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1. Application This is performed every velocity loop Working current correction is set to velocity error X Use ACS family ACE family EBC family Velocity mode or position mode drives VL KI Velocity Integral Gain Range 32768 to 32767 Application This is performed every velocity loop Velocity integral X 256 is added to working current correction Use ACS family ACE family EBC family Velocity mode or position mode drives VL IL Velocity Integral Limit Range 0 to 32767 Application This is performed every velocity loop The absolute value of velocity integral is limited to 256 X Use ACS family ACE family EBC family Velocity mode or position mode drives VL KD Velocity Derivative Gain Range 32768 to 32767 Application This is performed every velocity loop Velocity Derivative X is added to working current correction Use ACS family ACE family EBC family Velocity mode or position mode drives ElectroCraft Inc 19 ElectroCraft CompletePower Plus Motion Control Software VL DF Velocity Derivative Filter Range O to 32767 Application This is performed every velocity loop The velocity derivative is set to old velocity derivative X velocity error old velocity error 32768 X 32768 Use ACS family ACE family EBC family Velocity mode or position mode drives VL SH Velocity Gain Scaling Range 26 to 302. If these bits are 300 hex use the 60 degree table with Hall S1 and S3 swapped On if encoder direction is reversed On if command input is analog AN1 Off for PWM command input On if sine commutation is to be reversed 10 ElectroCraft CompletePower Plus Motion Control Software OR Position Velocity Loop Rate Range 3to 255 Application Encoder based velocity mode or position mode drives Use ACS family ACE family EBC family The velocity loop rate is current loop rate X The velocity and position loops run every OR number of current loops Therefore e g the velocity loop period current loop period x OR 10 Serial Delay Range O to 256 Application All Use ACS family ACE family EBC family For most late model host machines this is typically set to 0 However for slower host processors this value inserts a delay in the characters to avoid overflowing the host buffer ElectroCraft Inc 11 ElectroCraft CompletePower Plus Motion Control Software 3 3 Protection Parameters RC Locked Rotor Current Range Oto 1023 ACS family ACE1XXX EBC family 0 4096 ACE500 Applications All Use ACS family ACE family EBC family Used in conjunction with Locked Rotor Time to check for locked rotor If X is zero the locked rotor check is not performed Otherwise the current is checked at every current loop If the current level is greater or equal to the current level specifi
3. ElectroCraft Inc 42 ElectroCraft CompletePower Plus Motion Control Software 3 14 Function Generator The function generator allows an easy check of the servo response of any of the loops to a generated signal The generator ramps from the current command to the base of the response signal so that a gradual initial change is provided FG SL Function Generator Ramp Slope Application All Use ACS family ACE family EBC family This is the slope of the initial ramp Units are signal change per loop divided by 256 This is an unsigned number that will adjust the signal upward or downward until the base value is reached FG BS Function Generator Base Value Application All Use ACS family ACE family EBC family This is the base of the wave It is a double precision signed value FG AM Function Generator Amplitude Application All Use ACS family ACE family EBC family This is the amplitude of the wave It is a double precision signed value The signal value for the main part of the wave generation is between the base and base plus amplitude Therefore if the amplitude is negative the signal will start at the top after the ramp FG CY Function Generator Cycle Time Application All Use ACS family ACE family EBC family This is the cycle time for the complete wave It is a single precision unsigned value The value is in number of loops The actual cycle time may be close to this value but not necessarily ex
4. LC Current Control Limit Range O to 1229 ACS family ACE1xxx EBC family O to 4915 ACE500 Application All Use ACS Family ACE1xxx EBC family If the current feedback DI greater than or equal to LC then the current control filter multiplies the current error current command current feedback by 4 This gives the effect of increasing the current loop gain by 4 when the current is greater than LC LC is typically set to 1 15 LS ACES500 If the current feedback DI greater than or equal to LC then the current control filter multiplies the current error current command current feedback by 4 This gives the effect of increasing the current loop gain by 4 when the current is greater than LC ElectroCraft Inc 13 ElectroCraft CompletePower Plus Motion Control Software 3 4 Communication Parameters CL EC Encoder Counts per Rev Range 0 to 65535 Applications All applications using an encoder Use ACS family ACE family EBC family Used for sine wave modulation Also used by the PC front end to convert internal velocity to RPM X is the number of encoder counts per mechanical revolution of the motor four times the number of encoder lines CL PL Number of Motor Poles Range 2 to 42 must be even Applications All applications using an encoder Use ACS family ACE family EBC family Used for sine wave modulation X is the number of motor poles HT Hall Table Range Oto8 Applicat
5. the internal acceleration divided by 128 represents the change of the velocity command 21 ElectroCraft CompletePower Plus Motion Control Software VFJK Jerk Range O to 32767 Application Velocity mode drives Use ACS family ACE family EBC family This command is used every velocity loop unless it is a current mode drive in which case it is unused This command is not used unless Command Gain is zero and Acceleration and Jerk are nonzero The jerk is used to generate an s curve velocity command profile The amount that the absolute value of the internal acceleration changes is X 256 The remainder of this page is intentionally left blank ElectroCraft Inc 22 ElectroCraft CompletePower Plus Motion Control Software 3 7 Position Loop Parameters The position feedback will be from the encoder if the drive is not configured for analog position feedback The position measurement will then be the number of encoder counts Otherwise the position feedback will be from analog For the ACE500 position command may come from a step and direction signal an analog signal or a serial command The command is from step and direction if the drive is not configured for a serial position command and command gain is zero The position error is position command position The position integral is the sum of the position errors This value is limited by the Position Integral Limi
