Parker OEM6250 Скачать руководство пользователя страница 39 | Manualshive

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Appendix A

T u n i n g

In this appendix:

• Servo control terminology
• Servo control techniques
• Servo tuning procedures

(These procedures are based on empirical techniques. If you are using Servo
Tuner™, refer to the

Servo Tuner User Guide for instructions.)

You should tune the OEM6250 before attempting to execute any motion
functions. At a minimum, complete this chapter’s

Tuning Setup Procedure and

Controller Tuning Procedures until you have found a proportional feedback gain that can
give a stable response for your system. (The

Drive Tuning Procedure below is for use

with velocity drive systems only.) Then you can proceed to execute your motion
functions. To gain a full understanding of tuning, you should read through this entire
appendix and follow its procedures to ensure your system is properly tuned.

Servo Tuning Software Available

To effectively tune the OEM6250 (and any velocity drives you may be using), use the
interactive tuning features in the Servo Tuner™. It greatly improves your efficiency and
gives you powerful graphical tools to measure the performance of the system.

Servo Tuner is included as an integral element of Motion Builder™, an optional icon-
based programming tool. Servo Tuner is also available as an optional add-on module to
Motion Architect (it does not automatically come with the basic Motion Architect
software package). Instructions for using Servo Tuner are provided in the

Servo Tuner

User Guide and in Motion Builder’s online Help system and Motion Builder Startup Guide
& Tutorial.

To order Motion Builder or the Servo Tuner add-on module to Motion Architect, contact
your local Automation Technology Center (ATC) or distributor.

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Содержание OEM6250

Страница 1: ...Compumo tor Compumotor Division Parker Hannifin Corporation p n 88 016524 01B March 1998 OEM6250 Servo Controller Installation Guide ...

Страница 2: ...ge to equipment and or serious injury to personnel North America and Asia Compumotor Division of Parker Hannifin 5500 Business Park Drive Rohnert Park CA 94928 Telephone 800 358 9070 or 707 584 7558 Fax 707 584 3793 FaxBack 800 936 6939 or 707 586 8586 BBS 707 584 4059 e mail tech_help cmotor com Internet http www compumotor com Europe non German speaking Parker Digiplan 21 Balena Close Poole Dors...

Страница 3: ...D E Drive Connections With a BD E drive connected as illustrated in revision A the motor has a tendency to lunge for several revolutions at full torque when power is removed simultaneously from the OEM6250 and the BD E drive as would be the case in a power outage The correction is to connect the OEM6250 s SHTNC terminal to the BD E s GND terminal pin 4 OEM6250 BD E Drive User I O Connector NOTE Th...

Страница 4: ......

Страница 5: ...em Programming related issues are covered in the 6000 Series Programmer s Guide and the 6000 Series Software Reference These reference documents are available by ordering the OEM6250 MANUALS ship kit add on or they can be downloaded from Compumotor s web site at http www compumotor com What You Should Know To install and troubleshoot the OEM6250 you should have a fundamental understanding of Elect...

Страница 6: ......

Страница 7: ...all electrical components includes specifications Testing the installation Tuning the OEM6250 refer to Servo Tuner User Guide or to Appendix A Preparing for what to do next Appendix B provides guidelines on how to install the OEM6250 in a manner most likely to minimize the OEM6250 s emissions and to maximize the OEM6250 s immunity to externally generated electromagnetic interference ...

Страница 8: ...encoder inputs outputs etc Adjusting the DIP switches or other internal components Recommended Installation Process This chapter is organized sequentially to best approximate a typical installation process 1 Review the general specifications 2 Mount the OEM6250 3 Connect all electrical system components 4 Test the installation 5 Mount the motor and couple the load 6 Tune the OEM6250 for optimum pe...

Страница 9: ...nge for these inputs is 0 24V Joystick inputs Axes Select Velocity Select HCMOS compatible with internal 6 8 KW pull ups to 5V voltage range is 0 24V Trigger Release and Auxiliary Encoder Differential comparator accepts two phase quadrature incremental encoders with differential recommended or single ended outputs Maximum voltage 5VDC Switching levels TTL compatible Low 0 4V High 2 4V Maximum freq...

