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stepIM

Technical Training Manual

Revision History

Document

Revision

Date

Remarks

1.0

Aug. 2016 Initial release

Firmware

Revision

Software (GUI)

Revision

0.0.2.89

1.41.6.0

Copyright Notice

form or by any means without prior written permission of Servotronix.

Disclaimer

This product information was accurate and reliable at the time of its release.

Servotronix Motion Control Ltd. reserves the right to change the specifications of

the product described in this manual without notice at any time.

Trademarks

All marks in this manual are the property of their respective owners.

Contact Information

Servotronix Motion Control Ltd.

21C Yagia Kapayim Street

Petach Tikva 49130

Israel
Tel: +972 (3) 927 3800

Fax: +972 (3) 922 8075
Website: www.servotronix.com

Technical Support

If you need assistance with the installation and configuration of the stepIM drive,

contact Servotronix technical support: [email protected]

Содержание stepIM

Страница 1: ...stepIM Integrated Closed Loop Stepper Motor Technical Training Manual Manual Revision 1 0 Firmware Version 0 0 2 89 Software Version 1 41 6 0...

Страница 2: ......

Страница 3: ...accurate and reliable at the time of its release Servotronix Motion Control Ltd reserves the right to change the specifications of the product described in this manual without notice at any time Trad...

Страница 4: ...stepIM Technical Training Manual 2...

Страница 5: ...ile Position_______________________________ 18 9 Basic Operation Velocity ____________________________________ 20 10 Basic Operation Torque _____________________________________ 22 11 Velocity Control...

Страница 6: ...stepIM Technical Training Manual 4...

Страница 7: ...online help Alternately right click on any screen or screen element and select the Help option to access relevant information 1 2 Demo Kit Components The stepIM Demo Kit showcases the performance and...

Страница 8: ...sistorSwitch Demo Kit Front Component Description stepIM x2 Motor with integrated servo drive Inertia Load Disk Aluminum disk connected to the motor shaft Digital Outputs 2 green LEDs per stepIM label...

Страница 9: ...CAN In Out Interfaces D9 CAN In Out Interfaces Demo Kit Side Component Description stepIM Demo Kit Terminal Resistor Switch RJ45 CAN In Out Interfaces D9 CAN In Out Interfaces softMC 3 Ethernet Inter...

Страница 10: ...Status LEDs Power Switch Powers demo kit and all components in the unit Power Connector Plug for connecting AC power to unit Demo Kit Product Label Note the location of the product label on the back o...

Страница 11: ...0 terminal resistor switch on the side of the Demo Kit is set to the On position 4 Using the power cable supplied with the unit connect the Demo Kit to the power supply 5 Refer to the the diagram belo...

Страница 12: ...s 7 Connect the male connector on the CAN D9 cable to the CANopen bus IN connector on the Demo Kit 8 Connect the female connector on the CAN D9 cable to the Kvaser adapter 9 Connect the Kvaser adapter...

Страница 13: ...ftware ServoStudio GUI 3 From the ServoStudio navigation sidebar click Preferences Then select the Advanced tab Make sure CANopen Device is set to Kvaser Leaf 4 From the ServoStudio navigation sidebar...

Страница 14: ...etected 3 You should now see that the Kvaser adapter CAN orange LED blinks indicating communication between the computer and the stepIMs is established Exercise Multiple stepIMs can be accessed throug...

Страница 15: ...is displayed 2 Check the drive details for each stepIM in the Demo Kit 3 For each stepIM make a copy of the drive details If you require technical support you must provide this information to the sup...

Страница 16: ...Kit Note You should not change any of the values displayed in this screen even though some of them can be manipulated Exercise Answer the following questions What is the DC voltage that is being appl...

Страница 17: ...Exercise Velocity Limits What is the index of the CANopen object for Velocity Limit What is the default value of the velocity limit in hexadecimal format What is the default value in decimal format E...

Страница 18: ...n is green as long as no faults exist it is red whenever a fault exists After a fault condition is removed the fault remains latched until cleared by any of the following methods Click the Faults Clea...

Страница 19: ...make sure the drive is disabled 6 Right click on the red Drive Inactive segment in the status bar and then click Enable All indicators in the screen should now be green 7 Again take hold of the inert...

Страница 20: ...pulses per revolution Exercise Incremental Position Command 1 Make sure drive is online and disabled 2 From the ServoStudio navigation sidebar select Motion 3 Set the Operation mode to 1 ProfilePosit...

Страница 21: ...te the increase in speed 13 Reduce Cruise Velocity to 50 rpm 5000 rpm 100 Change Target Position to 40960 counts ten revolution Click Start and observe the result Count the revolutions Exercise Absolu...