6. EBC family This variable is read only See aux analog filter CF FL for details about how the filter operates When not used as a data gathering variable CF VA returns the integer part of the filtered feedback and CF VD returns both the integer and fractional parts 65536 PL DD Filtered Position Derivative low order PL DE Filtered Position Derivative high order Application All Use ACS family ACE family EBC family This variable is read only See position loop description and position derivative filter PL DF for descriptions of the position derivative When not used as a data gathering variable PL DE returns the integer part of the position derivative and PL DD returns both the integral and fractional parts 65536 ElectroCraft Inc 37 ElectroCraft CompletePower Plus Motion Control Software VL DD Filtered Velocity Derivative low order VL DE Filtered Velocity Derivative high order Application All Use ACS family ACE family EBC family This variable is read only See velocity loop description and velocity derivative filter VL DF for descriptions of the velocity derivative When not used as a data gathering variable VL DE returns the integer part of the velocity derivative and VL DD returns both the integral and fractional parts 65536 CLID Flux Current Application Sine mode only Use ACS family ACE family EBC family This variable is read only The DSP program calculates this value
7. Motion Control Software Velocity Loop Parameters Hall based velocity The velocity is computed using the 1 T method along with a filter to even out the irregularities in the timing of the halls signals Internal velocity for halls based is in RPM Acceleration in RPM per second is internal acceleration velocity loop rate 8 Jerk in RPM per second per second is Jerk velocity loop rate 2048 Encoder based velocity The velocity is computed using the 1 T method or counting the number of counts in a velocity loop The method is changed dynamically when it is deemed advantageous The internal velocity is in units of counts per velocity loop 256 Therefore velocity in RPM is internal velocity velocity loop rate 60 256 Encoder Counts per Rev Acceleration in RPM per second is internal acceleration velocity loop rate 60 32 768 Encoder Counts per Rev Jerk in RPM per second per second is Jerk velocity loop rate 60 2 Encoder Counts per Rev Analog based velocity The velocity is supplied by an analog value which will be filtered and have a gain and offset applied This value may represent velocity or some other physical value such as pressure A serial command an analog signal or the output of the position loop can supply velocity command If there is no position loop and the command gain is zero then the velocity command is fro
8. Position mode drives PL DF Position Derivative Filter Range 0 to 32767 Application This is performed every velocity loop Position derivative is set to old position derivative X position error old position error 32768 X 32768 Use ACS family ACE family Position mode drives PL SH Position Gain Scaling Range 30 to 30 Application This is performed every velocity loop Working velocity correction is multiplied by 2 Use ACS family ACE family Position mode drives ElectroCraft Inc 24 ElectroCraft CompletePower Plus Motion Control Software PL MX Position Max Output Range 0 to 32767 Application Use Position mode drives ACS family ACE family This is performed every velocity loop The absolute value of working velocity correction is limited to X 16 Commanded velocity is set to position command old position command 256 working velocity correction PL SC Steps per Revolution Application Use ElectroCraft Inc Position mode drives Command Gain VF GN must be zero and the Configuration word must not be set for serial position command ACS family ACE family This is performed every velocity loop Every step pulse while the drive is in run the desired position is incremented or decremented depending on the direction signal by Encoder Counts per Rev CL EC Steps per Revolution The
9. calculation is accurate to within one encoder count both within one revolution and long term This will try to position the motor as if it were a stepper motor with the correct number of steps for one revolution Unfortunately because of an error in the DSP silicon the first step is always lost If position feedback is encoder and velocity command is step and direction the velocity command is incremented by 256 encoder count difference in addition to the velocity command from the position PID loop 25 ElectroCraft CompletePower Plus Motion Control Software 3 8 Commutation Parameters HT Hall Table Range Oto8 Applications All Use ACS family ACE family EBC family Selects the sequence of Hall states which appear when the motor is rotating Used in conjunction with the HP command below The remainder of this page is intentionally left blank ElectroCraft Inc 26 ElectroCraft CompletePower Plus Motion Control Software 3 9 I O Configuration 3 9 1 Command Configuration VF FL Command Filter Range 0 to 32767 Application All applications for which an analog from AN1 is used for the command Use ACS family ACE family EBC family This is used every velocity loop unless the drive is in current mode only in which case it is used every current loop This is used for the first operation in converting the analog command to an actual command The output of this command is used as the input to the Comma
10. family ACE family EBC family This sets the value of the run standby switch Bits Description 0 Drive in standby with run line low or an error 1 Drive in run with run line high 2 Drive forced into standby regardless of the state of the run line 3 Drive forced into run if there are no errors regardless of the state of the run line Test Time Application All Use ACS family ACE family EBC family Test Current Pulses for the specified number of current loop times The test current is sent to the control loop and the test voltage overrides the output of the control loop if it is not zero If the drive faults during the test the value of TT is equal to the remaining current loops Application All Use ACS family ACE family EBC family Used in conjunction with the test time command to set the test current Test Voltage Application Use All ACS family ACE family EBC family Used in conjunction with the test time command to set the test modulation voltage Must be set to zero to use test current Set Output Delay Application All Use ACS family ACE family EBC family ElectroCraft Inc Sets the time in milliseconds to delay between each character transmitted to the serial port Normally should be zero 0 46 AD FV AD RL AD VF AD FN AD IT ElectroCraft CompletePower Plus Motion Control Software 5 Volt Monitor Range 0 to 65535 Application All Use ACS family ACE fami
11. up data gathering to get both words Units are 1 RPM for halls based velocity 2 Encoder counts per position servo cycle 256 for halls based velocity 3 Filtered analog with gain and offset for if analog velocity is set in the configuration word VL ER Velocity Error Range 32768 to 32767 Application All Use ACS family ACE family EBC family This variable is read only It is commanded velocity velocity ElectroCraft Inc 41 ElectroCraft CompletePower Plus Motion Control Software VL IN Velocity Integral low order VL IH Velocity Integral high order Range 8388352 to 8388352 Application All Use ACS family ACE family EBC family This variable is read only Velocity integral is the sum of the velocity errors It is not accumulated if the velocity loop or current loop is saturated VL IN when not used as a data gathering variable returns the value of both words together Both VL IN and VL IH need to be used while setting up data gathering to get both words CLEA Electrical Angle Range O to 1023 1024 360 degrees ACS Family ACE1XXX EBC Family Application Sine mode only Use ACS family ACE family EBC family The electrical angle may be set to a value and that value will be held regardless of the position until it is changed by writing a new value or released by writing a negative number to the electrical angle The remainder of this page is intentionally left blank
