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1. 79 03 129 0 8 s 4 M3 0 5 6H 4 3 DEEP MIN Figure 8 12 PT42 A55V48A 0 X CAN mechanical dimensions ElectroCraft 2014 59 PRO Series IMD Technical Reference LL 292 L322 tz asia 21 00 002 38 1 0 05 L 221 woz L 4 6 295 5 2 5 EG SP ON A 2 622 66 61 0 8 C C ecz 12 25 51 509 002 138 1 0 05 4 9 205 5 2 HOLES SP ON A 2 622 166 61 6 Figure 8 14 PT56 A64V48A 0 X CAN mechanical dimensions ElectroCraft 2014 60 PRO Series IMD Technical Reference 14 6 205 5 2 HOLES EQ SF ON A 2622 165 6110 8 C Figure 8 15 PT56 A106V48A 0 D CAN mechanical dimensions cos 19 11 A ACTOR RODA ne HYH a 4 206 5 2 HOLES EQ SP ON A 2 622 66 61 DSC Eu or wma Figure 8 16 PT56 A106V48A 0 X CAN mechanical dimensions ElectroCraft 2014 61 PRO Series IMD Technical Reference 14 2 225 5 2 HOLES EQ SF ON A 2 622 55 51 O S C Figure 8 17 PT56 A170V48A 0 D CAN mechanical dimensions 4 13 104 9 4 03 102 3 Es i D sasan Figure 8 18 PT56 A170V48A 0 X CAN mechanical dimensions ElectroCraft 2014 62 PRO Series IMD Technical Reference 9 APPENDIX B PRO Series IMD Torque Speed Curves 9 1 Rotary BLDC models PR42 A16V48A 48 VDC 0 120 Power Watts Torque oz in 0 2000 4000 6000 5000 10000 12000 Speed R
2. is recommended to connect the negative motor supply return GND to the Earth protection near the power supply terminals 3 3 10 3 Recommendations to limit over voltage during braking During abrupt motion brakes or reversals the regenerative energy is injected into the motor power supply This may cause an increase of the motor supply voltage depending on the power supply characteristics the voltage bypasses 54V the drive over voltage protection 15 triggered and the drive power stage is disabled In order to avoid this situation a capacitor big enough to absorb the overall energy flowing back to the supply may be added The capacitor must be rated to a voltage equal or bigger than the maximum expected over voltage and can be sized with the formula 2KE C2 2 U max B U vom where Umax 54V is the over voltage protection limit Unom is the nominal motor supply voltage overall energy flowing back to the supply in Joules In case of a rotary motor and load can be computed with the formula ElectroCraft 2014 18 PRO Series IMD Technical Reference 1 En Ju 4 my m O initia Nina 3 prta 75 1 Kinetic energy Potential energy Copper losses Friction losses where Ju total rotor inertia kgm J total load inertia as seen at motor shaft after transmission motor angular speed before deceleration rad s My motor mass kg when
3. Im FRO ElectroCraft PRO Series IMD Programmable Integrated Motor Drives Programmable Integrated Motor Drives ElectroCraft Document Number A11268 Technical Reference ElectroCraft 2014 ELECTROCRAFT PRO Series IMD Technical Reference ElectroCraft Document Number A11268 ElectroCraft 4480 Varsity Drive Suite G Ann Arbor MI 48108 www electrocraft com Read This First While ElectroCraft believes that the information and guidance given in this manual is correct all parties must rely upon their own skill and judgment when making use of ElectroCraft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work whether such error or omission is the result of negligence or any other cause Any and all such liability is disclaimed All rights reserved No part or parts of this document may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information retrieval system without permission in writing from ElectroCraft Inc The information in this document is subject to change without notice About This Manual This book is a technical reference manual for the PRO Series programmable integrated motor drive In order to operate the PRO Series IMD you need to perform the following 3 steps Step 1 Hardware installation Step 2 IMD setup using the ElectroCraft PROconfig so
4. 32 5 Step 3 Motion Programming T 34 5 1 Using a CANopen Master for PRO Series IMD CANopen execution 34 5 1 1 CiA 301 Application Layer and Communication Profile Overview 34 5 1 2 305 Layer Setting Services LSS and Protocols Overview 35 5 1 3 CiA 402 and Manufacturer Specific Device Profile Overview 35 14 El ectroGAN uc acute nnt asia 35 5 1 5 Checking Setup Data Gonsislency si ip E EMI CERE iia 35 5 2 Using the built in Motion Controller and MPL 35 5 2 1 ElectroCraft Motion PROgramming Language Overview 35 5 2 2 Installing MotionPRO iii 36 5 2 3 Getting Started with MotionPRO Suite ss 36 5 2 4 Creating an Image File with the Setup Data and the MPL Program 43 5 3 Combining CANopen or other host with 43 5 3 1 Using MPL Functions to Split Motion between Master and IMDS 43 5 3 2 Executing MEL progralfiSu ns s a ins 43 5 3 3 Loading Automatically Cam Tables Defined in MotionPRO Developer 43 5 3 4 Customizing the Procedures 44 5 3 5 Customizing the
5. installed With the IMD powered open PROconfig or MotionPRO Developer and check the status bar If communication with the IMD is established the status bar displays Online in green and nearby the IMD s axis ID If the status bar displays Offline in red execute menu command Communication Setup and in the dialogue opened select at Channel Type RS232 and axis ID of IMD motor connected to PC the option Autodetected After closing the dialogue with OK communication with the IMD must be established and the status bar must display the IMD s axis ID If the access to the IMD with the unknown Axis ID is difficult but this IMD is connected via CANbus with other ElectroCraft IMDs having an easier access connect your PC serially to one of the other IMDs Use PROconfig or MotionPRO Developer menu command Communication Scan Network to find the axis IDs of all the ElectroCraft IMDs present in the network ElectroCraft 2014 31 PRO Series IMD Technical Reference 4 4 Setting CANbus rate Drive Setup Guideline assistant Previous Step 1 Inthe lt lt Control made group box select what do vou want to control position speed or torque n the lt lt Commutation method group box choose sinusoidal trapezoidal mode The trapezoidal mode is possible only if your motor equipped with digital Hall sensors LAN bus Baud rate F default C Nopen settings mm FA default Dete
6. 5 3 3 Loading Automatically Cam Tables Defined in MotionPRO Developer The PRO Series IMD offers others motion modes like electronic gearing electronic camming external modes with analog or digital reference etc When electronic camming is used the cam tables can be loaded in the following ways The customization of the interrupt service routines and homing routines is available only for PRO AOxV36 CAN executions ElectroCraft 2014 43 PRO Series IMD Technical Reference a The master downloads the cam points into the IMD active RAM memory after each power on b The cam points are stored in the IMD EEPROM and the master commands their copy into the active RAM memory c The cam points are stored in the IMD EEPROM and during the IMD initialization transition to Ready to Switch ON status are automatically copied from EEPROM to the active RAM For the last 2 options the cam table s are defined in MotionPRO Suite and are included in the information stored in the EEPROM together with the setup data and the MPL programs functions Remark The cam tables are included in the sw file generated with MotionPRO Developer Therefore the IMDs can check the cam presence in the IMD EEPROM using the same procedure as for testing of the setup data 5 3 4 Customizing the Homing Procedures The PRO Series IMD supports all homing modes defined in CiA402 device profile plus 4 custom based on hard stop If needed any of these homing modes can be
7. 2 Load _Speed SI x Motor _ Speed IU 4x encoder lines xTrxT where No encoder lines is the rotary encoder number of lines per revolution 191 units for position are rad for a rotary movement m for a linear movement SI units for position are rad for a rotary movement m for a linear movement ElectroCraft 2014 46 PRO Series IMD Technical Reference Tr transmission ratio between the motor displacement in SI units and load displacement in SI units the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 2 Step motor open loop control No feedback device The internal speed units are motor usteps slow loop sampling period The correspondence with the load speed in SI units is Load _Speed SI x Motor _ Speed IU No _ usteps No steps xTrxT where No_steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 3 Step motor closed loop control Incremental encoder on motor The internal speed units are motor en
8. 3V GND Figure 3 2 5V Digital I O connection ElectroCraft 2014 15 PRO Series IMD Technical Reference 3 3 8 Vlog Digital NPN I O Connection Vlog Digital I O Connections PRO Series IMD ENABLE LSN LSP 2 GND Vlog or 9V to 36V LOAD GPo0 az 0 5A max LOAD GPo5 L 1 oom 0 5A max Figure 3 9 Vlog Digital I O connection Remarks 1 The inputs are compatible with TTL 5V LVTTL 3 3V CMOS and open collector outputs 2 The outputs are compatible with TTL 5V inputs 3 The output loads can be individually and independently connected to 5V or to GND ElectroCraft 2014 16 PRO Series IMD Technical Reference 3 3 9 1 Analog Input Connection 3 3 9 Analog Inputs Connection 0 5V Input Range PRO Series IMD Controller OV to 5V SIE 3 3V GND Figure 3 10 Analog inputs connection 3 3 9 2 Recommendation for wiring a b If the analog signal source is single ended use a 2 wire twisted shielded cable as follows 1 wire connects the live signal to the drive input 2 wire connects the source ground to the drive ground shield will be connected to the drive ground terminal If the analog signal source is differential and the signal source ground is isolated from the drive GND use a 2 wire twisted shielded cable as follows 1 wire connects the source plus positive in phase to the drive analog input 274 wire connects the source minus negative o
9. 53 8 APPENDIX A PRO Series IMD Mechanical Dimensions 54 Sl Rotary BEDS opos 54 82 NGGAK u tii 56 8 3 Rotary Stepper Models 58 9 APPENDIX B PRO Series IMD Torque Speed Curves 63 91 Rotary BLDC Sisa let trita tenes se ratas 63 92 Stepper 71 9 9 Rotary Stepper 75 ElectroCraft 2014 X PRO Series IMD Technical Reference This page is empty ElectroCraft 2014 XI PRO Series IMD Technical Reference 1 Safety information Read carefully the information presented in this chapter before carrying out the IMD installation and setup It is imperative to implement the safety instructions listed hereunder This information is intended to protect you the IMD and the accompanying equipment during the product operation Incorrect handling of the IMD can lead to personal injury or material damage Only qualified personnel may install set up operate and maintain the IMD A qualified person has the knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating IMDs The following safety symbols are used in this manual WARNING CAUTION gt gt 1 1 Warnings WARNING WARNING WARNING gt gt gt 1 2 Cautions CAUTION CAUTION gt lt ElectroCraft 2014 SIGNALS A DANGER THAT MIGHT CAUSE BODILY INJURY TO THE OPERATOR M
10. CANopen mode the highest axis ID a drive can have 7 2 Lmaxis the bus length defined in paragraph 2 3 11 ElectroCraft 2014 22 PRO Series IMD Technical Reference 3 3 13 Disabling Autorun Mode When a PRO Series IMD is set in MPLCAN operation mode by default after power on it enters automatically in Autorun mode In this mode if the drive has in its local EEPROM a valid MPL application motion program this is automatically executed as soon as the motor supply is turned on To disable Autorun mode write value 0x0001 in first EEPROM location at address 0x4000 in software this will invalidate the MPL program On next power on in absence of a valid MPL application the drive enters the non Autorun slave mode ElectroCraft 2014 23 PRO Series IMD Technical Reference 3 4 Operation Mode and Axis ID Selection 3 4 1 Selection of the Operation Mode On the PRO Series IMD the selection of the operation mode CANopen or MPLCAN is done by setting the JU1 jumper e MPLCAN mode JU1 1 2 e CANopen mode JU1 2 3 3 4 2 Selection of the Axis ID The axis ID can be selected by using either hardware or software settings The hardware Axis ID selection is done by connecting a resistor between AXISID J4 pin 2 and GND J4 pin 7 The resistance is then measured by the PRO Series IMD at power on and the axis ID set according to the following table Resistance in AxisID in Ohm MPLCAN CANopen mode mode Open no LS