Страница 10: ...50 ANI product this option board is factory installed If you ordered the board separately p n OPT OEM6250 A install it now Allow 0 91 23 11 mimimum for component height Environmental Considerations Temperature Operate the OEM6250 in ambient temperatures between 32 F 0 C and 122 F 50 C Provide a minimum of 2 inches 50 8 mm of unrestricted air flow space around the OEM6250 see illustration Fan cooli...

Страница 11: ...M SHTNC SHTNO DFT AGND RSVD CMD CMD Rx Tx GND SHLD 5V OUT P IN P TRG A TRG B GND OUT A OUT B GND ENBL 5V AUX P 1POS 1NEG 1HOM GND 2POS 2NEG 2HOM GND SHLD SHLD Tx Rx GND 5V SHLD Terminal SHLD Terminal SHLD Terminal SHLD Terminals SHLD Pin 8 SHLD Terminal SHLD Terminal GND Pins even numbered pins DIGITAL GROUND EARTH TH1 GND Terminal GND Terminals GND Terminal GND Pin 14 Shield Screw This connection...

Страница 12: ...tch 2 Switch 3 Device Address To implement the Auto Baud feature Switch 4 ON Auto Baud Enabled Switch 4 OFF Auto Baud Disabled default The default baud rate is 9600 As an alternative you can use this procedure to automatically match your terminal s speed of 1200 2400 4800 or 9600 baud 1 Set switch 4 to ON 2 Connect the OEM6250 to the terminal 3 Power up the terminal 4 Cycle power to the OEM6250 an...

Страница 13: ...alog Ground AGND 6 8 KW DRIVE Connector SHLD COM SHTNC SHTNO DFT AGND RSVD CMD CMD AGND Chassis Ground AGND Command Closed if DRIVE Open if DRIVE1 Solid State Relay Open if DRIVE Closed if DRIVE1 DRIVE 1 DRIVE 2 Maximum recommended cable length is 15 feet 4 56 m Use 22 AWG wire AUX 47 KW 74HCxx DFT Drive Fault input HCMOS compatible switching low 1 00V high 3 25V Voltage range 0 24V 5VDC ...

Страница 14: ...ctive until you issue the DRIVE11 command Max rating 175VDC 0 25A 3W Shutdown active DRIVE this output is disconnected from COM see schematic above Shutdown inactive DRIVE11 this output is internally connected to COM see schematic above DFT IN Drive fault input Set active level with the DRFLVL command The drive fault input will not be recognized until you enable the input functions with the INFEN1...

Страница 15: ... Dynaserv A connected to OEM6250 s A Dynaserv A connected to OEM6250 s A OEM6250 GND connected to OEM6250 COM SHLD COM SHTNC SHTNO DFT AGND RSVD CMD CMD DRIVE 1 ENCODER 1 5V A A B B Z Z GND SHLD 1 18 19 33 50 Linearserv Drive and Dynaserv DM1004 Drive 50 25 26 1 SHLD COM SHTNC SHTNO DFT AGND RSVD CMD CMD DRIVE 1 ENCODER 1 SHLD GND ZÐ Z BÐ B A 5V Linearserv or DM1004 Drive CN1 50 pin Connector OEM6...

Страница 16: ... Supply SHLD COM SHTNC SHTNO DFT AGND RSVD CMD CMD DRIVE 1 ENCODER 1 SHLD GND ZÐ Z BÐ B AÐ A 5V SV Drive OEM6250 X13 X8 1 500 1 16 8 15 9 X10 1 16 External 24V Power Supply Short these two terminals Connect SV A called A to OEM6250 A Connect SV A called A to OEM6250 A Connect SV s X10 pins 14 16 to an external 24V power supply Also connect SV X10 pin 16 to OEM6250 GND Connect a 500 resistor betwee...

