected to an RS 485 multi drop installation or PacLAN must have a unique serial address The diagram below shows the S1 default switch settings...

Страница 33: ...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 11 Off Off On Off On On On On 12 On On Off Off On On On On 13 Off On Off Off On...

Страница 34: ...7 Off Off On Off Off On On On 28 On On Off Off Off On On On 29 Off On Off Off Off On On On 30 On Off Off Off Off On On On 31 Off Off Off Off Off On On On 32 On On On On On Off On On 33 Off On On On On...

Страница 35: ...On On Off Off Off Off Off 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...

Страница 36: ...computer manufacturers Check the hardware reference manual for your machine before wiring Cabling diagram A 6 foot 1 8 m RS 232 Cable with 9 pin connectors and a 9 pin to 25 pin adapter is available...

Страница 37: ...ion 3 2 RS 485 RS 422 connections to J51 are shown below A multidrop interconnection diagram showing multiple axes connected to a single host is also included RS 485 RS 422 Diagram 3 12 MA950 RS 485 T...

Страница 38: ...GND GND 12B 5VB USER_ 5V 5V TO MPU 12B 1 1 1 1 1 1 1 4 4 4 4 3 3 3 3 3 R VCC GND RXD TXD 74AC08 RS 485_ENABLE GND GND SN75155 75176 75176 VCC VCC VCC T TXD232 9 CONT TXD485 RXD485 TXD485 RXD485 RXD23...

Страница 39: ...or as an output point The user program has complete access to monitor input or to set output channels J52 I O Table The pinout of J52 is described in the following table Input Output J52 Pin Number In...

Страница 40: ...hannel is shown below MA950 3 15 5V 50V 20V 74AC14 V min 3 5V IH V max 1 0V IL Vds clamp 50V Imax 100mA Rds on 5 0 Ohms typical 9 5 Ohms maximum 125 Deg C Imax 100mA INPUT SENSE OUTPUT CONTROL TO MPU...

Страница 41: ...drain DMOS transistor The power on output state is off Outputs are voltage clamped for inductive transient protection The output transistor specifications are Vo max 50 V Io max 100ma rds on 5 typical...

Страница 42: ...470PF 470PF V min 3 5V V max 1 0V IH IL V min 3 5V V max 1 0V IH IL V min 3 5V V max 1 0V IH IL Vds clamp 50V Imax 100mA Vds clamp 50V Imax 100mA Vds clamp 50V Imax 100mA Rds on 5 0 Ohms typical 9 5...

Страница 43: ...4AC14 74AC14 220K 220K 220K 50V 50V 50V V min 3 5V V max 1 0V IH IL V min 3 5V V max 1 0V IH IL V min 3 5V V max 1 0V IH IL 20V 20V 20V 1N914B 1N914B 1N914B TPIC6B273 Output Stage TPIC6B273 Output Sta...

Страница 44: ...cally isolated industrial I O The CA950 IO plugs directly into the 50 pin header of Opto 22 s Generation 4 family of I O Mounting Racks and other compatible products as shown below MA950 3 19 CA950 IO...

Страница 45: ...1 out1 connects to Module Position 1 etc Obviously when a 16 module rack or smaller is used the number of I O is limited by the rack size A schematic of the CA950 IO is given at the end of this sectio...

Страница 46: ...ing the 950BASIC assignment statement outX 0 will drive current in the opto isolator s emitting diode which turns on the transistor or Thyristor switch at the user s side of the isolated interface OC9...

Страница 47: ...to the 5V and GND terminals on the Opto22 I O Mounting Rack or the Rack can be powered using the Opto 22 PBSA power supply which operates from either 115 or 220 Vac The PBSA supply fits underneath the...

Страница 48: ...SER_5V OCIO0 OCIO1 OCIO2 OCIO3 OCIO4 OCIO5 OCIO6 OCIO7 OCIO8 OCIO9 2 3 4 5 6 7 8 9 10 11 12 13 15 16 17 18 19 20 21 22 23 24 25 DB25 MALE 50 CONTACT RECEPTACLE N1 E1 1 2 GNDIO 10 50 49 48 47 46 45 44...

Страница 49: ...ace must conform to RG62 cabling specifications The most distant trunks of the cable should each be terminated in 93 ohm 1 2 watt termination resistors RG62 cable and 93 ohm terminators are available...

Страница 50: ...more than 8 controllers ARCNET compatible active hubs must be used These devices are capable of transmission lengths of up to 2000 feet Active hubs are available from SMC Contempory Control Systems I...

Страница 51: ...of the control loop architecture and 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 4 1 Velocity Loop The veloc...

Страница 52: ...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 har...

Страница 53: ...tor resolver give acceptable performance without further optimization The most common servo setup problem is adding large load inertia without a corresponding increase in KVP The value of KVP to achie...

Страница 54: ...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 simpl...

Страница 55: ...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...

Страница 56: ...Step 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 redu...

Страница 57: ...is 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 Vel...

Страница 58: ...ion Figure 3 in Appendix A 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 posi...

Страница 59: ...0 53 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...

Страница 60: ...0 will give steady state following error when running at constant speed 4 3 Advanced Velocity Loop Tuning Continuous time transfer function approximation The transfer function for the velocity loop co...

Страница 61: ...f FvelErr VelErr s reduces to 1 If ARZ0 or ARZ1 is individually 0 the numerator reduces to s ARZx 2 1 Discrete time transfer function The velocity loop compensation is actually implemented as a digita...