11. D CAN 116929 5 Firmware F508H 1001 If you click on the HomeX procedure on the right side you ll see the MPL function implementing it The homing routine can be customized according to your application needs It s calling name and method remain unchanged Optional for the PRO A0xV36x CANopen execution ElectroCraft 2014 44 PRO Series IMD Technical Reference 5 3 5 Customizing the IMD Reaction to Fault Conditions similarly to the homing modes the default service routines for the MPL interrupts can be customized according to your application needs However as most of these routines handle the drive reaction to fault conditions it is mandatory to keep the existent functionality while adding your application needs in order to preserve the correct protection level of the drive The procedure for modifying the MPL interrupts is similar with that for the homing modes 5 4 Using Motion Libraries for PC based Systems A MPL Library for PC is a collection of high level functions allowing you to control from a PC a network of ElectroCraft programmable IMDs It is an ideal tool for quick implementation on PCs of motion control applications with ElectroCraft products With the MPL Motion Library functions you can communicate with a IMD via any of its supported channels RS 232 CAN bus etc send motion commands get automatically or on request information about IMD status check and modify its setup parameters read inputs
12. PRO Series IMD as a standard CANopen drive Use MotionPRO Developer to create and download a MPL program into the drive motor memory Use one of the MPL LIB motion libraries to control the drives motors from your host master If your host is a PC MPL_LIB offers a collection of high level motion functions which can be called from applications written in C C Visual Basic Delphi Pascal or LabVIEW If your host is a PLC MPL LIB offers a collection of function blocks for motion programming which are IEC61131 3 compatible and can be integrated in your PLC program Implement on your master the MPL commands you need to send to the drives motors using one of the supported communication channels The implementation must be done according with ElectroCraft communication protocols ElectroCraft 2014 25 PRO Series IMD Technical Reference Combine MPL programming at drive level with one of the other options see Section 5 3 4 2 1 Establish communication PROconfig starts with an empty window from where you can create a New setup Open a previously x lt x ELECTROCRAFT 4 SS eS U Programmable Servo Drives Ready nhne AxislD 1 S NLY5392 Firmware F508F Before selecting one of the above options you need to establish the communication with the PRO Series IMD you want to commission Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue
13. The PRO Series IMD conforms to 301 v 4 2 application layer and communication profile CIA WD 305 v 2 2 13 layer settings services and protocols and CiA DSP 402 v3 0 device profile for drives and motion control the now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards For details see ElectroCraft PRO Series CANopen Programming Manual ElectroCraft Document Number A11226 5 1 1 CiA 301 Application Layer and Communication Profile Overview The PRO Series IMD accepts the following basic services and types of communication objects of the CANopen communication profile CiA301 v4 2 Service Data Object SDO service Data Objects SDOs are used by CANopen master to access any object from the drive s Object Dictionary Both expedited and segmented SDO transfers are supported SDO transfers are confirmed services The SDOs are typically used for drive configuration after power on for PDOs mapping and for infrequent low priority communication between the CANopen masier and the drives Process Data Object PDO Process Data Objects PDO are used for high priority real time data transfers between CANopen master and the drives The PDOs are unconfirmed services which are performed with no protocol overhead Transmit PDOs are used to send data from the drive and receive PDOs are used to receive on to the drive The PRO Series IMD accepts 4 transmit PDOs and 4 receive PDOs The contents of the PDOs can be set ac
14. and set outputs etc The MPL Motion Library can work under a Windows or Linux operating system Implemented as a dll so it can be included in an application developed in C C C Visual Basic Delphi Pascal Labview Using a MPL Motion Library for PC you can focus on the main aspects of your application while the motion programming part can be reduced to calling the appropriate functions and getting the confirmation when the task was done All ElectroCraft s MPL Motion Libraries for PCs are provided with PROconfig 5 5 Using Motion Libraries for PLC based Systems A MPL Motion Library for PLC is a collection of high level functions and function blocks allowing you to control from a PLC the ElectroCraft programmable IMDs The motion control function blocks are developed in accordance with the PLC IEC61131 3 standard and represent an ideal tool for quick implementation on PLCs of motion control applications with ElectroCraft products With the MPL Motion Library functions you can communicate with a IMD via any of its supported channels send motion commands get automatically or on request information about IMD status check and modify its setup parameters read inputs and set outputs etc Depending on the PLC type the communication is done either directly with the CPU unit or via a CANbus or RS 232 communication module Using a MPL Motion Library for PLC you can focus on the main aspects of your PLC application while the motio
15. between Positive Limit imt Move till aligned with phase ans BLOC with Hall sensors nominal current fio E PMSM with Hall sensors Time to align on phases Motionless start encoder only Tune amp Test The PRO Series IMDs accept the following CAN rates 125Kbps 250 Kbps 500kbps and 1Mbps Using the Drive Setup dialogue you can choose the initial CAN rate after power on This information is stored in the setup table The CAN rate is initialized using the following algorithm a If a valid setup table exists and this setup table was created with the Set baud rate checkbox checked in the Drive Setup dialogue see above with the value read from the setup table This value can be one of the above 4 values or the firmware default F W default which is 500kbs b If a valid setup table exists and this setup table was created with the Set baud rate checkbox unchecked in the Drive Setup dialogue see above with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol c If the setup table is invalid with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol d If the setup table is invalid there is no previous CAN rate set from a valid setup table or by a CANopen master with f w default value which is 500kbs 4 5 Creating an Image File with the Setup Data Once you have validated your setup y
16. library The MPL LIB 57 library is IEC61131 3 compatible PRO Series and PLC Omron Series MPL_LIB_CJ1 Document No A11233 explains how to program in a PLC Omron series CJ1 a motion application for ElectroCraft programmable IMDs using MPL LIB CJ1 motion control library for PLCs The MPL LIB CJ1 library is IEC61131 3 compatible MPL LIB X20 Document No A11234 explains how to program in a PLC B amp R series X20 a motion application for the ElectroCraft programmable IMDs using MPL LIB X20 motion control library for PLCs The MPL LIB X20 library is IEC61131 3 compatible ElectroCraft 2014 V PRO Series IMD Technical Reference ElectroCAN Document No A11235 presents ElectroCAN protocol an extension of the CANopen communication profile used for MPL commands ElectroCraft 2014 VI PRO Series IMD Technical Reference you Need Assistance If you want 10 Contact ElectroCraft at Visit ElectroCraft online World Wide Web www electrocraft com Receive general information World Wide Web www electrocraft com or assistance see Note Email drivesuport electrocraft com Ask questions about Tel 1 734 662 7771 product operation or report Email drivesuport electrocraft com suspected problems see Note Make suggestions about Mail ElectroCraft Michigan report errors in 4480 Varsity Drive Suite G documentation see Note Ann Arbor MI 48108 USA ElectroCraft 2014 VII PRO Series IMD T
17. motor is moving in a non horizontal plane M load mass kg when load is moving in a non horizontal plane g gravitational acceleration i e 9 8 m s hinitia Initial system altitude m Atina final system altitude m motor current during deceleration Arus phase Hp motor phase resistance ta time to decelerate s total friction torque as seen at motor shaft Nm includes load and transmission In case of a linear motor and load the motor inertia Jm and the load inertia J will be replaced by the motor mass and the load mass measured kg the angular speed Wy will become linear speed measured in m s and the friction torque will become friction force measured in N 3 3 11 Serial RS 232 connection S 232 Connecti 5 232 Connection PRO Series IMD RS 232 Transceiver 2 6 OU 1 3 3V GND Figure 3 4 Serial RS 232 connection ElectroCraft 2014 19 PRO Series IMD Technical Reference 3 3 11 1 Recommendation for wiring a If you build the serial cable you can use a 3 wire shielded cable with shield connected to BOTH ends Do not use the shield as GND The ground wire pin 5 or 6 of J1 must be included inside the shield like the 232Rx and 232Tx signals b Always power off all the PRO Series IMD supplies before inserting removing the RS 232 serial connector Do rely on an earthed PC to provide the PRO Series IMD GND connection The dri
18. movement is positive if the home switch is high Otherwise initial User defined Pira home6 Homing on the negative home switch and index pulse Initial Reload default movement is negative if the home switch is low Otherwise initial m 4 Reload default pro ctiv Reload default ctiv Reload default ign home10 Homing on the home switch and index pulse Initial movement 6 Default Reload default is positive Reverse if the positive limit switch is reached then reverse User defined i LEE home11 Homing on the home switch and index pulse Initial movement Default i Reload default aila a Lie TER i leload de is negative if the home switch is low otherwise is positive If moving User defined i ilat home12 Homing on the home switch and index pulse Initial movement Defaut um Ho is negative if the home switch is low otherwise is positive If moving User defined i ead home13 Homing on the home switch and index pulse Initial movement Default M A is negative Reverse either after the home switch high low transition or User defined i E mM Reload default h Homi M y ome17 Homing without an index pulse Move negative until the 6 Default ns Reload default xl nanatnre limit reached Dawarca and at nanatnre limit m BE ji lll x t m b AxisID255 PR42 A16V48A 0
19. only for single ended encoders C In the Motor setup dialogue you can introduce the data of your motor and associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application Guideline Assistant which will guide you through the whole process of introducing and or checking your data Close the Drive setup dialogue with OK to keep all the changes regarding the motor and the drive setup ElectroCraft 2014 Drivenotactive Drive active Brake applied Brake released aie Reverse encoder counting Motor brake Motor brake on output line fouT1 8RK Motor brake is applied when sink Brake release delay output is connected to GHD 0 ne Brake apply delay y ms ms Motor displacement of rot corresponds on load to rot r Transmission to load Transmission type Rotary to rotary Rotary to linear 28 PRO Series IMD Technical Reference aila ilat rflo 5025 PR42 A16V48A 0 D CAN S NLL6929 Fimware 508 1001 In each dialogue you will find a 4 2 3 Download setup data to drive motor Download tal Press the Download to Drive Motor button Drive Motor to dow