Страница 17: ...is opened motion is killed and the program in progress is terminated If the ENBL input is not grounded when motion is commanded motion will not occur and the error message WARNING ENABLE INPUT ACTIVE will be displayed in the terminal emulator Internal Schematic OEM6250 As shipped from the factory AUX P is internally connected to 5V via resistor R45 input is sinking current To make the ENBL input s...

Страница 18: ...ction with the home switch to determine the home position this feature is enabled with the HOMZ1 command Chassis Ground Digital GND LIMITS Connector 1POS 1NEG 1HOM GND 2POS 2NEG 2HOM GND SHLD AUX Connector All limit inputs share the same circuit design Remove R45 before connecting AUX P to an external 5 24VDC supply sink current or to the GND terminal source current Failure to remove R45 first wil...

Страница 19: ... 4 3 2 1 5V A A B B Z Z GND SHLD OUT IN IN IN IN IN IN 5VDC output to power the encoder A Channel quadrature signal input A Channel quadrature signal input B Channel quadrature signal input B Channel quadrature signal input Z Channel signal input Z Channel signal input Digital ground Shield Internally connected to chassis ground earth Specification for all encoder inputs Differential comparator ac...

Страница 20: ...K Connector PIN OUTS SPECIFICATIONS Pin In Out Name Description 1 IN Analog Channel 1 Analog input for joystick control of axis Voltage range is 0 2 5VDC 8 bit A D converter CAUTION Input voltage must not exceed 5VDC 2 IN Analog Channel 2 same description as pin 1 above 3 IN Analog Channel 3 same description as pin 1 above 8 Shield Shield chassis ground 14 Ground Digital ground 15 IN Axes Select I...

Страница 21: ...sourcing To use an external 5 24V supply remove R45 SHLD 5V OUT P IN P TRG A TRG B GND OUT A OUT B GND ENBL 5V AUX P OEM6250 R45 0 KW 5VDC SHLD 5V OUT P IN P TRG A TRG B GND OUT A OUT B GND ENBL 5V AUX P Electronic Device OEM6250 Pulled down to ground sinking Out 5 24 Volts Output Ground V1 R1 see schematic above R45 0 KW is removed 5VDC Connection to a Combination of Sinking Sourcing Outputs Elec...

Страница 22: ... supply Sinking Current On the AUX connector connect IN P to GND remove R12 first STATUS Check with TIN or INFNC Active level Default is active low but can be changed to active high with the INLVL command Outputs Open collector output Max voltage in the OFF state not sinking current 24V max current in the ON state sinking 30mA Pull up connection on AUX connector Leave as is to use the internally s...

Страница 23: ... when the output is open and VA 3 4V when the output is closed R1 must be R If R1 is 0 W the typical value for R is 450 W VA PROGRAMMING TIP Connecting to a sinking output Set the input s active level to low with the INLVL command active low Connecting to a sourcing output Set the input s active level to high with the INLVL command 1 active high Thus when the output is active the TIN status comman...

Страница 24: ...ng Input open collector 7406 open collector 7406 R13 0 KW is removed 5VDC Connection to an Inductive Load active low Output Connection OUT P 5V GND OEM6250 4 7 KW GND Use an external diode when driving inductive loads Connect the diode in parallel to the inductive load attaching the anode to the OEM6250 output and the cathode to the supply voltage of the inductive load via an external resistor To ...

Страница 25: ...ut 1 Programmable Output 2 Programmable Output 3 1 2 3 4 5 6 7 8 5 GND I5 I4 I3 I2 I1 O5 O4 O3 O2 O1 TM8 Thumbwheel Module OEM6250 Connection to your own Thumbwheel Module Sign Bit Thumbwheel 1 Thumbwheel 2 Thumbwheel 3 Thumbwheel 4 Thumbwheel 5 Thumbwheel 6 Thumbwheel 7 Thumbwheel 8 Input 9 sign Input 8 MSB Input 7 Input 6 Input 5 LSB Input 4 MSB Input 3 Input 2 Input 1 LSB Output 4 Output 3 Outp...