Страница 62: ...e superficial dust and dirt from the unit using clean dry low pressure air 5 2 Troubleshooting the SC950 Series Servocontroller Introduction The system status display located on the front panel indica...

Страница 63: ...ng 2 2 Motor Over Temp Blinking 3 3 Drive Over Temp Blinking 4 4 Drive I t Blinking 5 5 l n Fault 9x3 Blinking 6 6 Control 12 V supply under voltage Blinking 7 7 Output over current or bus over voltag...

Страница 64: ...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 clo...

Страница 65: ...ve 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 nonvolatil...

Страница 66: ...t the drive is defective and should be returned to the factory for repair Controller unconfigured U C New controller Perform controller setup Resolver conversion overspeed 1 Incorrect resolver phasing...

Страница 67: ...Add fan option to controller to boost continuous rating Fan inoperative Return to factory for fan replacement IT Fault 4 Excessive time at peak current Check time spent at peak current If excessive c...

Страница 68: ...ent motor inductance SC952 4mH SC953 2mH SC954 1mH SC955 0 5mH Check current loop compensation parameters in software Replace motor with motor of correct inductance Drive enabled 8 Normal Operation No...

Страница 69: ...tage Check AC voltage 264 Internal failure Return to factory for repair 5 V low Short on pin J52 25 Remove J52 connector Reapply AC power Short on pin J51 4 Remove J51 connector Reapply AC power Short...

Страница 70: ...motor shaft to proper position within 1 second Check IlmtPlus and IlmtMinus If vertical load reduce load or increase motor drive Verify motor brake releases properly Internal failure Return to factor...

Страница 71: ...ow while commanding motion Check CwInh and CcwInh inputs and variables Loss of feedback information Disable drive and spin motor shaft by hand Verify Position variable is changing If not swap out moto...

Страница 72: ...Output Window or check value of Err in the variables window Look up values in run time error table and make necessary corrections to your program Processor failure Excessive noise in application or i...

Страница 73: ...it lines on J51 See Section 3 2 Verify that the serial cable is functioning properly 1 Disconnect serial cable from J51 2 Short pins 2 3 See Section 3 3 Type a character on the keyboard 4 Verify that...

Страница 74: ...ic Scientific is not responsible or liable for damage resulting from improper packaging or shipment 3 Ship the servocontroller to Pacific Scientific 110 Fordham Road Wilmington MA 01887 Attn Repair De...

Страница 75: ...k BlkType 0 This mode allows the differential analog voltage between terminals J4 1 and J4 2 to set the motor s terminal torque current amplitude Since the actual motor current amplitude IFB times the...

Страница 76: ...arameter 3 ADF0 adjustable low pass filter to become AnalogIn 4 Bypass the VelLmtHi VelLmtLo clamp 5 Velocity error variable VelErr is set equal to VelCmdA 6 The anti resonance second order velocity l...

Страница 77: ...incorrectly give 2 amps of output torque current amplitude When changing the BlkType from something else to 0 to get an analog torque block you will generally need to additionally set KVP to 1 KVI to...

Страница 78: ...red shaft velocity VelFB and processed by the velocity loop compensation to create the motor torque current command ICmd The detailed signal processing steps to create ICmd are listed below and shown...

Страница 79: ...and Position Feedback VelCmd KPP PosError KVFF d dt PosCommand 2 100 where PosCommand is the position command in counts KPP is the proportional position loop gain KVFF is the velocity feed forward gai...

Страница 80: ...TOR RESET STOP INTEGRATOR KIP KII CW EncPos TORQUE CURRENT DEROTATE WeIn 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...

Страница 81: ...om Position Loop BlkType 0 1 2 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 VelCmd RAD SEC CLAMP VelLmt...

Страница 82: ...EncPos EncFreq FROM MOTOR SHAFT K s V 2 0 1 0 1 2 RAD 5 Position 2 KPP VelCmd To Velocity Position Command from OC950 Loop PosError 6 d dt 1 mSec Update KVFF 100 7 PosCommand RESOLVER COUNTS RPM COUN...

Страница 83: ...Contact Female D subminiature OC950 J52 Programmable Inputs Outputs Input Output Type Quantity 21 Bi Directional Channels Logic Voltage 5 to 24 Volt 40V Absolute Maximum Input Channel Pull up resisto...

Страница 84: ...J51 4 J52 25 and SC900 J4 25 Output Voltage 5 Volts 5 Output Current 200 milliamperes Maximum Note Output current is the combined current of all three connection points OC950 J53 Optional PacLAN Data...

Страница 85: ...12 Working w Breakpoints 2 10 A ARF0 4 5 ARF1 4 5 Axis address 3 25 Switch S1 3 7 B Backlash 4 6 Breakpoints 2 10 Continuing execution 2 11 Removing 2 10 Setting 2 10 C CA950 IO 3 20 Configuring Syst...

Страница 86: ...4 Active hubs 3 25 Axis address 3 25 Connections 3 24 Specifications B 1 K KPP 4 8 KVFF 4 9 KVI 4 7 KVP 4 3 L Load inertia 4 3 Problems with 4 4 M Maintenance 5 1 N NVRAM 1 2 O OCIO 3 14 I O Table 3 1...

Страница 87: ...tions B 1 J51 B 1 J52 B 1 J53 B 2 Status Displays 5 1 Switch S1 3 7 System Configuration 2 6 T T10 Connections 3 5 Torque Block A 1 Analog Command A 1 Transfer function 4 10 Troubleshooting 5 1 Table...

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