20. opened Here you can find detailed information about how to setup your IMD and connect Power on the IMD then close the Communication Setup dialogue with OK If the communication is established PROconfig displays in the status bar the bottom line the text Online plus the axis ID of your IMD and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button to troubleshoot Remark When first started PROconfig tries to communicate via RS 232 and COM1 with an IMD having axis ID 255 default communication settings If the IMD has a different axis ID and you dont know it select in the Communication Setup dialogue and set Axis ID of drive motor connected to PC to the option Autodetected If this IMD is part of a CANbus network use the menu command Communication Scan Network 4 2 2 Setup drive motor Press New button and select your PRO Series IMD type ElectroCraft 2014 26 PRO Series IMD Technical Reference Ton START Tul TUE Ls m rie age 7 Fo Ay al X ke ca iden Er E D IANO A SA AJIAN The selection continues with the motor technology for example brushless or stepper The selection opens two setup dialogues for Motor Setup and for Drive setup through which you can confi
21. period The correspondence with the load acceleration in SI units is Load Accelerati on SI No steps Steps Trx T x Motor _ Accelerati on IU where 1 SI units for speed are rad s for a rotary movement m s for a linear movement ElectroCraft 2014 47 PRO Series IMD Technical Reference No steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value the Advanced dialogue which can be opened from the Drive Setup 6 3 3 Step motor closed loop control Incremental encoder on motor The internal acceleration units are motor encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load acceleration in SI units is Load Accelerati on SI _ x Motor _ Accelerati on IU 4x encoder lines xTrxT where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6
22. the time in s is Time s T xTime IU where T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup For example if T 1ms one second 1000 IU 6 9 Master position units When the master position is sent via a communication channel the master position units depend on the type of position sensor present on the master axis 6 10 Master speed units The master speed is computed in internal units IU as master position units slow loop sampling period i e the master position variation over one position speed loop sampling period 6 11 Motor position units 6 11 1 Brushless motor with quadrature encoder on motor The internal motor position units are encoder counts The correspondence with the motor position in SI units is T 2x Z gt Motor _ Position S _ x Motor _ Position IU 4 encoder lines where No_encoder_lines is the rotary encoder number of lines per revolution 6 11 2 Step motor open loop control No feedback device The internal motor position units are motor usteps The correspondence with the motor position in Sl units is 2 Motor _ Position S Wa Motor _ Position IU No usteps x No _ steps where No steps is the number of motor steps per revolution No_usteps is the number of microsteps per step You can read change
23. 4 Jerkunits The internal jerk units are internal position units slow loop sampling period i e the acceleration variation over one slow loop sampling period 6 4 1 Brushless motor with quadrature encoder on motor The internal jerk units are encoder counts slow loop sampling period load jerk in SI units is The correspondence with the Load _ 51 s x Motor IU 4x encoder lines xTrxT where No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T the slow loop sampling period expressed in s You can read this value the Advanced dialogue which can be opened from the Drive Setup 6 4 2 Step motor open loop control No feedback device The internal jerk units are motor usteps slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI 7 Motor _ Jerk IU No _ usteps x steps x Tr x where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue whi
24. 5000 0 20000 Linear Speed m s Thread ait o LL Thread Thread Linear Speed in s ElectroCraft 2014 71 PRO Series IMD Technical Reference PS42 A44V 48 Force Speed 24V A Thread Thread Thread 0 00000 0 02000 0 04000 0 06000 0 08000 0 10000 Linear Speed m s A Thread o LL f Thread Thread 2 000 3 000 Linear Speed in s ElectroCraft 2014 72 PRO Series IMD Technical Reference PS56 A106V48 Force Speed 48V Thread Force N S Thread 0 000 0 020 0 040 0060 0 080 0 100 0 120 Linear Speed m s Thread S Thread 2 000 3 000 Linear Speed in s ElectroCraft 2014 73 PRO Series IMD Technical Reference PS56 A106V48 Force Speed 24V Thread Force N Thread KN 0 000 0 010 0 020 0 030 0 040 Linear Speed m s m o LL Thread Thread 0 500 1 000 1 500 Linear Speed in s ElectroCraft 2014 74 PRO Series IMD Technical Reference 9 3 Rotary Stepper Models PT42 A44V48 Torque Speed M M N Cc ul 4000 6000 Speed Fsteps sec 142 44 24V PT42 AAA 48V PTA2 A55VA8 Torque Speed Torque N cm 1000 2000 3000 4000 5000 6000 7000 Speed Fsteps sec 142 55 24 PT42 A55 48V Elect
25. 72 3 MAX 2 72 69 12 8 2 r 14 16 1 START CL 2G ACME SHIPPED UNASSEMBLED IN MOTOR 10 32 UNC 24 INTERNAL THREAD MATERIAL DELRIN SOOAF 4 M3 x 0 5 6H 4 3 DEEP MIN Figure 8 6 PS42 A44V48A 0AB4 X CAN mechanical dimensions ElectroCraft 2014 56 PRO Series IMD Technical Reference Jaja DO al mim 36 10 1 START CL 26 ACME SHIPPED UNASSEMBLED WITH MOTOR 14 28 UNF 2A 1 500 2 45 2 22 138 1 0261 47 1 56 4 PRO Senes Integrated Motor Dri INTERNAL THREAD MATERIAL SCOAF 4 205 5 2 HOLES EQ SP ON A 2 522 66 61 D B C Figure 8 7 PS56 A106V48A 0SB7 D CAN mechanical dimensions 053 3 8 10 1 START SHIPPED UNASSEMSLED WITH MOTOR 1 4 28 UNF 2A 51 500 022 38 1 0 05 INTERNAL THREAD MATERIAL SOCAF 3 22 1 88 824 2 8 4 0 295 5 2 HOLES uz a SP ON A 2 622 155 51 0 8 0 Figure 8 8 PS56 A106V48A 0SB7 X CAN mechanical dimensions ElectroCraft 2014 57 PRO Series IMD Technical Reference 8 3 Rotary Stepper Models 004 Figure 8 10 PT42 A44V48A 0 X CAN mechanical dimensions ElectroCraft 2014 58 PRO Series IMD Technical Reference 23 62 12 25 1963 955 4 355 4 M3 x 0 5 67 4 3 DEEP MIN Figure 8 11 PT42 A55V48A 0 D CAN mechanical dimensions CL
26. AY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION SIGNALS A DANGER FOR THE IMD WHICH MIGHT DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION TO AVOID ELECTRIC ARCING AND HAZARDS NEVER PLUG UNPLUG THE PRO Series IMD FROM IT S SOCKET WHILE THE POWER SUPPLIES ARE ON THE IMD MAY HAVE HOT SURFACES DURING OPERATION DURING IMD OPERATION THE CONTROLLED MOTOR WILL MOVE KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY THE POWER SUPPLIES CONNECTED TO THE IMD MUST COMPLY WITH THE PARAMETERS SPECIFIED IN THIS DOCUMENT TROUBLESHOOTING AND SERVICING ARE PERMITTED ONLY FOR PERSONNEL AUTHORISED BY ELECTROCRAFT 2 PRO Series IMD Technical Reference ElectroCraft 2014 3 PRO Series IMD Technical Reference 2 Product Overview 2 1 Introduction The PRO Series IMD is a family of fully digital programmable servo motor drives based on the latest DSP technology and they offer unprecedented performance combined with an embedded motion controller All IMDs perform position 50660 or torque control and work in single multi axis or stand alone configurations Thanks to the embedded motion controller the PRO Series IMDs combine motion control and PLC functionality in a single compact unit and are capable to execute complex moves without requiring intervention of an external motion controller Using the high level ElectroCraft Motion PROgramming Language MPL the following operations can be exe
27. AxisID hex switch If the drive is set in CANopen mode and the Axis ID is over 127 it is converted into 255 and the drive enters in CAN communication LSS non configured mode a valid the setup table exists and this was created with the Axis ID Selection checkbox unchecked in the Drive Setup dialogue see above with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol This value can be an axis number 1 to for MPLCAN 1 to 127 for CANopen or can indicate that axis ID will be set in accordance with 255 the axis ID resistor value connected between AXISID J4 pin 2 and GND J4 pin 7 the setup table is invalid with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol This value can be an axis number 1 to 255 for MPLCAN 1 to 127 for CANopen or can indicate that axis ID will be set in accordance with the axis ID resistor value connected between AXISID J4 pin 2 and GND J4 pin 7 the setup table is invalid there is no previous axis ID set from a valid setup table or by a CANopen master the axis ID will be set in accordance with the axis ID resistor value connected between AXISID J4 pin 2 and GND J4 pin 7 Remark If you know the axis ID set in an IMD you can find it in the following way a Connect the IMD via a serial RS232 link to a PC where PROconfig or MotionPRO Developer are b
28. D Vout gt 20V OUTO OUT1 4 mA Logic HIGH leakage current external load to Vioc Vout Vios 40V 0 1 0 2 mA iwah protection Hwwnbeymdd e ElectroCraft 2014 9 PRO Series IMD Technical Reference 2 3 9 Analog 0 5V Input REF Min Typ Max Units 0 4 Input voltage Absolute maximum values continuous 42 8 V Absolute maximum surge duration lt 1S Input impedance impedance TOD TOD AAC Y E T s ts Gier sm an ETS Gandi 328 o i bpm umantegymo s S 2 3 10 RS 232 m Short circuit protection 232TX short to GND ESD protection cum 2 Jw 2 3 11 CAN Bus Min Units ISO11898 301v4 2 WD 1Mbps 4 57 Bus length 500Kbps 100 lt 250Kbps 250 LL LEM resistor Between CAN Lo 4 8 12 13 14 15 8 LSS non configured CANopen 4 8 12 13 14 15 amp 255 TMLCAN 1 127 CANopen 1 255 Software TMLCAN ESD protection meds o Hardware external resistor between AXISID P2 2 and GND P2 7 Node addressing ES stands for Full Scale ElectroCraft 2014 10 PRO Series IMD Tech
29. Digital Inputs INO IN1 IN2 LSP IN3 LSN IN4 Enable Min Typ Max Units Input floating wiring disconnected floating wiring Input floating wiring disconnected Logic HIGH escrow Sd ol ace menan 3 gt s PulledtoGND o 00000 current gence ker OO Humanbodymoder s ElectroCraft 2014 8 PRO Series IMD Technical Reference 2 3 8 Digital Outputs OUTO OUT1 OUT2 Error E are _ All outputs OUTO OUT1 OUT2 Error MM B NPN OUT3 Ready Mode compliance Ready Error Same as above LVTTL Ready as above 3 3V LVTTL a 3V OUTO OUT1 OUT5 sue HIGH Logic HIGH HIGH OUT2 Error OUT3 Ready Ready logic LOW Default state Logic LOW OUTO OUT1 OUT2 Error Sonnet OUTS Logic HIGH operation OUT3 Ready LOW Logic LOW output current 0 5A Logic HIGH OUT2 Error OUT3 R 20 current Output voltage Logic HIGH Lo NN load to Vioc Absolute maximum continuous Ca Absolute maximum surge duration lt Absolute maximum surge duration lt 1S Logic LOW sink current continuous Logic LOW sink current pulse lt 5 sec OUT2 Error Logic HIGH source OUT3 Ready 2 mA Output current current external load to GN
30. IMD Reaction to Fault Conditions 45 5 4 Using Motion Libraries for PC based Systems 45 5 5 Using Motion Libraries for PLC based 45 6 SCaling 46 ElectroCraft 2014 IX PRO Series IMD Technical Reference 6 5 CIRM AD PIRE 49 6 05 VONAGE command WANS ues 49 6 7 Voltage measurement units 49 09 50 6 9 Master position units 50 6 10 Mas Speed u uuu uui S se 50 MOTO UAILS ai RA 50 6 11 1 Brushless motor with quadrature encoder on motor 50 6 11 2 Step motor open loop control No feedback device 50 6 11 3 Step motor closed loop control Incremental encoder on motor 50 6 12 Motor speed MTS saa sk die din 51 6 12 1 Brushless motor with quadrature encoder on motor 51 6 12 2 Step motor open loop control No feedback device 51 6 12 3 Step motor closed loop control Incremental encoder on motor 51 7 Memon ia
31. PM ElectroCraft 2014 63 PRO Series IMD Technical Reference PR42 A16V48A 24 VDC 50 120 Torque oz in Power Watts Continuous Torque 1000 2000 3000 4000 5000 6000 Speed RPM ElectroCraft 2014 64 PRO Series IMD Technical Reference PR42 A32V48 48 VDC Torque 02 Power Watts 0 1000 2000 3000 4000 5000 5000 Speed RPM ElectroCraft 2014 65 PRO Series IMD Technical Reference PR42 A32V48 24 VDC Power Watts Torque oz in Speed RPM ElectroCraft 2014 66 PRO Series IMD Technical Reference PR60 A25V48 48 VDC d Continuous Power Torque 2 Power Watts 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 Speed RPM ElectroCraft 2014 67 PRO Series IMD Technical Reference PR60 A25V48 24 VDC Peak Torque Torque oz in Power Watts Continuous Torque EO T Speed RPM ElectroCraft 2014 68 PRO Series IMD Technical Reference PR60 A52V48 48 VDC a E D 5 5 100 Speed RPM ElectroCraft 2014 69 PRO Series IMD Technical Reference PR60 A52V48 24 VDC Torque oz in Power Watts 500 1000 1500 2000 2500 3000 3500 4000 Speed RPM ElectroCraft 2014 70 PRO Series IMD Technical Reference 9 2 Linear Stepper Models PS42 A44V 48 Force Speed 48V A Thread Thread C Thread 0 00000 0 05000 0 10000 0 1