12. used every current loop Used as the third operation in converting the analog feedback to an actual feedback The output is input X 256 The output is the feedback in internal units ElectroCraft Inc 28 ElectroCraft CompletePower Plus Motion Control Software 3 10 Setting up Data Gathering DG DW Start up Delay Range Special see comments below Application All Use ACS family ACE family EBC family The number of sample periods to delay before starting the first sample This variable may have a value from 0 to 32767 If there is triggering the value may be from 32767 to 32767 If the value is negative its absolute value must be less than or equal to the number of samples able to be collected see DG DE DG DR Sample Rate Range 0 to 65535 Application Use All ACS family ACE family EBC family The number of current or position loops 1 between each sample period DG DS Data Specification Start Range 0 to 1 see comments below Application Use ElectroCraft Inc All ACS family ACE family EBC family Specifies current loop 1 or position loop 0 After this command the variables desired must be entered This variable must either have a value of 1 or zero If triggering is to be used it must be set up before this command is issued 29 ElectroCraft CompletePower Plus Motion Control Software DG DE Data Specification End Range 0 to 32767 Applic
13. 0 8 RW OR Position Velocity Loop Rate 100 3 209 RW 10 Serial Delay 5 256 RW RC Locked Rotor Current 4096 0 4096 Rw RT Locked Rotor Time 32767 0 32767 RW TE Motor Overtemp Control 0 32768 32767 RW LS Current Control Maximum Command 4096 4096 RW LC X Current Control Limit 4500 4815 RW Commutation Parameters 0 CLEC Encoder Counts per Rev 4000 100 65535 RW CLPL Number of Motor Poles 4 2 42 RW HP HallAdvance 5 5 RW CLAP Encoder Advance 0 32768 32767 RW CLZC Deadband Compensation 50 223 RW CLSC Halls Only Sine Speed Cutoff 50 0 32767 RW CLTA Halls Only Time Advance 0 0 65535 RW l Figure 3 Drive Parameter Table The parameter table see figure 3 lists all of the drive parameters grouped by function type The current drive parameter value is displayed along with the range of acceptable values Min to Max and the parameter s access level i e R W stands for Read Write and R for Read only For R W access parameters the user can both read the value as well as write a new value Read only parameters store critical calibration values and can only be changed by ElectroCraft Inc personnel ElectroCraft Inc 6 ElectroCraft CompletePower Plus Motion Control Software 2 1 How to Save and Load Drive Parameter Files Fie View Communications Optior Open Parameter File Ctrl O Open Graph File Save Graph gt Print gt Exit Note Before you change any parameter it is highly
14. Application This is performed every velocity loop Working current correction is multiplied by 2 Use ACS family ACE family EBC family Velocity mode or position mode drives VL MX Velocity Max Output Range O to 1023 ASC family ACE1xxx EBC family 0 4096 ACE500 Application This is performed every velocity loop The absolute value of working current correction is limited to X and placed in commanded current Use ACS family ACE family EBC family Velocity mode or position mode drives VL MN Velocity Max Negitive Output Range 4096 to 0 ASC family ACE1xxx EBC family 1023 to 0 ACE500 Application This is performed every velocity loop The absolute value of working current correction is limited to X and placed in commanded current Use ACS family ACE family EBC family Velocity mode or position mode drives ElectroCraft Inc 20 ElectroCraft CompletePower Plus Motion Control Software VL VM Velocity Max Limit low order VL LM X Velocity Max Limit high order Range 2147483648 to 2147483647 Application Use ACE 500 If non zero is used as a fault shut down limit If velocity gt VL UM then shut down and display fault VL CM Commanded Velocity low order VL CH Commanded Velocity high order Range 2147483648 to 2147483647 Application All Use ACS family ACE family EBC family VL CM when not used as a data gathering variable returns the va
15. ElectroCraft powering innovation 7 ElectroCraft CompletePower Plus ACESOO vel hall trap 08 code APL E JE Fas e File Edit View Communications Options Setup Help Symbol Description Value Min Max Access CL PR PWM Modulation Period 5200 5000 10000 Riv CL CG Configuration Word 1312 55535 P CL HT Hall Table 8 PN OR Position Velocity Loop Rate 100 3 209 RNV IO Serial Delay 5 255 RNV RC Locked Rotor Current 4096 4096 Riv RT Locked Rotor Time 32767 32767 R TE Motor Overtemp Control 0 32768 32767 RNV LS Current Control Maximum Command 4095 0 4096 Riv LC Current Control Limit 4500 4915 Riv Commutation Parameters CLEC Encoder Counts per Rev 4000 100 65535 RNV CL PL Number of Motor Poles 4 2 42 Riv HP Hall Advance 5 D 5 Riv CLAP Encoder Advance 0 32768 32767 Riv CLZC Deadband Compensation 50 223 PN CL SC Halls Only Sine Speed Cutoff 50 32767 Riv CL TA Halls Only Time Advance 0 0 65535 RW l ElectroCraft CompletePower Plus Parameter Version No 5 0 11 Motion Control Software Application Manual ElectroCraft Incorporated Title Type of Documentation Document Type code Internal File Reference Purpose of Documentation Record of Revisions RELEASE NUMBER 1 0 Copyright Validity Published by ElectroCraft Inc ElectroCraft CompletePower Plus Motion Control Software ElectroCraft CompletePower Plus Parameter Mo
16. It is the amount of current that is flowing in the drive that is perpendicular to the torque producing current Because this current causes the motor to generate heat the ideal value should be zero CL DV Flux Voltage Application Sine mode only Use ACS family ACE family EBC family This variable is read only The DSP program calculates this value It is the leading or lagging voltage that the drive is applying to the motor to reduce the flux current CH CH Halls Application All Use ACS family ACE family EBC family This value is read only The three hall signals are displayed as O or 1 in the order of s3 s2 amp s1 and is the actual value of the three halls signals as read at the DSP ElectroCraft Inc 38 ElectroCraft CompletePower Plus Motion Control Software MP Motor Phase Range Value is from 0 to 5 Application All Use ACS family ACE family EBC family This value is read only The motor phase derived from the halls DU Phase U Current Range 1024 to 1024 proportional the phase U current ACS family ACE1xxx EBC family 4096 to 4096 for 100 to 10096 current rating ACE500 Application All Use ACS family ACE family EBC family This value is read only To calculate the actual current multiply by IR drive rating in amps 2017152 This value is read only Value is proportional the phase V current To calculate the actual current multiply by drive rating in a