Страница 26: ...k All home and end of travel limits The two trigger inputs An RP240 100mA You may need additional power from an external 5 24VDC supply for the programmable inputs and outputs depending on how and what they are connected to To provide additional power for the programmable inputs be sure to remove the R12 resistor first before connecting the external power supply to the IN P terminal for the progra...

Страница 27: ...t inputs DFT and enable input ENBL If you are experiencing noise problems try adding resistors to reduce noise sensitivity see illustration below Long Shielded Cable Add a resistor between the input and the power supply this will lower the input impedance and reduce noise sensitivity Use a value between 330W and 2 2KW depending on noise suppression required OPTIONAL External Power Supply 5 24VDC O...

Страница 28: ...on Architect s main menu click on the Product pull down menu and click on Selection to invoke the 6000 Series Product Selection dialog box In the Servo Control area of the dialog box type OEM6250 in the Other field and click the Okay button 4 From Motion Architect s main menu click on Terminal to launch the terminal emulator 5 Power up the OEM6250 The terminal window will display a powerup message...

Страница 29: ... the next line and save the current value 2 Change the voltage output from your voltage source and verify that the TANI report changes accordingly If the reading does not change check the connections 3 When finished enter the K ctrl K or K command to stop the continuous report back TANI response volts ANI input 1 ANI input 2 NOTE ANI feedback is measured in volts Programmable Inputs incl triggers ...

Страница 30: ...Guide for details Tuning Gains SGP Sets the proportional gain in the PIV F servo algorithm SGI Sets the integral gain in the PIV F servo algorithm SGV Sets the velocity gain in the PIV F servo algorithm SGAF Sets the acceleration feedforward gain in the PIV Fa algorithm SGVF Sets the velocity feedforward gain in the PIV Fv algorithm SGILIM Sets a limit on the correctional control signal that resul...

Страница 31: ...system set up parameters I O definitions feedback device operations etc Program editor Create blocks or lines of 6000 controller code or copy portions of code from previous files You can save program editor files for later use in BASIC C etc or in the terminal emulator or test panel Terminal emulator Communicating directly with the OEM6250 you can type in and execute controller code transfer code ...

Страница 32: ......

Страница 33: ... Troubleshooting IN THIS CHAPTER Troubleshooting basics Reducing electrical noise Diagnostic LEDs Test options Technical support Solutions to common problems Resolving serial communication problems Product return procedure ...

Страница 34: ... section of the Parker Compumotor Digiplan catalog Appendix B page 47 provides guidelines on how to install the OEM6250 in a manner most likely to minimize the OEM6250 s emissions and to maximize the OEM6250 s immunity to externally generated electromagnetic interference Diagnostic LEDs STATUS Green if 5VDC 4A min power is connected Red if power reset is required Off if no power DISABLED Off O K O...

Страница 35: ...ries motors servo OEM2300E05A MO ERES2000 OEM2303E05A MO ERES2000 OEM3400E05A MO ERES2000 OEM3401E10A MO ERES2000 OEM2300E05A MO ERES4000 OEM2303E10A MO ERES4000 OEM3400E10A MO ERES4000 OEM3401E10A MO ERES4000 OEM2300E20A MO ERES8000 OEM2303E20A MO ERES8000 OEM3400E20A MO ERES8000 OEM3401E20A MO ERES8000 Encoder counts missing 1 Improper wiring 2 Encoder slipping 3 Encoder too hot 4 Electrical noi...

Страница 36: ...rive failed 4 Drive shutdown 1 Check wiring to the motor as well as other system wiring 2 Check power connection STATUS LED should be on 3 a Check the drive fault TASXF report see bit 4 3 b Check the drive condition 4 Enable drive with the DRIVE11 command Trigger home end of travel or ENBL inputs not working 1 If external power supply is used the grounds must be connected together 2 Improper wirin...