32. S non connection configured state 20K 4 8 circult Note LSS non configured state is a state in which the drive does not have assigned an active Axis ID while connected to the CAN network In this mode the axis ID for RS232 communication is 255 The axis ID can be configured via a LSS master using CiA 305 protocol which can set and save a new unique value While the drive has a non configured axis ID it cannot communicate with other drives in the network ElectroCraft 2014 24 PRO Series IMD Technical Reference 4 Step 2 Drive Setup 4 1 Installing PROconfig PROconfig is a PC software platform for the setup of the ElectroCraft drives PROconfig is part of the ElectroCraft Motion PRO Suite is available as part of a PRO Series Drive Evaluation Kit PROcontfig comes with an Update via Internet tool through which you can check if your software version is up to date and when necessary download and install the latest updates PROconfig can be installed independently or together with the MotionPRO Suite platform for motion programming using MPL You will need MotionPRO Suite only if you plan to use the advanced features presented in Section 5 3 On request PROconfig can be provided on a CD too In this case after installation use the update via internet tool to check for the latest updates Once you have started the installation package follow its indications 4 2 Getting Started with PROconfi
33. a Motion Wizard for the motion programming The Motion Wizard provides a simple graphical way of creating motion programs and automatically generates all the MPL instructions With MotionPRO Suite you can fully benefit from a key advantage of ElectroCraft IMDs their capability to execute complex moves without requiring an external motion controller thanks to their built in motion controller Motion PRO Suite is available as part of a PRO Series IMD Evaluation Kit Please contact ElectroCraft or your local ElectroCraft sales representative for more information on obtaining MotionPRO Suite or an evaluation kit MPL_LIB v2 0 Document No A11230 explains how to program in 6 C C Visual Basic or Delphi Pascal a motion application for the ElectroCraft programmable IMDs using ElectroCraft Document Number A11230 motion control library for PCs The MPL_LIB includes ready to run examples that can be executed on Windows or Linux x86 and x64 PRO Series and MPL_LIB_LabVIEW Compatibility Document No A11231 explains how to program in LabVIEW a motion application for the ElectroCraft programmable IMDs using MPL LIB Labview v2 0 motion control library for PCs The MPL LIB LabVIEW includes over 40 ready to run examples PRO Series and PLC Siemens Series S7 300 or S7 400 Document No A11232 explains how to program PLC Siemens series 57 300 or 57 400 a motion application for the ElectroCraft programmable IMDs using MPL LIB 57 motion control
34. ally the memory allocation for each motion application The memory map can be accessed and modified from the main folder of each application 4000h E ROM memory for MPL programs Cam tables Setup information Reserved Data acquisitions and cam tables at runtime SRAM memory MPL Programs 9FCFh Figure 7 1 PRO Series IMD Memory Map ElectroCraft 2014 53 PRO Series IMD Technical Reference 8 APPENDIX A PRO Series IMD Mechanical Dimensions 8 1 Rotary BLDC Models METEO L ec 10 031 F A 4 M3 x 0 5 5 4 3 DEEP Figure 8 1 PR42 A16V48A mechanical dimensions LL Figure 8 2 PR42 A32V48A mechanical dimensions ElectroCraft 2014 54 PRO Series IMD Technical Reference 3 62 92 MAX 3 51 B9 2 2 3140 7 989 7976 4 2 216 5 50 010 0 25 THRU HOLES E EQ SP ON A 2 756 70 00 D B C Figure 8 3 PR60 A25V48A mechanical dimensions 4 216 5 50 010 0 25 THRU ROLES EQ SP ON A2 756 70 00 6 Figure 8 4 PR60 A52V48A mechanical dimensions ElectroCraft 2014 55 PRO Series IMD Technical Reference 8 2 Linear Stepper Models 2 85 72 3 MAX 08 2 y 14 16 1 START CL 2G ACME SHIPPED UNASSEMBLED IN MOTOR S 10 32 UNC 2A INTERNAL THREAD MATERIAL DELRIN 500AF 4 M3 x 0 5 6H 1 4 3 DEEP MIN 31 152 4 0 8 Figure 8 5 PS42 A44V48A 0AB4 D CAN mechanical dimensions 2 85
35. ch can be opened from the Drive Setup 6 4 3 Step motor closed loop control Incremental encoder on motor The internal jerk units are motor encoder counts slow loop sampling period The correspondence with the load jerk in SI units is SI units for jerk are rad s for a rotary movement m s for a linear movement Sl units for jerk are rad s for a rotary movement m s for a linear movement ElectroCraft 2014 48 PRO Series IMD Technical Reference Load _ Jerk SI x Motor _ Jerk IU 4 encoder lines x TrxT where No encoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value the Advanced dialogue which can be opened from the Drive Setup 6 5 Current units The internal current units refer to the motor phase currents The correspondence with the motor currents in A is 2x Ipeak 65520 where lpeak is the IMD peak current expressed in A You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Current A x Current IU 6 6 Voltage command units The internal voltage command units refer to the voltages applied on the motor The significance of the voltage commands as well as the scaling factors depend on the motor type and control m
36. coder counts slow loop sampling period The correspondence with the load speed in SI units is Load _ Speed SI x Motor _ Speed IU 4x encoder lines xTrxT where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 Acceleration units The internal acceleration units are internal position units slow loop sampling period i e the speed variation over one slow loop sampling period 6 3 1 Brushless motor with quadrature encoder on motor The internal acceleration units are encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is Load Accelerati on SI 7 xMotor _ Accelerati on IU 4x encoder lines xTrxT where No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 2 Step motor open loop control No feedback device The internal acceleration units are motor usteps slow loop sampling
37. cording with the application needs using the dynamic PDO mapping This operation can be done during the drive configuration phase using SDOs Synchronization Object SYNC The SYNC message provides the basic network clock as the SYNC producer broadcasts the synchronization object periodically The service is unconfirmed The PRO Series IMD supports both SYNC consumer and producer Time Stamp Object TIME The Time Stamp Object is supported by the PRO Series IMD device Emergency Object EMCY Emergency objects are triggered by the occurrence of a drive internal error situation An emergency object is transmitted only once per error event As long as no new errors occur the drive will not transmit further emergency objects Network Management Objects The Network Management is node oriented and follows a master slave structure NMT objects are used for executing NMT services Through NMT services the drive can be initialized started monitored reset or stopped The PRO Series IMD is a NMT slave in a CANopen network Module Control Services through these unconfirmed services the NMT master controls the state of the drive The following services are implemented Start Remote Node Stop Remote Node Enter Pre Operational Reset Node Reset Communication Error Control Services through these services the NMT master detects failures in a CAN based network Both error control services defined by DS301 v4 02 a
38. ct Drive operation 125 Kbps Powersupply 48 250 Kbps i Current limit Curent controller 1 7768 0 26189 Tune amp Test Speed controller 248 32 Integral limit E E Ki 31 04 Tune amp Test Position controller 0 25002 Integral limit Ki 0 01 5525 o Acceleration Kd D Feedfonward p Speed filter 0 1 Load speed limit 4305 rom Tune amp Test Advanced Axis ID selection Drive Info Set change axis ID HAW Setup Protections External brake resistor Inputs polarity Active high Dpen Mo connection L Sink PHP Active low Connected to GND fe Source PH Software limit switches Start mode Control mode External reference t Position Ma C Yes Setup Speed Analogue Incremental Encoder Cancel C Torque Automatically activated after Power Help Commutation method Trapezaidal Sinusoidal Motor Over current Motor current for more than 0 01 Control error Position errar gt 0 25 rot for more than 3 s Control error Speed error gt 105 m j for mare than Ja Motor over temperature Over current 133 for 30 Is 2 Connected Activate if power supply gt Enable Limit svitch Limit switch Type Restrict movement
39. cture of a project At beginning both the new project and its first application are named Untitled The application has 2 components S Setup and M Motion program MotionPRO Developer Untitled I E a xj Project Application Communication View Control Panel Window Help D EIGENEN PESA al a X P vil ar 5 UU mc o E Digital 5 Untitled _ Untitled Application Application General Information 5 6 Setup Genera Binary M Motion Application ID INO Homing Modes fi 15 2 Functions T Interrupts 15 14 Ev 61 CAM Tables Axis number 255 Memory Settings 3000 13 i Se Drive PR42 A16V48A 0 D CAN Int Product ID P027 014 E301 Ta Firmware ID F508H Re Setup ID 1001 Ho E2ROM 4 Kwords Ho RAM 1 Kwords Sw Motor PR42 A16V48A 0 D CAN 250 IntBrushless Rotary Vol Fal Sensors Op Load Position Not present Sw Motor Position Incremental Encoder 0 Re Motor Speed Not present IMPOI contrc drive 4 PR42 A 16V48A 0 D CAN SetupID 1001 ElectroCraft 2014 39 PRO Series IMD Technical Reference 5 2 3 2 Step 2 Establish communication you have an IMD connected with your PC now it s time to check the communication Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue open
40. customized In order to do this you need to select the Homing Modes from your MotionPRO Developer application and in the right side to set as User defined one of the Homing procedures Following this operation the selected procedure will occur under Homing Modes in a subtree with the name where X is the number of the selected homing MotionPRO Developer Untitled 0 x Project Application Communication View Control Panel Window Help La START LT START STOP 9 PERA Fa atx 9 vi al x Homing Modes home1 Homing on the negative limit switch and index pulse Move wDefalt 0 2 negative until the negative limit switch is reached Reverse and stop at User defined i home2 Homing on the positive limit switch and index pulse Move 6 Default Reload default positive until the positive limit switch is reached Reverse and stop at the User defined i een home3 Homing on the positive home switch and index pulse Initial 0 Reload default movement is negative if the home switch is high Otherwise initial User defined W home4 Homing on the positive home switch and index pulse Initial 0 Reload default movement is positive if the home switch is low Otherwise initial User defined ign homes Homing on the negative home switch and index pulse Initial 6 Default fai
41. cuted directly at drive level 1 Setting various motion modes profiles PVT PT electronic gearing or camming etc Changing the motion modes and or the motion parameters 1 Executing homing sequences Controlling the program flow through Conditional jumps and calls of MPL functions MPL interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc Waits for programmed events to occur Handling of digital I O and analog input signals Executing arithmetic and logic operations Performing data transfers between axes Controlling motion of an axis from another axis via motion commands sent between axes O Sending commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Synchronizing all the axes from a network By implementing motion sequences directly at IMD level you can distribute the intelligence between the master and the IMDs in complex multi axis applications reducing both the development time and the overall communication requirements For example instead of trying to command each movement of an axis you can program the IMDs using MPL to execute complex motion tasks and inform the master when these tasks are done Thus for each axis control the master job may be reduced to calling MPL functions stored in the IMD EEPROM and waiting for a