17. RW YFAC Max Acceleration 0 0 32767 Rw VFJK Jerk 0 0 32767 RW VLLV Velacity Change Limit 5000 0 65535 Rw VLDB Velocity DeadBand 0 0 32767 Rw _ Bacitian lnan Daramatore 1 11 1 Figure 5 Changing Parameter Values Note When parameters are stored or written to the Drive they are automatically saved in nonvolatile memory If power is removed and re applied the Drive will retain any changed values To restore the default drive values Open and load the default prm file See 1 5 How to Save and Load Parameter files ElectroCraft Inc 8 ElectroCraft CompletePower Plus Motion Control Software 3 Description of Parameter and Variables This section describes the parameters with some detail The parameter identifier shown in red can be entered into the drive and saved Caution Some of the commands and variables described here require specific knowledge and may cause problems if used incorrectly These should be used only by someone knowledgeable about the drive These descriptions below describe the parameter and give some user information about the e e Range Shows the allowable numeral entry for the specific drive e Applications Lists the type of drive that the parameter is used with e Use Gives details about the parameter and its usage 3 1 Identifiers 3 2 Configuration Parameters CL PR PWM Current Modulation Period Range 1250 to 2666 ACS family ACE1XXX EBC family 1334 to 2666 ACE500 Applicat
18. act ElectroCraft Inc 43 ElectroCraft CompletePower Plus Motion Control Software FG CT Function Generator Control Word Application All Use ACS family ACE family EBC family This is the word which controls the operation of the function generator Its format follows Bits Value Description 0 1 No motion generator Input to current loop Input to velocity loop Input to position loop Square wave Triangle wave Sawtooth wave Sine wave starts at 270 This field must be set to zero by the user 2 3 OWNPRPOWNF O 4 5 FG ST Start Function Generation Application All Use ACS family ACE family EBC family This command validates the parameters does some necessary computations and starts the function generator If the drive is in standby when this command is issued the function generator will start when the drive goes into run FG SP Stop Function Generation Application Use All ACS family ACE family EBC family This command stops the function generator Going into standby mode will also disable the function generator FG NC Number of Cycles Application All Use ACS family ACE family EBC family ElectroCraft Inc This command specifies the number of cycles to run before stopping After stopping the drive will be placed in standby unless this parameter is zero in which case the function generator will run until the drive is placed into standby 44 ElectroCraft Compl
19. ation All Use ACS family ACE family EBC family Specifies the number of samples to collect All the variables desired must be entered before this command Each sample has the number of variables entered between the data specification start and the data specification end Note that if a variable is double precision the location of the variable and the location of the high order of the variable must both be specified The maximum number of samples is 32767 5 Number of single precision triggers 7 Number of double precision triggers Number of variables specified The remainder of this page is intentionally left blank ElectroCraft Inc 30 3 11 ElectroCraft CompletePower Plus Motion Control Software Using Triggering No Trigger If there is no trigger a sample is collected every sample period after a delay of a specified number of sample periods A sample is a snapshot of the variables specified during the data gathering setup A sample period is a specified number of current or velocity loops There are 32768 words available to store the samples The space required to store all the samples is of variables number of samples 1 Note that double precision variables such as commanded velocity require two words to store To set up data gathering set the start up delay and the sample rate as desired followed by a data specification start then list the variables in order that you want then the data specification e
20. corn ine Pea reed iad as 35 3 14 Function Generator eR tenete ente mia 43 3 15 Diagnostic Commands and Variables eese enne 45 ElectroCraft Inc 3 1 1 1 ElectroCraft CompletePower Plus Motion Control Software ElectroCraft CompletePower Plus Parameter Overview Drive parameters are used to configure the drive for different operating modes and to tune the control structure that each operating mode presents Variables are internal values that change while the Drive is running Commands are values that cause the drive to do some function e g SR3 will cause the drive to go into the run state Commands will be saved if the drive is reset or powered down Parameters can be changed using the different parameter screens available in the ElectroCraft CompletePower Plus program Variables can be recorded using the Graph Window Variables are graphed in the loop tuning tools to evaluate the effectiveness of set Parameters Each command entry is headed by the ASCII command followed by its descriptive label The allowable value range follows That is followed by the applications that can make use of this parameter or variable Finally the scaling and use of the variable follows In any formula the value entered is denoted by X The parameters are not typically changed once the user has tuned the drive to a specific application To read the value From the terminal page type the ASCII command followed by a ret
21. ctual maximum value the modulation voltage is allowed to attain ElectroCraft Inc 48 ElectroCraft CompletePower Plus Motion Control Software CL MN Actual Voltage Minimum Application All Use ACS family EBC family Read only The actual minimum value the modulation voltage is allowed to attain CL FD Current Feedback Application All Use ACS family EBC family Read only ElectroCraft Inc 49
22. e present encoder position using the PL AC command On the ACE 1000 this bit can only be used if a hardware change is also made If bit 3 is on and bits 12 and 13 are off measured velocity comes from analog input feedback AN2 If bit 3 is off bit 12 is on and bit 13 is off measured position comes from analog input feedback AN2 If bits 3 and 12 are on and bit 13 is off a maximum torque limit comes from analog input feedback AN2 not used if in current mode This is not used for a current mode drive On if the position command is to be supplied from the serial port On if sine commutation is to be used synchronized with a Halls edge off if trapezoidal commutation is desired Note that sine mode is available on older ACE1000 drives only if a hardware change is made On if sine commutation is to be used synchronized from the encoder index Bits 5 and 6 can both be off meaning trapezoidal commutation is used instead of sine but both bits cannot be on Note that sine mode is available on older ACE1000 drives only if a hardware change is made On to allow sine mode over modulation On the ACE5OO these bits are overridden by the Hall Table command CL HT For other older drives these bits control which Hall Table to use If these bits are O use the standard 120 degree table If these bits are 100 hex use the 120 degree table with Hall S1 and S3 swapped If these bits are 200 hex use the standard 60 degree table