Страница 37: ...ee instructions on page 6 Also check for shorts or opens Is the cable or computer terminal bad Here s a test 1 Disconnect the serial cable from the OEM6250 end only 2 Connect the cable s Rx and Tx lines together this echoes the characters back to the host 3 Issue the TREV command If nothing happens the cable or computer terminal may be faulty The controller may be executing a program Issue the K c...

Страница 38: ...ure reason for return How long did it operate Did any other items fail at the same time What was happening when the unit failed e g installing the unit cycling power starting other equipment etc How was the product configured in detail Which if any cables were modified and how With what equipment is the unit interfaced What was the application What was the system environment temperature enclosure ...

Страница 39: ...tem is properly tuned Servo Tuning Software Available To effectively tune the OEM6250 and any velocity drives you may be using use the interactive tuning features in the Servo Tuner It greatly improves your efficiency and gives you powerful graphical tools to measure the performance of the system Servo Tuner is included as an integral element of Motion Builder an optional icon based programming to...

Страница 40: ...y or saturate at the maximum limit until the position error changes such that the control algorithm would calculate a control signal less than the limit This phenomenon of reaching the output limit is called controller output saturation When saturation occurs increasing the gains does not help improve performance since the DAC is already operating at its maximum level Position Variable Terminology...

Страница 41: ... clarification is to avoid misinterpretation of what this user guide describes in the following sections Position Response Types The following table lists describes and illustrates the six basic types of position responses The primary difference among these responses is due to damping which is the suppression or cancellation of oscillation Response Description Profile position time Unstable Instab...

Страница 42: ...uning techniques described in this section The OEM6250 employs a PIV F servo control algorithm The control techniques available in this system are P Proportional Feedback control with SGP command I Integral Feedback control with SGI command V Velocity Feedback control with SGV command F Velocity and Acceleration Feedforward control with the SGVF and SGAF commands respectively The block diagram bel...

Страница 43: ... This phenomenon is called integrator windup After windup occurs it will take a while before the integrator output returns to a level within the limit of the controller s output Such a delay causes excessive position overshoot and oscillation Therefore the integral windup limit SGILIM command is provided for you to set the absolute limit of the integral and in essence turn off the integral action ...

Страница 44: ...lerate Acceleration feedforward control is directed by the Servo Gain Acceleration Feedforward SGAF setting which is in turn multiplied by the acceleration of the commanded position to produce the control signal Consequently because the control signal is now proportional to the acceleration of the commanded position the controller essentially anticipates the velocity of the commanded position and ...

Страница 45: ...al volt meter DVM to monitor the analog output Both readings should be very close to zero If an offset exists ignore it for now it will be taken care of later in step 8 Step 3 If your system has mechanical stops manually move the load to a position mid way between them Step 4 Enter these commands to zero all the gains and run the system in open loop SGP0 0 Set proportional feedback gain to zero SG...

Страница 46: ...following drive tuning procedure Unlike the Tuning Setup Procedure you must tune one axis at a time Step 1 Tune the drive to output the desired velocity at a given voltage from the OEM6250 a If your system has mechanical stops manually move the load to a position mid way between them b Enter the SOFFS command to set the OEM6250 s output voltage to its maximum level 10 0 volts SOFFS1 for axis 1 or ...

Страница 47: ...roduces a rougher motion profile conversely decreasing the SSFR value provides a smoother profile but makes the servo system less stable and slower to respond SELECTING THE SSFR VALUE Refer to the SSFR command description in the 6000 Series Software Reference Use the table to determine the appropriate setting based on your desired servo update rates As an example if your application requires a clo...

Страница 48: ...c cylinder etc to chatter Step 5 Use the Integral Feedback Gain SGI to reduce steady state error Steady state position error is described earlier in the Performance Measurements section on page 35 a Determine the steady state position error the difference between the commanded position and the actual position You can determine this error value by the TPER command when the load is not moving NOTE I...