42. d outputs connector pinout Connector description Pin Name Type Description 1 5 O 5 36V 0 5A general purpose digital NPN output 2 AXISID Connect resistor between AXISID and GND to set axis ID hardware 3 GPOO 5 36V 0 5A general purpose digital NPN output 4 GPIO 5 36V general purpose digital PNP input 5 LSN 5 36 digital input Negative limit switch input 6 ENABLE 5 36V digital input Drive enable input 7 GND Return ground for I O pins 8 REF Analog input 12 bit 0 5 Used to read analog position speed or torque reference or used as general purpose analogue input 9 GPI1 5 36V general purpose digital PNP input 10 LSP 5 36V digital PNP input Positive limit switch input 3 3 5 J5 46 CAN connectors pinout Connector description Pin Name Type Description 1 6 O Positive terminal of the logic supply 9 6 5 2 GND Return ground for CAN Bus 5 3 Can Hi 1 CAN Bus positive line dominant high 4 Can Lo CAN Bus negative line dominant low 1 In case 44 is not connected the digital outputs and inputs will not be operational ElectroCraft 2014 14 PRO Series IMD Technical Reference 3 3 6 Digital 1 0 Connection 3 3 7 5V Digital NPN I O Connection 5V Digital I O Connections PRO Series IMD GPi0 4 7K GPil ENABLE LSN LSP D GND LOAD 0 O lt lt n mA max LOAD 5 pese lt 4mA max GND 3
43. e Integrated Motor Dove TEN 6 Figure 3 2 PRO Series IMD size 17 and size 23 24 connector layout ElectroCraft 2014 12 PRO Series IMD Technical Reference 3 3 2 Connector Pinout PIN 1 d PIN 2 PIN 4 FIN 1 PIN 1 Hi 1 JUMPER JU RED LED ER PIN 6 PIN 3 e FIN 3 PIN6 PIN 10 SEE CONMECTICN CONNECTOR 751 CONNECTOR 24 CONNECT PIN 2 amp PIN 3 CANOPEN BE GREEN LED PINOUT CHART PINOUT CHART PINOUT CHART FUNCTION 1 1 smams 3 area CONNECTOR 11 PINOUT CHART MO FUNCTION 7 gt enr Figure 3 3 PRO Series IMD connector pinouts and LED indicators ElectroCraft 2014 13 PRO Series IMD Technical Reference 3 3 3 J1 Power supply input connector pinout Connector description Pin Name Type Description 1 232RX RS 232 Data Reception 2 Vice Positive terminal of the logic supply 9 to 36Vpc If not connected the logic supply is automatically routed from J1 pin 21 Positive terminal of the motor supply 9 to 36Vpc Feeds the positive terminal of the a logic supply if J4 pin 7 not connected separately 4 232TX RS 232 Data Transmission 5 GND Negative return ground of the power supplies Vmor and and RS 232 pins 6 GND Negative return ground of the power supplies Vmor and VLoc and RS 232 pins 3 3 4 J4 signal inputs an
44. echnical Reference Table of Contents REAd TS PR IV Te Safety E 2 1 1 1 2 Warnings Cautions 2 Product 9 99 4 2 1 2 2 2 3 2 3 1 2 3 2 2 3 3 2 3 4 2 3 5 2 3 6 2 3 2 3 8 2 3 9 2 3 10 2 3 11 Introduction Key Features Electrical Specifications Operating CondilONnS o Storage Mechanical erc E Environmental Characteristics Logic S bply Ge Sie De bist E Iu Tete Pet ak ag Iu Tto Motor Supply Input EV ior attestato bunc cente tabe tou aa a Digital Inputs INO IN1 IN2 LSP INS LSN IN4 Enable Digital Outputs OUTO OUT1 OUT2 Error OUT3 Readqy 0 97 INPUT RE F es DS EL ANR RE CAN PSA nee 3 Step 1 Hardware Installation 11 3 1 3 1 1 3 2 3 3 3 3 1 3 3 2 3 3 3 3 3 4 3 3 5 3 3 6 3 3 7 3 3 8 3 3 9 3 3 10 Mechanical Mounting ElectroCraft 2014 VIII PRO Series IMD Technical Reference VIO GLE glo uuu muu Mating Connectors Connectors and Connection Diagrams Connector LAYON uuu uy l a u Zuna in dites J1 Power supply input connector pinout J4 signal inpu
45. ed Here you can find detailed information about how to setup your IMD and the connections Power on the drive then close the Communication Setup dialogue with OK If the communication is established MotionPRO Developer displays in the status bar the bottom line the text Online plus the axis ID of your IMD and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started MotionPRO Developer tries to communicate via RS 232 and COM1 with a drive having axis ID 255 default communication settings If the drive has a different axis ID and you dont know it select in the Communication Setup dialogue at Axis ID of IMD connected to PC the option Autodetected this drive is part of a CANbus network and the PC is serially connected with another drive use the menu command Communication Scan Network 5 2 3 3 Setup drive motor In the project window left side select S Setup to access the setup data for your application MotionPRO Developer Untitled B Project Application Communication View Control Panel Window Help 580 2 BH gt zm mcg vil al Untitled Untitled Application Setup 5 Motion fit Homing Modes De
46. eps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 12 3 Step motor closed loop control Incremental encoder on motor The internal motor speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is 27 Motor _ Speed SI x Motor _ Speed IU 4 No encoder lines xT where No_encoder_lines is the motor encoder number of lines per revolution ElectroCraft 2014 51 PRO Series IMD Technical Reference T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup ElectroCraft 2014 52 PRO Series IMD Technical Reference 7 Memory PRO Series IMD has 2 types of memory available for user applications 1Kx16 SRAM and 4Kx16 serial The SRAM memory is mapped in address range 9000h to 9FFFh It can be used to download and run a MPL program to save real time data acquisitions and to keep the cam tables during run time The E ROM is mapped in the address range 4000h to 4FFFh It is used to keep in a non volatile memory the MPL programs the cam tables and the drive setup information Remark MotionPRO Suite handles automatic
47. essary download and install the latest updates MotionPRO Suite including the fully functional version of PROconfig is part of a PRO Series IMD Evaluation Kit Please contact ElectroCraft or your local ElectroCraft sales representative for more information on obtaining MotionPRO Suite or an evaluation kit MotionPRO Suite is delivered on a CD Once you have started the installation package follow its indications After installation use the update via internet tool to check for the latest updates Alternately you can first install the demo version and then purchase a license 5 2 3 Getting Started with MotionPRO Suite Using MotionPRO Suite you can quickly do the setup and the motion programming of an ElectroCraft IMD according with your application needs The drive can be connected with your PC in one of the following ways 1 an 35232 link directly connected to the PC or an USB to RS232 adapter or using ElectroCraft Ethernet to RS232 adapter function of your PC communication interfaces 2 Via a CAN bus link directly connected to the PC through a PC CAN interface or using ElectroCraft Ethernet to CAN adapter 3 another drive from the same CAN bus network which is connected to the PC via one of the above options from point 1 The output of the MotionPRO Suite is a set of setup data and a motion program which can be downloaded to the IMD EEPROM or saved on your PC for later use MotionPRO Suite includes a set of e
48. ethod used In case of brushless motors driven in sinusoidal mode a field oriented vector control is performed The voltage command 15 the amplitude of the sinusoidal phase voltages In this case the correspondence with the motor phase voltages in SI units i e V is 1 1 t Voltage command V x Voltage IU 65534 where Vmot is the IMD motor power supply voltage expressed in V In case of brushless motors driven in trapezoidal mode the voltage command is the voltage to apply between 2 of the motor phases according with Hall signals values In this case the correspondence with the voltage applied in SI units i e V is Voltage command V x Voltage IU 32767 6 7 Voltage measurement units The internal voltage measurement units refer to the drive Vyor supply voltage The correspondence with the supply voltage in V is VdcMaxM bl Voltage _ measured V MEE e x Voltage _ measured IU where VdcMaxMeasurable is the maximum measurable DC voltage expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Remark the voltage measurement units occur in the scaling of the over voltage and under voltage protections and the supply vollage measurement ElectroCraft 2014 49 PRO Series IMD Technical Reference 6 8 Time units The internal time units are expressed in slow loop sampling periods The correspondence with
49. fine Load Edit Save Functions 0 Interrupts CAM Tables 5 ign New Save As fai View Modify wi S4 pro EH Open ign i gt ver 1 1 Load from a aila previous version ilat rflo Upload from Drive Motor Online AxisID 255 PR42 A16V48A 0 D CAN S NLL6929 Firmware F508H SetupID 1001 ElectroCraft 2014 40 PRO Series IMD Technical Reference Press View Modify button ee I This opens 2 setup dialogues for Motor Setup and for Drive Setup Same as PROconfig through which you can configure and parameterize a ElectroCraft IMD In the Motor setup dialogue you can introduce the data of your motor and the associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Download to Motor Press the Download to Drive Motor button to download your setup data in the IMD EEPROM memory in the setup table From now on at each power on the setup data is copied into the drive motor RAM memory which is used during runtime It is also possible to save the setup data on your PC and use it in other applications Note that you can up
50. ftware for IMD commissioning Step 3 Motion programming using one of the options Q master Q The IMD s built in motion controller executing an ElectroCraft Motion PROgramming Language MPL program developed using ElectroCraft MotionPRO Suite software Q AMPL LIB motion library for PCs Windows or Linux AMPL LIB motion library for PLCs 1 A distributed control approach which combines the above options like for example a host calling motion functions programmed on the IMDs in MPL This manual covers Step 1 in detail It describes the PRO Series IMD hardware including the technical data the connectors and the wiring diagrams needed for installation The manual also presents an overview of the following steps and includes the scaling factors between the real SI units and the IMD internal units For detailed information regarding the next steps refer to the related documentation Notational Conventions This document uses the following conventions e PRO Series IMD all products described in this manual U units Internal units of the IMD Sl units International standard units meter for length seconds for time etc MPL ElectroCraft Motion PROgramming Language e MPLCAN ElectroCraft protocol for exchanging MPL commands CAN bus 1 when PRO Series IMD is set in CANopen mode ElectroCraft 2014 IV PRO Series IMD Technical Reference Related Documentation Help Screens within the PROconfig
51. g Using PROconfig you can quickly setup a drive for your application The drive can be connected with your PC in one of the following ways 1 Via an RS232 link directly connected to the PC or via an USB to RS232 adapter or using ElectroCraft Ethernet to RS232 adapter function of your PC communication interfaces 2 Mia a CAN bus link directly connected to the PC through a PC CAN interface or using ElectroCraft Ethernet to CAN adapter 3 Via another drive from the same CAN bus network which is connected to the PC via one of the above options from point 1 The output of PROconfig is a set of setup data which can be downloaded into the drive EEPROM or saved on your PC for later use PROconfig includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure check and analyze your drive commissioning PROconfig works with setup data A setup contains all the information needed to configure and parameterize a ElectroCraft drive This information is preserved in the drive EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive and is used during runtime With PROconfig it is also possible to retrieve the complete setup information from a drive previously programmed Note that with PROconfig you do only your drive motor commissioning For motion programming you have the following options Use a CANopen master to control the