23. e values 0 Variable and constant are unsigned 2 Variable is signed constant is unsigned and comparison is absolute value 3 Variable and constant are signed 8 On for double precision variable and constant 0 7 Filter ElectroCraft Inc 31 ElectroCraft CompletePower Plus Motion Control Software Filter operation Use ACS family ACE family EBC family Let FO be the old filtered value with fraction FN be the new filtered value F be the filter and V be the actual variable value Then FN V F 256 F FO 256 DG CN Setthe trigger constant Use ACS family ACE family EBC family This sets the trigger constant The constant is signed or unsigned and single or double precision depending on the value of the DG TR command The trigger constant cannot be read This command must be directly preceded by a command that specifies the data variable desired The remainder of this page is intentionally left blank ElectroCraft Inc 32 ElectroCraft CompletePower Plus Motion Control Software 3 12 Retrieving Data Gathering Words DG RM Data Read Use ACS family ACE family EBC family This variable is read only Read a word of data from data gathering memory The value is returned in hexadecimal The values are returned in sample number order and within samples in order by the data variables entered DG ST Data Read Streaming Use ACS family ACE family EBC family This command starts data s
24. ed for the amount of time specified by locked rotor current without a halls change a locked rotor fault occurs The current level is Rated output X 1024 ACE500 Rated output X 4096 RT Locked Rotor Time Range 0 to 32767 All products Applications All Use ACS family ACE family EBC family Used in conjunction with Locked Rotor Current to check for locked rotor If the current level is greater or equal to the current level specified for the amount of time specified by locked rotor current without a halls change a locked rotor fault occurs X is the time in milliseconds TE Motor Temp Control Range Oto 2 ACE1000 32767 to 32767 ACE500 ACS family EBC family Application All Use ACS family ACE500 EBC family This is used to configure and enable the motor over temperature fault O Motor temperature not used PTC motor temperature sensor NTC motor temperature sensor ACE1000 This is used to configure and enable the motor over temperature fault O Motor temperature not used 1 PTC motor temperature sensor 2 NTC motor temperature sensor ElectroCraft Inc 12 ElectroCraft CompletePower Plus Motion Control Software LS Current Control Maximum Command Range O to 1024 ACS family ACE1xxx EBC family O to 4096 ACE500 Application All Use If the absolute value of current command CC is greater than LS then the current command is set to LS or LS depending on the sign of CC
25. edo reru ete tutis i mem etse meuf ad emi ren dos eM LODS oes 4 2 Running ElectroCraft CompletePower M Plus sees nnns 5 2 1 How to Save and Load Parameters sse eene 7 2 2 How to change Drive Parameters cccccsssscccccesssssseeeecceeseessssseeeeeesessseeeeeeeeees 8 3 3 0 Description of Parameter and Variables sese 9 3 1 GTI CH T 9 3 2 Configuration Parameters 2 reed enn eth ea e egere d een 9 3 3 Protection Parameters ciet pr eene entente eee teni rie Evae cu 12 3 4 Communication Parameters ou eee eee seeseeeseeceeeeeeeceeceteaeeaeceecseesecsecsesseeseeeceaceaceneneeees 14 3 5 Current Loop Parameters socii iiriksi iia ii iiai iiiaio a 16 3 6 Velocity Eoop Paramieters ce eee ee oe del edere Fee A E EETNL a 18 3 7 Position Loop Parameters ivarsson nienie e aan a enne serene innen nnn nn 23 3 8 Commutation Parameters sisse eene enn ete enn nnn ntn ntn ntn ntnttn sensere nennen 26 3 9 I O ConfigBuration 2 rns ete e e e pde e dete Beier 27 3 9 1 Command Configuration sess tente tet tnt ntnnthstn tatnen 27 3 9 2 Aux Analog Configuration sss setenta tnt tht tetti nens 28 3 10 Setting up Data Gathering nennen nnne testante nena 29 3 11 USING Triggering 2 5 cerro eee etos eee e a pe teal ie tee ae 31 3 12 Retrieving Data Gathering Words esses eene 33 3 13 Graphing Variables reete tein Fe pe eor he ee
26. etePower Plus Motion Control Software 3 15 Diagnostic Commands and Variables DG RS Reset Drive Application All Use ACS family ACE family EBC family This command will reset the drive if a 47802 is written to it i e DG RS 47802 Otherwise it will return an error CV Get Version String Application All Use ACS family ACE family EBC family This is read only Responds with the version string The version string has the software ID number version number date and description of drive type LR Allow Low Rail Voltage Application All Use ACS family ACE family EBC family If LR is zero the drive may be enabled even if the rail voltage is to low or entirely absent The user must assure that the voltages needed for drive operation are present CF Display Fault String Application All Use ACS family ACE family EBC family This is read only Displays a string describing the state of the drive run standby brake and any faults CR Restore Default Parameters Application All Use ACS family ACE family EBC family This is read only Restores factory default parameters and writes them to EEPROM The previous parameters will be lost On versions released after December 8 2004 the command will be accepted only if typed as CR23130 ElectroCraft Inc 45 SR TC TV 10 ElectroCraft CompletePower Plus Motion Control Software Run Switch Application All Use ACS
27. formed every current loop The Proportional portion of the Voltage Modulation output value is set to KP Current error Use ACS family ACE family EBC family All drives CL KI Current Integral Gain Range 0 to 32767 Application This is performed every current loop Current error KI 32 is added to working current integral Note changing the KI value will not change the working current integral Use ACS family ACE family EBC family All drives CL SH Current Gain Scaling Range 0to7 Application This is performed every current loop The Voltage Modulation output value is multiplied by 927 Use ACS family ACE family EBC family All drives CL EX Voltage Modulation Limit Plus Range 0 to 1334 ASC family ACE1xxx EBC family 0 to 5000 ACE500 Application This is an additional restraint to the Voltage Modulation output CL DO lt CL EX lt CL MX Use ACS family ACE family EBC family All drives ElectroCraft Inc 16 ElectroCraft CompletePower Plus Motion Control Software CL EN Voltage Modulation Limit Minus Range 1334 to 1334 ASC family ACE1xxx EBC family 5000 to 5000 ACE500 Application This is an additional restraint to the Voltage Modulation output CL DO gt CL EN gt CL MX Use ACS family ACE family EBC family All drives The remainder of this page is intentionally left blank ElectroCraft Inc 17 3 6 ElectroCraft CompletePower Plus