Страница 49: ...our application Set the SGVF value to be the product of SGP SGV if SGV zero set SGVF equal to SGP b Check the position error at constant velocity by issuing the TPER command c Increase SGVF to reduce the position error repeat steps a and b as necessary Step 7 Use the Acceleration Feedforward Gain SGAF to reduce position error during acceleration a Execute a continuous MC1 command move setting the ...

Страница 50: ...ntroduce the velocity feedback gain SGV to damp out the oscillation SGP 15 Step 3 With SGV equal to 2 the response turns out fairly well damped see plot At this point the SGP should be raised again until oscillation or excessive overshoot appears SGP 15 SGV 2 Step 4 As we iteratively increase SGP to 105 overshoot and chattering becomes significant see plot This means either the SGV gain is too low...

Страница 51: ...eedback for both axes subsequent scaling gains servo offset PSET and SMPER commands are specific to encoder feedback ERES4000 4000 Set encoder resolution to 4 000 counts rev SCLA4000 4000 Set scaling for programming accel decel in revs sec sec SCLV4000 4000 Set scaling for programming velocity in revs sec SCLD4000 4000 Set scaling for programming distances in revs SGP70 70 Set proportional feedbac...

Страница 52: ......

Страница 53: ...nd P Clips Ferrite Absorber Specifications The absorbers described in these installation recommendations are made from a low grade ferrite material which has high losses at radio frequencies They therefore act like a high impedance in this waveband The recommended components are produced by Parker Chomerics 617 935 4850 and are suitable for use with cable having an outside diameter up to 10 13mm T...

Страница 54: ...ons In the case of differential outputs it is preferable to use a cable with twisted pairs to minimize magnetic coupling A connection is made to the cable screen at the controller end by exposing a short length of the braided screen and anchoring this to earth using a P clip see Figure 2 Fit a ferrite absorber close to the I O connector and run the cable down to the mounting panel as shown in Figu...

Страница 55: ...User provided power from a clean DC power supply use twisted pair cable Remove Paint Remove paint if mounting on this surface VM50 Programmable I O Cable Limits Cable Communications Cable Triggers Cable Drive Cable Encoder Cable Braided screen Cables Figure 3 EMC Connections for OEM6250 ...

Страница 56: ......

Страница 57: ...ial see serial communication terminal emulation 22 troubleshooting 30 CompuCAM 25 conduit 2 21 configuration address 6 autobaud 6 connections analog channel inputs 14 ANI analog input 11 computer 6 22 daisy chain 6 drive 7 EMC compliance guidelines 47 enable input ENBL 11 encoder 13 end of travel limit inputs 12 grounding 5 home limit inputs 12 joystick 14 lengthening cables 21 PLC inputs 18 PLC o...

Страница 58: ...uration 34 outputs 5V internal supply 20 drive 7 general purpose programmable connections specs 16 problems 30 testing 23 testing 23 over damped servo response 35 overshoot 35 37 P Q P clips 47 panel layout 2 spacing minimum 4 performance specifications 3 pin outs see also back cover drive connector 7 8 encoder connector 13 joystick connector 14 limits connector 12 programmable inputs 16 programma...

Страница 59: ...tatus LEDs 28 steady state 35 position error 35 stiction overcoming 39 support software available 25 system update rate 41 T technical assistance see inside of front cover and HELP command temperature range 3 terminal emulation set up 22 test system installation 22 test panel Motion Architect 28 thumbwheel connections 19 transient 35 travel limits 12 trigger input joystick connections specs 14 tri...

Страница 60: ......

Страница 61: ... 1 Analog Channel 1 2 Analog Channel 2 3 Analog Channel 3 8 Shield chassis gnd 14 Digital Ground 15 Axes Select Input 16 Velocity Select Input 17 Release Input 18 Trigger Input 19 Auxiliary Input 23 5VDC Output JOYSTICK Pins 4 7 9 13 20 21 24 25 are reserved 6 8 KΩ 74HCxx 47 KΩ Specs HCMOS compatible voltage range 0 24VDC Remove R25 before connecting your ENBL switch R12 0 Ω R13 0 Ω 5VDC 5VDC LIMI...

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