52. graph overviews a set of advanced programming features which arise when combining MPL programming at drive level with CANopen masier control A detailed description of these advanced programming features is included in the CANopen Programming Document No A11226 manual All features presented below require usage of MotionPRO Suite as MPL programming tool Remark If you don t use the advanced features presented below you dont need MotionPRO Suite In this case the PRO Series IMD is treated like a standard CANopen IMD whose setup is done using PROconfig 5 3 1 Using MPL Functions to Split Motion between Master and IMDs With ElectroCraft programmable IMDs you can really distribute the intelligence between a CANopen master and the IMDs in complex multi axis applications Instead of trying to command each step of an axis movement you can program the IMDs using MPL to execute complex tasks and inform the master when these are done Thus for each axis the master task may be reduced at calling MPL functions with possibility to abort their execution stored in the IMDs EEPROM and waiting for a message which confirms the finalization of the MPL functions execution 5 3 2 Executing MPL programs The distributed control concept can go one step further You may prepare and download into an IMD a complete MPL program including functions homing procedures etc The MPL program execution can be started by simply writing a value in a dedicated object
53. gure and parameterize an ElectroCraft drive plus several predefined control panels customized for the product selected ElectroCraft 2014 27 PRO Series IMD Technical Reference MotionPRO Developer Untitled Ge Application Communica EE Brushless M Motor Guideline assistant Step 1 Select your motor from a database If your motor Previous does not exist in any database proceed through all the Next next steps in order to define your motor and sensors lt gt data In either case use the tests from the next steps to Motor Setup verify detect the motor and sensors parameters and PR42 416 484 0D CAN operation TET P Save to Llser Database Delete Help tor Test Phase Connections Motor data Nominal current Ja H Peak current 33 fa H Pole pairs Torque constant 0043 gt Detect Number of Pole Pairs Phase resistance motor drive 5 Ohms 4 hat noU s dive foe m z Identify Resistance and Inductance Motor inertia 83 2E 7 Motor inertia is unknown Phase connection Star C Delta No of lines rev 1000 lines Test Connections Detect Number of Lines r Motor sensors Incremental encoder Hall sensors Temperature Hall configuration s y Test Connections Detect Hall Configuration Sensor type HTC Filter encoder inputs to of maximum bandwidth
54. hem A MPL program includes a main section followed by the subroutines used functions interrupt service routines and homing procedures The MPL program may also include cam tables used for electronic camming applications When activated Motion Editor adds a set of toolbar buttons in the project window just below the title Each button opens a programming dialogue When a programming dialogue is closed the associated MPL instructions are automatically generated Note that the MPL instructions generated are not a simple text included in a file but a motion object Therefore with the Motion Editor you define your motion program as a collection of motion objects The major advantage of encapsulating programming instructions in motion objects is that you can very easily manipulate them For example you can Save and reuse a complete motion program or parts of it in other applications Add delete move copy insert enable or disable one or more motion objects Group several motion objects and work with bigger objects that perform more complex functions As a Starting point push for example the leftmost Motion Editor button Trapezoidal profiles and set a position or speed profile Then press the Run button At this point the following operations are done automatically A MPL program is created by inserting your motion objects into a predefined template The customization of the interrupt service routines and homing routines
55. is available only for PRO A04V36x CAN execution Optional for PRO A04V36x CANopen execution ElectroCraft 2014 42 PRO Series IMD Technical Reference MPL program is compiled and downloaded to the IMD The MPL program execution is started For learning how to send MPL commands from your host master using one of the communication channels and protocols supported by the drives use menu command Application Binary Code Viewer Using this tool you can get the exact contents of the messages to send and of those expected to be received as answers 5 2 3 5 Evaluate motion application performances MotionPRO Suite includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure and analyze your motion application 5 2 4 Creating an Image File with the Setup Data and the MPL Program Once you have validated your application you can create with the menu command Application Create PRO EEPROM Programmer File a software file with extension sw which contains all the data to write in the EEPROM of your drive This includes both the setup data and the motion program For details regarding the sw file format and how it can be programmed into a drive see paragraph 4 5 5 3 Combining CANopen or other host with MPL Due to its embedded motion controller an PRO Series IMDoffers many programming solutions that may simplify a lot the task of a CANopen master This para
56. lectroCraft IMD requires creating and downloading a MPL ElectroCraft Motion PROgramming Language program into the IMD memory The MPL allows you to Set various motion modes profiles PVT PT electronic gearing or camming etc Change the motion modes and or the motion parameters Optional for PRO A04V36x CANopen execution ElectroCraft 2014 35 PRO Series IMD Technical Reference Execute homing sequences Control the program flow through e Conditional jumps and calls of MPL functions e MPL interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc e Waits for programmed events to occur Handle digital WO and analog input signals Execute arithmetic and logic operations Perform data transfers between axes Control motion of an axis from another one via motion commands sent between axes Send commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Synchronize all the axes from a network In order to program a motion using MPL you need MotionPRO Suite software platform 5 2 2 Installing MotionPRO Suite MotionPRO Suite is an integrated development environment for the setup and motion programming of ElectroCraft programmable IMDs It comes with an Update via Internet tool through which you can check if your software version is up to date and when nec
57. load the complete setup data from an IMD To summarize you can define or change the setup data of an application in the following ways create a new setup data by going through the motor and drive dialogues use setup data previously saved in the PC upload setup data from a IMD EEPROM memory 5 2 3 4 Program motion In the project window left side select M Motion for motion programming This automatically activates the Motion Wizard ElectroCraft 2014 41 PRO Series IMD Technical Reference MotionPRO Developer Untitled l Project Application Communication View Control Panel Window Help 0 Ha X KK 31518 vil z wy al Project D x N A AA ln DAA Te tem 16 32 2 be J Untitled El Untitled Application 4 5 Setup t M Homing Modes Functions T 1 Interrupts CAM Tables iff ul 9 4 5 pro Jign aila ilat rflo flow _ Online AxisID 255 PR42 A16V48A 0 D CAN S NLL6929 Firmware F508H 1001 The Motion Editor offers you the possibility to program all the motion sequences using high level dialogues which automatically generate the corresponding MPL instructions Therefore with Motion Editor you can develop motion programs using almost all the MPL instructions without needing to learn t
58. master the PRO Series IMD IMDs can also be controlled a PC or a PLC using one of the MPL LIB motion libraries For PRO Series IMD commissioning PROconfig or MotionPRO Developer PC applications may be used PROconfig is a subset of MotionPRO Suite that includes only the drive setup part The output of PROconfig is a set of setup data that can be downloaded into the IMD EEPROM or saved on a file At power on the IMD is initialized with the setup data read from its EEPROM With PROconfig it is also possible to retrieve the complete setup information from an IMD previously programmed PROconfig shall be used for IMD setup in all cases where the motion commands are sent exclusively from a master Hence neither the PRO Series IMD MPL programming capability nor the IMD camming mode are used MotionPRO Suite platform includes PROconfig for the IMD setup and a Motion Editor for the motion programming The Motion Editor provides a simple way of creating motion programs and automatically generates all the MPL instructions With MotionPRO Suite you can fully benefit from a key advantage of ElectroCraft IMDs their capability to execute complex moves without requiring an external motion controller thanks to their built in motion controllers MotionPRO Developer shall be used to program motion sequences in MPL This is the PRO Series IMD typical operation mode when MPLCAN protocol is selected MotionPRO Developer shall also be used with CANopen protoc
59. message which confirms the MPL functions execution completion All PRO Series IMDs are equipped with a serial RS232 and a CAN 2 0B interface and can be set hardware via a jumper to operate in 2 modes CANopen MPLCAN When CANopen mode is selected the PRO Series IMD conforms to CiA 301 v4 2 application layer and communication profile CiA WD 305 v2 2 13 and CiA DSP 402 v3 0 device profile for drives and motion control now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 Available if the master axis sends its position via a communication channel ElectroCraft 2014 4 PRO Series IMD Technical Reference standards In this mode the PRO Series IMD may be controlled via a CANopen master Additionally PRO Series IMD offers a CANopen master the option to call motion sequences written in MPL and stored in the IMD EEPROM using manufacturer specific objects see for details par 5 3 When MPL CAN mode is selected the PRO Series IMD behaves as standard ElectroCraft programmable drive and conforms to ElectroCraft protocol for exchanging MPL commands via CAN bus When the MPLCAN protocol is used it is not mandatory to have a master Any PRO Series IMD can be set to operate standalone and may play the role of a master to coordinate both network communication synchronization and the motion application via MPL commands sent directly to the other IMDs When higher level coordination is needed apart from a CANopen
60. n programming part can be reduced to calling the appropriate functions and monitoring the confirmations that the task was done All these blocks have been designed using the guidelines described in the PLC standards so they can be used on any development platform that is IEC 61136 compliant All ElectroCraft s MPL Motion Libraries for PLC are provided with PROcontfig ElectroCraft 2014 45 PRO Series IMD Technical Reference 6 Scaling factors ElectroCraft IMDs work with parameters and variables represented in the IMD internal units IU These correspond to various signal types position speed current voltage etc Each type of signal has its own internal representation in lU and a specific scaling factor This chapter presents the IMD internal units and their relation with the international standard units Sl In order to easily identify them each internal unit has been named after its associated signal For example the position units are the internal units for position the speed units are the internal units for speed etc 6 1 Position units 6 1 1 Brushless motor with quadrature encoder on motor The internal position units are encoder counts The correspondence with the load position in SI units is 2 7 Load _ Position SI x Motor _ Position IU 4x encoder _ lines x Tr where No_encoder_lines is the rotary encoder number of lines per revolution Tr transmission ratio betwee