28. h gain and Offset if serial position command is off and command gain is not zero or a serial command Commanded position may be written only if there is a position loop and the serial position bit of the configuration is set 35 ElectroCraft CompletePower Plus Motion Control Software VL CM Commanded Velocity low order VL CH Commanded Velocity high order Range 2147483648 to 2147483647 Application All Use ACS family ACE family EBC family VL CM when not used as a data gathering variable returns the value of both words together Both VL CM and VL CH need to be used while setting up data gathering to get both words Units are 1 RPM for halls based velocity 2 Encoder counts per position servo cycle 256 for halls based velocity 3 Filtered analog with gain and offset for if there is no position loop a velocity loop and analog velocity is set in the configuration word Commanded velocity may be written only if there is no position loop a velocity loop and the command gain is zero CL DO or Commanded Voltage DO Application Range All PR 2 ACS family ACE1xxx EBC family PR 2 ACE500 Use ACS family ACE family EBC family Current control loop output used to control on time of the drive s output voltage This value is read only To calculate the drive output multiply the rail voltage and divide by of the value of PR DI Current Range 1024 to 1024 ACS family ACE1xxx EBC famil
29. ications Options Setup Help Symbol Description Small Tool Bar Large Tool Bar CLPR PWM Modulation Pe Status Bar CLCG Configuration Word Background sed i 5i te Gi Sampling amp Retrie CLHT Hall Table eparate Graph Sampling amp Retrieval Set Advanced Parameters OR Position Velocity LEOP FS 10 Serial Delay RC Locked Rotor Current 4096 0 4096 RW RT Locked Rotor Time 32767 0 32767 RW TE Motor Overtemp Control 0 32768 32767 RW LS Current Control Maximum Command 4096 0 4096 RW LC Current Control Limit 4710 0 4915 RW Commuton Parameters J T CLEC Encoder Counts per Rev 4000 100 55535 RW CLPL Number of Motor Poles 4 2 42 RW HP Hall Advance 5 0 5 RW CLAP Encoder Advance 0 32768 32767 RW CLZC Deadband Compensation 50 0 223 RW CLSC Halls Only Sine Speed Cutoff 50 0 32767 RW CLTA Halls Only Time Advance 50 0 65535 RW xl Figure 4 Uploading New Parameters ElectroCraft Inc 7 ElectroCraft CompletePower Plus Motion Control Software 2 2 How to Change Individual Drive Parameters Most Drive parameters can be changed at any time while the Drive is operational and will take immediate effect However some Drive parameters if changed will require the drive to be reset before proceeding The user may continue to enter other parameters before resetting the drive CL CG CL HT CL PL CL EC CL PR PL SC OR and TE if changed require the drive to be reset before taking effect Note Any individual para
30. ions All drives Use ACS family ACE family EBC family Selects the sequence of Hall states which appear when the motor is rotating Used in conjunction with the HP command below HP Halls Advance Range Oto5 Applications All drives Use ACS family ACE family EBC family Advances the 6 step modulation by X states Used in conjunction with the HT command above HP identifies which of the Hall states in the sequence identified by HT as the first or initial state ElectroCraft Inc 14 ElectroCraft CompletePower Plus Motion Control Software CL AP Encoder Advance Range 1024 to 1024 Applications Sine mode Use ACS family ACE family EBC family Advances the electrical angle by X encoder counts Used to phase the sine wave output to the motor angle if the halls are not aligned correctly or for index synchronization If Adv is the number of degrees to advance the encode angle set CL AP to ADV 1024 360 For sine mode with halls mode this should normally be set to zero The remainder of this page is intentionally left blank ElectroCraft Inc 15 ElectroCraft CompletePower Plus Motion Control Software 3 5 Current Loop Parameters The current is expressed as units of full scale 1024 However if the current is commanded through the analog input the result is divided by 16 before moving it to the current CL KP Current Proportional Gain Range 0 to 32767 Application This is per
31. ions All Use ACS ACE1XXX EBC The current loop and PWM rates in hertz are 7 5 10 X Values below 1250 may cause problems ACES500 The current loop and PWM rates in hertz are 2 10 X The current loop period 2 x PR x CPU clock period 2 x PR x 6 67 ns for the ACE500 The current loop frequency CPU clock frequency 2 x PR 150 MHz 2 x PR for the ACE500 ElectroCraft Inc 9 ElectroCraft CompletePower Plus Motion Control Software CL CG Configuration Word Range O to 65535 All products Application Use Bits 3 12 13 8 and 9 10 11 14 ElectroCraft Inc All DSP based drives ACS family ACE family EBC family This command is used to specify what servo loops are running and to control other features of the drive When this field is clicked in the user interface a popup appears to allow the user to set this configuration word Usage On if the position loop is to be used The position loop will not be used if its output the input to the velocity loop is supplanted by using analog velocity feedback On if the velocity loop is to be used Note the velocity loop is always on in velocity mode optional in position mode and off in current mode On if velocity is to be computed from encoder edges off if computed from Hall edges If using analog velocity feedback this bit is ignored Note this bit must be on and bits 3 12 and 13 must be off in order to read th
32. is the command in internal units 27 ElectroCraft CompletePower Plus Motion Control Software 3 9 2 Aux Analog Configuration Can be used as a torque limit velocity feedback or position feedback CF FL Aux Analog Filter Range 0 to 32767 Application All Use ACS family ACE family EBC family This is used every velocity loop unless the drive is in current mode only in which case it is used every current loop This is used for the first operation in converting the analog feedback to an actual feedback The output of this command is used as the input to the Aux Analog Offset This feedback may represent position velocity or a current limit The output of the filter is Old Value X New Value 32768 X 32768 The input range is O to 8191 CF OF Aux Analog Offset Range 32768 to 32767 Application All Use ACS family ACE family This is used every velocity loop unless it is a current mode drive in which case it is used every current loop Used as the second operation in converting the analog feedback to an actual feedback or current limit The output of this command is used as the input to the Command Gain X is added to the input to get the output CF GN Aux Analog Gain Range 32768 to 32767 Application All applications for which an analog AN2 is used Use ACS family ACE family This is used every velocity loop unless it is a current mode drive in which case it is
33. lue of both words together Both VL CM and VL CH need to be used while setting up data gathering to get both words Units are 1 RPM for halls based velocity 2 Encoder counts per position servo cycle 256 for halls based velocity 3 Filtered analog with gain and offset for if there is no position loop a velocity VF AC Acceleration Range loop and analog velocity is set in the configuration word Commanded velocity may be written via RS232 only if there is no position loop a velocity loop is enabled and the command gain is set to zero 0 to 32767 Application Use ElectroCraft Inc All applications for which an analog from AN1 or PWM for the ACE500 1000 is used for the command ACS family ACE family EBC family This command is used every velocity loop unless it is a current mode drive in which case it is used every current loop If X is zero then the velocity command is the output of the analog command if Command Gain is nonzero or the serial command Otherwise if Command Gain is not zero X 128 is the maximum amount that the absolute value of the velocity command can change in an update cycle If X is nonzero Command Gain is zero and Jerk is zero X 128 represents the absolute value of the change in command every velocity loop If X is nonzero Command Gain is zero and Jerk is nonzero X represents the maximum absolute value the internal acceleration can attain In that case