Страница 22: ...to 3 Profile Velocity 4 Define a velocity Jog command that will move the motor at a speed of 400 rpm for 2 seconds Enter the parameter values as shown in the screen below Profile Acceleration 10000 P...

Страница 23: ...d attempt to hold it in place Observe the Demand and the Actual current values Note how the current increases in an attempt to overcome the obstacle and complete the motion 9 Changing the Jog command...

Страница 24: ...Torque 4 Define a Current command of 300 mA as shown in the screen above 5 Enable the drive 6 Click the Start button to start motion 7 While the motor is turning take hold of the load disk and observ...

Страница 25: ...nufacturer for the Demo Kit Do not change any of the values in this field even if they can be manipulated If you have any issues or problems make sure the values on your screen are the same as the one...

Страница 26: ...nufacturer for the Demo Kit Do not change any of the values in this field even if they can be manipulated If you have any issues or problems make sure the values on your screen are the same as the one...

Страница 27: ...EDs on the Demo Kit do not change except when the switch is actually toggled between on and off positions Exercise Input as Remote Enable Switch 1 Make sure the drive is disabled 2 From the ServoStudi...

Страница 28: ...itch 1 Make sure switch IN 2 and switch IN 3 are off and the drive is enabled 2 In the Digital I Os screen set Input 2 Mode to Positive Limit Switch Set Input 3 to Negative Limit Switch 3 Go to the Mo...

Страница 29: ...een change the Target Position to a negative value and press Start While the motor is in motion turn on switch IN 3 Observe the stopping of the motor It stops immediately Turn off switch IN 3 Motion d...

Страница 30: ...om the ServoStudio navigation sidebar select Scope 3 In the Motion tab enter the following settings CANopen Operation Mode 1 Profile Position Motion Command Incremental Target Position 4096 counts Cru...

Страница 31: ...nual Pre Points 10 Record variables Select the following two variables Following Error Actual Value Velocity Actual Value 6 Make sure drive is enabled then click the Move Record and Plot button in the...

Страница 32: ...corded variable because its trace may be too small to view properly because the graph is scaled to the largest value of another variable For example improve the clarity of the plot by entering a scali...

Страница 33: ...ich can be sent to technical support and or kept for reference It is strongly recommended that you create a report whenever you complete configuration of your application even when the system is funct...

Страница 34: ...state machine It determines which commands are accepted for example motor movement cannot start unless the state machine is in the Operation Enable state The state machine also provides the ability to...

Страница 35: ...e 0 X X 0 X 7 9 10 12 Quick Stop 0 X 0 1 X 7 10 11 Disable Operation 0 0 1 1 1 5 Enable Operation 0 1 1 1 1 4 16 Operation Enabled Reset Fault 1 X X X X 15 Switch On Disabled To enable the drive for o...

Страница 36: ...sequence a Place the cursor in the Value field type 128 and press Enter b Place the cursor in the Value field type 6 and press Enter c Place the cursor in the Value field type 7 and press Enter d Pla...

Страница 37: ...2 Switch to Profile Position operation mode opmode 1 6060h 0x1 1 3 Enable the drive 6040h 0x07 7 4 Set target position to one revolution 4096 counts 607Ah 0x1000 4096 5 Set speed to 2000 20 rpm 6081h...

Страница 38: ...acceleration and sub index 4 deceleration for each object as follows Object Sub index Description Value 2F90h Sub index 2 cruise velocity 0 no velocity Sub index 3 acceleration 1000 Sub index 4 decel...

Страница 39: ...rigger one predefined motion segment 0 1 2 or 3 In this exercise each of the 4 digital inputs will trigger a different motion segment meaning 4 different speeds Object Description Input Description Va...

Страница 40: ...updated now appear as follows Using the Demo kit switch the inputs on off and on again Observe the response 8 Switch on input 4 Motion is fast Move input switch to off position note motion does not st...

Страница 41: ...input 1 on 2F92h Motion Segment 2 0 1 0 input 2 on 2F93h Motion Segment 3 0 1 1 inputs 1 2 on 2F94h Motion Segment 4 1 0 0 input 3 on 2F95h Motion Segment 5 1 0 1 inputs 1 3 on 2F96h Motion Segment 6...

Страница 42: ...te at various speeds by on different input switches Summary The binary value of three inputs defines the motion A fourth input triggers the motion Object Description Input 3 Input 2 Input 1 Velocity E...

Страница 43: ...18 2 Limits Velocity Limits What is the index of the CANopen object for Velocity Limit 20EEh What is the default value of the velocity limit in hexadecimal format 0xF4240 What is the default value in...

Страница 44: ...Technical Training Manual for stepIM...

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