61. n the motor displacement in SI units and load displacement in SI units 6 1 2 Step motor open loop control No feedback device The internal position units are motor usteps The correspondence with the load position in SI units is Load _ Position SI TEE NEM x Motor _ Position IU No ustepsx steps xTr where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PROconfig Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 3 Step motor closed loop control Incremental encoder on motor The internal position units are motor encoder counts The correspondence with the load position in SI units is 2 Load _ Position 51 x Motor _ Position IU 4 encoder lines x Tr where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 2 Speed units The internal speed units are internal position units slow loop sampling period i e the position variation over one slow loop sampling period 6 2 1 Brushless motor with quadrature encoder on motor The internal speed units are encoder counts slow loop sampling period The correspondence with the load speed in SI units is
62. nical Reference 3 Step 1 Hardware Installation 3 1 Mechanical Mounting The PRO Series IMD is intended to be mounted vertically or horizontally on a metallic support using the provided mounting holes and the recommended mating connectors as specified in Appendix A Fixing the PRO Series IMD onto a support using the provided mounting holes is strongly recommended to avoid vibration and shock problems 3 1 1 Mounting Fixing the PRO Series IMD onto a support using the provided mounting holes is strongly recommended to avoid vibration and shock problems en gt 20mm MIN 35mm SPACE FOR CABLES Figure 3 1 Recommended spacing for mounted PRO Series IMD The PRO Series IMD drive s can be cooled by natural convection The support can be mounted horizontally or vertically In both cases the air temperature must not exceed the limits indicated in section 2 3 4 ElectroCraft 2014 11 PRO Series IMD Technical Reference 3 2 Mating Connectors Connector Description Part Number Vire Insulation Gauge Diameter 1 85 mm max MICROFIT 2 RECEPTACLE MOLEX 43025 0600 29 HOUSING 2x3 WAY MICROFIT RECEPTACLE MOLEX 43025 0400 1589 mm HOUSING 2x2 WAY MICROFIT RECEPTACLE MOLEX 43025 1000 2 1589 mm HOUSING 2x5 WAY CRIMP PIN AWG 1 85 mm 31040506 MICROFIT MOLEX 43030 0007 94 3 3 Connectors and Connection Diagrams 3 3 1 Connector Layout PRO es PRO Sor
63. nload your setup data in the drive motor EEPROM memory in the setup table From now on at each power on the setup data is copied into the drive motor RAM memory which is used during runtime It is also possible to Save L _ the setup data on your PC and use it in other applications To summarize you can define or change the setup data in the following ways create a new setup data by going through the motor and drive dialogues use setup data previously saved in the PC upload setup data from a drive motor EEPROM memory 4 2 4 Evaluate drive motor behavior optional You can use the Data Logger or the Control Panel evaluation tools to quickly measure and analyze your application behavior In case of errors like protections triggered use the Drive Status control panel to find the cause ElectroCraft 2014 29 PRO Series IMD Technical Reference 4 3 Changing the drive Axis ID x Control mode Previous External reference No C Yes Setup Guideline assistant Position Step 1 Inthe lt lt Control mode gt gt group box select what do Speed C Analogue Incremental Encoder you want to control position speed or torque In the CT Automatically activated after Power On Help lt lt Commutation methods group choose sinusoidal or trapezoidal mode The trapezoidal mode possible only if your motor is equipped with digital Hall senso
64. ol if the user wants to call MPL functions stored in the IMD EEPROM or to use the camming mode With camming mode MotionPRO Developer offers the possibility to quickly download and test a cam profile and also to create a sw file see par 5 2 4 with the cam data The sw file can be afterwards stored in a master and downloaded to the IMD wherever needed 2 2 Key Features e Fully integrated digital servo motor drive suitable for the control of brushless and step motors e Very compact design e Sinusoidal FOC or trapezoidal Hall based control of brushless motors e Open or closed loop control of 2 phase steppers e Various modes of operation including torque speed or position control position or speed profiles external analog reference or sent via a communication bus e ElectroCraft Motion PROgramming Language MPL instruction set for the definition and execution of motion sequences e Standalone operation with stored motion sequences e Communication RS 232 serial up to 115kbits s e CAN Bus up to 1Mbit s e Digital and analog I Os e 5 digital inputs 9 36 V programmable polarity sourcing NPN Enable 2 Limit switches and 2 general purpose 2 digital outputs 9 36 V 0 5 A sinking NPN open collector 1 analog input 12 bit 0 5 Reference Feedback or general purpose ElectroCraft 2014 5 PRO Series IMD Technical Reference e Feedback devices provided e Incremental quadrature encoder with BLDC and closed loop
65. onditions Min Typ Max Units 0 Altitude Altitude referenced to sea level 50 3 Km 2 3 2 Storage Conditions ESD capability Human body Not powered applies to any accessible part mode Original packaging po jes 2 3 3 Mechanical Mounting 2 3 4 Environmental Characteristics Power dissipation Protection degree According to IEC60529 UL508 IP20 Operating temperature can be extended up to 65 with reduced current and power ratings It is recommended to mount the PRO Series IMD on a metallic support using the provided mounting holes for better reliability and reduced de rating due to heat dissipation ElectroCraft 2014 7 PRO Series IMD Technical Reference 2 3 5 Logic Supply Input V oc Absolute maximum values drive operating 6 5 Supply voltage but outside guaranteed parameters Absolute maximum values surge duration lt 10ms 9V 190 320 SE No Load on Digital 148 220 Outputs 24V 100 150 40V ALS 2 3 6 Motor Supply Input Vuor Min Typ Units Nominal values Absolute maximum values drive operating Supply voltage but outside guaranteed parameters Absolute values surge 90 10ms 20 8 20 Supply current Absolute maximum value ipe 26 condition duration lt 10ms 2 3
66. ou can create with the menu command Setup Create EEPROM Programmer File a software file with extension sw which contains all the setup data to write in the EEPROM of your IMD A software file is a text file that can be read with any text editor It contains blocks of data separated by an empty row Each block of data starts with the block start address followed by data values to place in ascending order at consecutive addresses first data to write at start address second data to write at ElectroCraft 2014 32 PRO Series IMD Technical Reference start address 1 etc All the data are hexadecimal 16 bit values maximum 4 hexadecimal digits Each row contains a single data value When less than 4 hexadecimal digits are shown the value must be right justified For example 92 represent 0x0092 The sw file can be programmed into an IMD from a CANopen master using the communication objects for writing data into the IMD EEPROM a host PC or PLC using the MPL LIB functions for writing data into the IMD EEPROM using the PRO EEPROM Programmer tool which comes with PROconfig but may also be installed separately The PRO EEPROM Programmer was specifically designed for repetitive fast and easy programming of sw files into the ElectroCraft IMDs during production ElectroCraft 2014 33 PRO Series IMD Technical Reference 5 Step 3 Motion Programming 5 1 Using a CANopen Master for PRO Series IMD CANopen execution
67. re supported by the PRO series IMD Node Guarding including Life Guarding and Heartbeat Bootup Service through this service the drive indicates that it has been properly initialized and is ready to receive commands from a master ElectroCraft 2014 34 PRO Series IMD Technical Reference 5 1 2 CiA 305 Layer Setting Services LSS and Protocols Overview When used in a CANopen network the PRO Series IMD accept node ID and CAN bus bit timing settings according with 305 protocol This allows a CANopen master supporting CIA WD 305 to configure each PRO Series IMD from the network with the desired node ID and CAN bus bit timing CiA 305 protocol allows connecting non configured drives to a CANopen network and performing the drives configuration on the fly via the CANopen master 5 1 3 CiA 402 and Manufacturer Specific Device Profile Overview The PRO Series IMDsupports the following CiA 402 modes of operation Profile position and velocity modes Homing mode Interpolated position mode Additional to these modes there are also several manufacturer specific modes defined External reference modes position speed or torque Electronic gearing and camming position mode 5 1 4 ElectroCAN Extension In order to take full advantage of the powerful ElectroCraft Motion PROgramming Language MPL built into the PRO Series IMD ElectroCraft has developed an extension to CANopen called ElectroCAN through which MPL commands can be e
68. roCraft 2014 75 PRO Series IMD Technical Reference PT42 Torque Speed 48V Torque N cm gt 4000 6000 Speed Fsteps sec P142 A44 4 5 gt PT42 Torque Speed 24V I c Torque N cm mJ e e 4000 6000 Speed Fsteps sec P142 A44 P142 A55 ElectroCraft 2014 76 PRO Series IMD Technical Reference PT56 A64V48 Torque Speed P O Torque N cm e 4000 6000 Speed Fsteps sec 156 64 24 56 64 48V PT56 A106 Torque Speed Torque N cm 3000 0 5000 6000 Speed Fsteps sec 156 106 24V 56 106 48V ElectroCraft 2014 77 PRO Series IMD Technical Reference PT56 A170 Torque Speed Torque N cm 3000 4000 Speed Fsteps sec 5p156 A1 0 24V 56 170 48V PT56 Torque Speed 24V Torque N cm Speed Fsteps sec 156 A64 PI56 A106 gt 56 1 0 ElectroCraft 2014 78 PRO Series IMD Technical Reference PT56 Torque Speed 48V 4000 6000 8000 10000 12000 Speed Fsteps sec P156 A64 PI56 A106 gt 56 1 0 ElectroCraft 2014 79 PRO Series IMD Technical Reference This page is empty ElectroCraft 2014 80 PRO Series IMD Technical Reference ElectroCraft powering innovation ElectroCraft 2014 72 PRO Series IMD Technical Reference
69. rs Commutation method Advanced Motor Axis D selection e Drive Info Set change axis ID 5 CAN bus Protections Baudrate FAW defaut x CANopen settings JV Over current Motor current lt 3 Control error Postion error Control errar Speed error gt 105 rem for more than 8 over temperature 1 7783 e 0 261 83 Tune amp Test Over current 13 9 for 30 External brake resistor Connected Activate power supply gt 50 Inputs polarity operation parameters Power supply EE v Detect Current limit Current controller Speed controller 248 32 Integral limit 41 E Ki 31 04 Enable Limit switch Limit switch Active high connection Sink Active low Connected to GND gt 6 SourcelWPH Tune amp Test Position controller Kp 0 25002 Integral limit 10 536870 91 ra Ki 0015625 0 Acceleration Stat od Feedforward AE Ed 0 0 Speed Move till aligned with phase Current used 5 of filter 0 1 Load speed limit 4305 BLDC with Hall sensors lists eee a 0 s Tune amp T with Hall sensors Time to align on phases p une amp Test Motionless start encoder only Tune amp Test Sof
70. software describes how to use PROconfig to quickly setup any ElectroCraft PRO Series IMD for your application using only 2 dialogue boxes The output of PROconfig is a set of setup data that can be downloaded into the IMD EEPROM or saved on a PC file At power on the IMD is initialized with the setup data read from its EEPROM With PROconfig it is also possible to retrieve the complete setup information from an IMD previously programmed PROconfig is part of the ElectroCraft Motion PRO Suite Motion PRO Suite is available as part of a PRO Series IMD Evaluation Kit Please contact ElectroCraft or your local ElectroCraft sales representative for more information on obtaining MotionPRO Suite or an evaluation kit PRO Series CANOpen Programming Manual Document No A11226 explains how to program the PRO Series family of programmable IMDs using CANopen protocol and describes the associated object dictionary for CiA 301 v 4 2 application layer and communication profile WD 305 2 2 13 layer settings services and protocols and CiA DSP 402 v3 0 device profile for drives and motion control now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards Motion Programming using ElectroCraft MotionPRO Suite Document No A11229 describes how to use the MotionPRO Suite to create motion programs using the ElectroCraft Motion PROgramming Language MPL The MotionPRO Suite platform includes PROconfig for the drive motor setup and