34. ly EBC family Read only Monitors the 5 volt bus Rail Voltage Range 0 to 65535 Application All Use ACS family ACE family EBC family Read only 15 Volt Monitor Range O to 65535 Application All Use ACE family EBC family Read only Monitors the 15 volt bus 15 Volt Monitor Range 0 to 65535 Application All Use ACE family EBC family Read only Monitors the 15 volt bus Motor Temperature Range 0 to 65535 Application All Use ACS family ACE family EBC family Read only Monitors the raw AD reading of motor temperature ElectroCraft Inc 47 ElectroCraft CompletePower Plus Motion Control Software AD IA Analog Input 1 Range O to 65535 ACS family 4095 to 4095 ACE family Application All Use ACS family Read only For ACS this is the raw AD reading ACE family Read only For ACE this is the PWM input or the raw AD input AD IB Analog Input 2 Range O to 65535 ACS family O to 8191 ACE family Application All Use ACS family Read only For ACS this is the raw AD reading ACE family Read only For ACE this is the PWM input or the raw AD input AD EA Encoder Angle Range O to Encoder counts per Revolution minus 1 Application All Use ACS family ACE family EBC family Read only This is the motor mechanical angle It is not initialized CL MX Actual Voltage Maximum Application All Use ACS family EBC family Read only The a
35. ly 8 2009 Connect To Drive Figure 1 Read Parameters from File ElectroCraft Inc 5 ElectroCraft CompletePower Plus Motion Control Software Alternatively you can read the existing drive parameters stored in the drive Click on the Options icon on the tool bar then select Drive and then click the Retrieve Parameters from Drive option 1 ElectroCraft CompletePower Plus untitled APP q nj xj File Edt View Communications Setup Help vw Large Tool Bar Status Bar Background Color Separate Graph Saleh amp Retrieval Set Advanced Parameter ers from Drive Update Firmware ACE500 Information Status f Mode Torque Current control New Application Create a new Application with drive and motor Commutation Type Sine mode Command Input PwM Motor Feedback Halls only Primary DSP Firmware Version 50016208 ACES00 Debug Sept 10 2009 Debug Compile Date Sep 10 2008 10 DSP Firmware Version 50016303 ACES00 DSP July 8 2008 Figure 2 Load Parameters from File Once communications have been established and the drive parameters retrieved they will be displayed A similar table of drive parameters will then be displayed Zini File Edit View Communications Options Setup Help Symbol Description Value Min Max Access CLPR PWM Modulation Period 5200 5000 10000 Rw CLOG Configuration Word 1312 0 65535 RW CLHT Hall Table 0
36. m a serial command The velocity loop is also used to control the drive based on an external analog feedback signal The velocity error is velocity command velocity The velocity integral is the sum of the velocity errors This value is limited by the Velocity Integral Limit 256 The velocity limit is not summed if the current or velocity loops are saturated The velocity derivative is old velocity derivative Velocity Derivative Filter 32768 Velocity Derivative Filter velocity error old velocity error 32768 The output of the velocity loop goes to the current command VT Measured Velocity Filter Range 0 to 32767 Application Every time a new hall based velocity is computed the result is filtered The computed velocity is old computed velocity X new velocity 32768 X 32768 This is also used to filter the velocity command if the position and velocity feedbacks are both encoder the position command is from step and direction and both position and velocity loops are active In this case the computed velocity command is old velocity command X new velocity command 32768 X 32768 Use ACS family ACE family EBC family Halls velocity drives ElectroCraft Inc 18 ElectroCraft CompletePower Plus Motion Control Software VL KP Velocity Proportional Gain Range 32768 to 32767
37. meter that is changed will be immediately written to the drive For example to change the Velocity Proportional Gain parameter VL KP found under the Velocity Loop Parameters section move your mouse pointer over the displayed value box and then click on it This will bring up a pop up dialog box as shown in the next frame To change the value simply type in the new value and hit OK When the OK key is pressed the new parameter value will be uploaded to the drive immediately so that the value shown on the Parameter table is always the same as it is in the drive f ElectroCraft CompletePo untit loj xj Setup Help File Edit View Communicati Symbol Description CLKI Integral Gain 800 D 32767 RW Max Access CLSH Gain Scaling 1 0 Ri CLEX Voltage Modulation Limit Plus 2500 0 5000 RW CLEN Voltage Modulation Limit Minus 2500 5000 0 RW CLRE Rail Voltage Compensation Enable 1 0 1 RW Velocity Loop Par AZINE x VT Measured Velocity F Proportional Gain 0 32767 RW VLKP Proportional Gain Parameter Symbol VLKP 0 32767 RW Current Value 16384 YLKI integral Gain Lower Umt 0 0 32767 RW VLIL Integral Limit Upper Limit 32767 0 32767 RW VLKD Derivative Gain New Value 0 32767 RW VLDF Derivative Filter 32767 RW VL SH Gain Scaling 26 30 RW VL MX Max Positive Output 4095 0 4095 Rw VLMN Max Negative Output 4095 4095 0 RW VLYM Velocity Limit Check OFF 0 0 65535
38. mps 1024 4096 ACE500 DV Phase V Current Range 1024 to 1024 proportional the phase V current ACS family ACE1xxx EBC family 4096 to 4096 for 100 to 100 current rating ACE500 Application All Use ACS family ACE family EBC family This value is read only To calculate the actual current multiply by IR drive rating in amps 2017152 This value is read only Value is proportional the phase V current To calculate the actual current multiply by drive rating in amps 1024 4096 ACE500 ElectroCraft Inc 39 ElectroCraft CompletePower Plus Motion Control Software DW Phase W Current Range 1024 to 1024 proportional the phase W current ACS family ACE1xxx EBC family 4096 to 4096 for 100 to 100 current rating ACE500 Application All Use ACS family ACE family EBC family This value is read only To calculate the actual current multiply by IR drive rating in amps 2017152 This value is read only Value is proportional the phase V current To calculate the actual current multiply by drive rating in amps 1024 4096 ACE500 PL AC Position low order PL AH Position high order Range 2147483648 to 2147483647 Application All Use ACS family ACE family EBC family This variable is read only PL AC when not used as a data gathering variable returns the value of both words together Both PL AC and PL AH need to be used while setting up data gathering t