71. stepper models e Digital Hall sensors with BLDC models e Various motion programming modes e Position profiles with trapezoidal or S curve speed shape Position Velocity Time PVT 39 order interpolation Position Time PT 1 order interpolation Electronic gearing and camming e 35 Homing modes hardware axis ID selection e Two operation modes selectable by jumper e CANopen conforming with CiA 301 v4 2 CiA WD 305 v2 2 13 and CiA DSP 402 v3 0 e MPLCAN programmable drive conforming with ElectroCraft protocol for exchanging MPL commands via CAN bus e 2 5K x 16 internal SRAM memory 4K x 16 to store MPL programs and data e PWM switching frequency up to 100kHz e Motor supply 11 48V e Logic supply 9 36V Separate supply is optional e Operating ambient temperature 0 40 C over 40 C with de rating e Protection Under voltage e Over current e Over temperature e Communication error e Control error Available if the master axis sends its position via a communication channel 5 6 hardware addresses in CANopen mode or 7 in MPLCAN mode ElectroCraft 2014 6 PRO Series IMD Technical Reference 2 3 Electrical Specifications All parameters measured under the following conditions unless otherwise specified Tamb 0 40 C 24 48Vpc Supplies start up shutdown sequence any Load current sinusoidal amplitude continuous BLDC DC stepper 8A 2 3 1 Operating C
72. ted by the IMDs built in motion controller ElectroCraft 2014 37 PRO Series IMD Technical Reference 5 2 3 1 Create a new project MotionPRO Developer starts with an empty window from where you can create a new project or open a previously created one Project nunication Vie Help m sas Do i S 80 0 4 Ready Online Firmware F508F When you start a new project MotionPRO Developer automatically creates a first application Additional applications can be added later You can duplicate an application or insert one defined in another project Press New button to open the New Project dialogue Set the axis number for your first application equal with your IMD axis ID The initial value proposed is 255 which 15 the default axis ID of the IMD Press New button and select your IMD type ElectroCraft 2014 38 PRO Series IMD Technical Reference MotionPRO Developer mE B Project Communication View Help amp Step 1 Select axis number 255 Step 2 Define load setup data PR42 A 16V48A 0 D CAN Stepper Linear Actuator gt Stepper Rotary 4 Suite for ELECTROCRAFT 7 5 _ Upload from 33 Drive Motor Programmable Servo Drives Click on your selection MotionPRO Developer opens the Project window where on the left side you can see the stru
73. this value in the Drive Setup dialogue from PROconfig 6 11 3 Step motor closed loop control Incremental encoder on motor 191 units for motor position are rad for a rotary motor m for a linear motor ElectroCraft 2014 50 PRO Series IMD Technical Reference The internal motor position units are motor encoder counts The correspondence with the motor position in SI units is 2 Motor _ Position SI x Motor _ Position IU 4x encoder lines where No encoder lines is the motor encoder number of lines per revolution 6 12 Motor speed units 6 12 1 Brushless motor with quadrature encoder on motor The internal motor speed units are encoder counts slow loop sampling period The correspondence with the motor speed in Sl units is For rotary motors Motor _ Speed ST x Motor _ Speed IU 4x No encoder lines xT where No_encoder_lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 12 2 Step motor open loop control No feedback device The internal motor speed units are motor usteps slow loop sampling period The correspondence with the motor speed in SI units is 2 Motor _ 50660 81 Motor _ Speed IU No _ usteps x No _ steps xT where No_steps is the number of motor steps per revolution No ust
74. ts and outputs connector pinoultl JD JO GAN Connectors PINOUT zu u ds Digital VO 1 E Digital NPN VO CONNECCION e ne oo Vlog Digital NPN Connection Analog Inputs Power Supply Connection ak aa aaa a 3 3 11 Serial RS 232 6060 19 9312 COAN DUS CONNOCHON RE les 21 0 2 13 Disabling AUTOFUN MOOS u u uu u u uuu uro Osa det 23 3 4 Operation Mode and Axis ID Selection 24 3 4 1 Selection of the Operation 24 0 4 2 Selection OF hie AXIS usitata iii 24 4 Otep 2 Drive te ac Cove es 25 Ad Installing PROCON O deor e E SES EHE aga aa UN HS ERE USED 25 42 Getting Started with PROCGORTIO uu uu l ode eode vd eve deo voce ua dede 25 4 2 1 Establish 26 2 6 2 a aga a a 26 4 2 3 Download setup data to drive motor 29 4 2 4 Evaluate drive motor behavior optional 29 43 hanging the drive AXIS Dis ss ia 30 44 SC ANDUS nr ga ni ana gana 32 4 5 Creating an Image File with the Setup
75. tware limit switches Restrict movement between EST 536870 91 2 rat T Limit axis ID of a PRO Series IMD be set in 3 ways Hardware H W in accordance with axis ID resistance value par 3 4 2 Software via Setup any value between 1 and 255 stored in the setup table If the IMD is CANopen mode a Node ID value above 127 is automatically converted into 255 and the IMD is set with CAN communication in non configured mode waiting for a CANopen master to configure it using CiA 305 protocol A non configured IMD answers only to CiA 305 commands All other CANopen commands are ignored and transmission of all other CANopen messages including boot up is disabled In absence of a CANopen master you can get an IMD out of non configured mode by setting another axis ID between 1 and 127 from above dialogue using a serial link between the IMD and the PC Software via CANopen master using CiA 305 protocol ElectroCraft 2014 30 PRO Series IMD Technical Reference The axis ID is initialized at power on using the following algorithm a a valid setup table exists and this setup table was created with the Axis D Selection checkbox checked in the Drive Setup dialogue see above with the value read from the setup table This value can be an axis number 1 to 255 or can indicate that axis ID will be set according with the
76. ut of phase to the drive ground GND Shield is connected only at the drive side to the drive GND and is left unconnected at the source side If the analog signal source is differential and the signal source ground is common with the drive GND use a 2 wire shielded cable as follows 1 wire connects the source plus positive in phase to the drive analog input 279 wire connects the source ground to the drive ground GND shield is connected only at the drive side to the drive GND and is left unconnected at the source side The source minus negative out of phase output remains unconnected 3 3 10 Power Supply Connection 3 3 10 1 Supply Connection ElectroCraft 2014 17 PRO Series IMD Technical Reference Power Supply Connection PRO Series IMD 5 E OU Figure 3 3 Supply connection 3 3 10 2 Recommendations for Supply Wiring The PRO Series IMD always requires two supply voltages and Vmot The logic power supply can be connected to either J1 pin 2 45 pin 1 or J6 pin 1 All three input pins are connected together inside the PRO Series IMD Use short thick wires between the PRO Series IMD and the motor power supply Connect power supply wires to all the indicated pins If the wires are longer than 2 meters use twisted wires for the supply and ground return For wires longer than 20 meters add a capacitor of at least 4 700uF rated at an appropriate voltage right on the terminals of the PRO Series IMD
77. valuation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly develop test measure and analyze your motion application The customization of the homing routines is available only for PRO A04V36x CAN execution ElectroCraft 2014 36 PRO Series IMD Technical Reference MotionPRO Suite works with projects A project contains one or several Applications Each application describes a motion system for one axis It has 2 components the Setup data and the Motion program and an associated axis number an integer value between 1 and 255 An application may be used either to describe 1 One axis in a multiple axis system 2 An alternate configuration set of parameters for the same axis In the first case each application has a different axis number corresponding to the axis ID of the IMD from the network All data exchanges are done with the IMD having the same address as the selected application In the second case all the applications have the same axis number The setup component contains all the information needed to configure and parameterize an ElectroCraft IMD This information is preserved in the drive motor EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive motor and is used during runtime The motion component contains the motion sequences to do These are described via a MPL ElectroCraft Motion PROgramming Language program which is execu
78. ve must be earthed through a separate circuit Most communication problems are caused by the lack of such connection ElectroCraft 2014 20 PRO Series IMD Technical Reference 3 3 12 CAN bus connection 3 3 12 1 CAN connection CAN Bus Connection PRO Series IMD From previous node 5V CAN HI D CAN gt GND d GND CAN Transceiver 33V GND Vlog CAN HI CAN To next node Figure 3 5 CAN connection Remarks 1 The CAN network requires a 120 Ohm terminator This is not included in the drive Figure 3 6 shows how to connect it on your network 2 CAN signals are not insulated from other PRO Series IMD circuits 3 3 12 2 Recommendation for wiring a Build CAN network using cables with twisted wires 2 wires pair with CAN Hi twisted together with CAN Lo It is recommended but not mandatory to use a shielded cable If so connect the shield to GND The cable impedance must be 105 135 ohms 120 ohms typical and a capacitance below 30pF meter b The 120 termination resistors must be rated at 0 2W minimum Do not use winded resistors which are inductive ElectroCraft 2014 21 PRO Series IMD Technical Reference Multi Axis CAN Bus Connection PRO Series IMD Axis ID 1 PRO Series IMD Axis ID 2 PC Host Address 255 PRO Series IMD Axis ID 255 Figure 3 6 Multiple Axis CAN network Remarks 1 The axis IDs in Figure 3 6 are valid for MPLCAN mode For
79. xchanged with the drives Thanks to ElectroCAN you can inspect or reprogram any of the ElectroCraft drives from a CANopen network using PROconfig or MotionPRO Developer and an RS 232 link between your PC and any of the drives ElectroCAN uses only identifiers outside of the range used by the default by the CANopen predefined connection set as defined by CiA 301 Thus ElectroCAN protocol and CANopen protocol can co exist and communicate simultaneously on the same physical CAN bus without disturbing each other 5 1 5 Checking Setup Data Consistency During the configuration phase a CANopen master can quickly verify using the checksum objects and a reference sw file see 4 5 and 5 2 4 for details whether the non volatile EEPROM memory of an PRO Series IMD contains the right information If the checksum reported by the drive doesn t match with that computed from the sw file the CANopen master can download the entire sw file into the IMD EEPROM using the communication objects for writing data into the IMD EEPROM 5 2 Using the built in Motion Controller and MPL One of the key advantages of the ElectroCraft IMDs is their capability to execute complex motions without requiring an external motion controller This is possible because ElectroCraft IMDs offer in a single compact package both a state of art digital drive and a powerful motion controller 5 2 1 ElectroCraft Motion PROgramming Language Overview Programming motion directly on a E

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