39. nd Trigger If triggering is desired then a negative sample delay is the number of samples before the trigger event to be displayed and a positive sample delay is the number of samples after the trigger event to delay No data will be sent until the trigger event occurs DG TC Clear trigger table Use ACS family ACE family EBC family This must be the first command before setting up the trigger table if there is to be one This command clears both the trigger table and the data gathering table DG TR Set the trigger control word Use ACS family ACE family EBC family This sets the trigger control word The trigger control word cannot be read This command must be directly followed by a command which is the command to read the data variable The data variable must be followed by a DG CN command Bits Description 15 Must be set to zero 13 14 Comparison type which takes one of these four values e 0 Variable constant e 1 Variable constant 2 Falling edge Variable was greater or equal to constant now is less 3 Rising edge Variable was less or equal to constant now is greater 11 12 Relationship type which takes one of these four values 0 Last entry in table e 1 Both this comparison and the next one must be true e 2 Either this comparison or the next must be true e 3 This comparison must become true and then the next one must become true 9 10 Variable type which takes one of the following thre
40. nd Offset This command may represent position current velocity or a value represented by the analog feedback signal The output of the filter is Old Value X New Value 32768 X 32768 VF OF Command Offset Range 32768 to 32767 Application All applications for which an analog from AN1 is used for the command Use ACS family ACE family EBC family This command is used every velocity loop unless it is a current mode drive in which case it is used every current loop Used as the second operation in converting the analog command to an actual command The output of this command is used as the input to the Command Gain X is added to the input to get the output VF GN Command Gain Range 32768 to 32767 Application All applications for which an analog from AN1 is used for the command Use ACS family ACE family EBC family ElectroCraft Inc This command is used every velocity loop unless it is a current mode drive in which case it is used every current loop Used as the third operation in converting the analog command to an actual command for the outer loop used If the gain is zero then there is no analog command and the command must be provided serially or by step and direction for position mode Note that step and direction is not available on the ACE500 1000 The output is input X 4096 for current command or input X 256 for velocity or position command The output
41. ned long int GraphCRC unsigned short int Data Graphic CRC Data for Ix 0 Ix lt 16 Ix if long int GraphCRC lt 0 GraphCRC 0xC0028000 GraphCRC lt lt 1 The remainder of this page is intentionally left blank ElectroCraft Inc 34 ElectroCraft CompletePower Plus Motion Control Software 3 13 Graphing Variables Variables are used for data gathering and graphing Any parameter or variable that can be read can be graphed These are the variables used by the Windows interface CL CC or Commanded Current cc Range 1024 to 1024 ACS family ACE1xxx EBC family 4096 to 4096 ACE500 Application All Use ACS family ACExxx EBC family Units are full scale current 1024 Commanded current can only be written if there is no position or velocity loop and command gain is zero ACE500 Units are full scale current 4096 Commanded current can only be written if there is no position or velocity loop and command gain is zero PL CM Commanded Position low order PL CH Commanded Position high order Range 21474830648 to 2147483647 Application All Use ACS family ACE family ElectroCraft Inc PL CM when not used as a data gathering variable returns the value of both words together Both PL CM and PL CH need to be used while setting up data gathering to get both words Units are encoder counts if serial position command is off and command gain is zero filtered analog wit
42. o get both words Units are encoder counts if analog position feedback command is off or filtered analog with gain and offset if analog position feedback command is off PL ER Position Error Range 32768 to 32767 Application All Use ACS family ACE family EBC family This variable is read only It is commanded position position ElectroCraft Inc 40 ElectroCraft CompletePower Plus Motion Control Software PLIN Position Integral low order PL IH Position Integral high order Range 8388352 to 8388352 Application All Use ACS family ACE family EBC family This variable is read only Position integral is the sum of the position errors It is not accumulated if the position loop or current loop is saturated PL IN when not used as a data gathering variable returns the value of both words together Both PL IN and PL IH need to be used while setting up data gathering to get both words CL DS Scaled Current Integral Application All Use ACS family ACE family EBC family The portion of the current loop output DO due to the integral term of the PI current control VL AC Velocity low order VL AH Velocity high order Range 2147483648 to 2147483647 Application All Use ACS family ACE family EBC family This variable is read only VL AC when not used as a data gathering variable returns the value of both words together Both VL AC and VL AC need to be used while setting
43. recommended that you first save the original parameters to a file so that you can restore them later if needed Click the File icon on the tool bar and then Save Parameters This selection will bring up a Save As dialog box Name your file i e default prm and then press the Save button in the Applications folder To open this saved default prm file from your computer or any previously saved parameter file Click the File icon from your tool bar then select the Open Parameters File icon Alternatively select File icon from your tool bar then Open Parameters File and search for the desired parameter file on your PC Opening a file will load the parameters from your computer or diskette to the ElectroCraft CompletePower Plus program only A pop up dialog box will appear any time you open a new parameter file from your PC which will ask if you wish to write the parameters to the drive If you are not certain that you want to replace the drive parameters with the new parameters then select No The new parameters will be loaded into the Windows program where you can reference them and change them if desired When the user is ready to upload the new parameters you must then click the Options icon on the tool bar then Drive and then Write Parameters to Drive from the menu line 1 ElectroCraft CompletePower Plus untitled APP File Edt View Commun
44. t 256 The position limit is not summed if the current loop or the position loop are saturated The position derivative is old position derivative Position Derivative Filter 32768 Position Derivative Filter position error old position error 32768 The output of the position loop goes to the velocity command if there is a velocity loop Otherwise it is divided by 16 and put in the current command PL KP Position Proportional Gain Range 0 to 32767 Application This is performed every velocity loop Working velocity correction is set to velocity error X Use ACS family ACE family Position mode drives PL KI Position Integral Gain Range 0 to 32767 Application This is performed every velocity loop Position integral X 256 is added to working velocity correction Use ACS family ACE family Position mode drives ElectroCraft Inc 23 ElectroCraft CompletePower Plus Motion Control Software PL IL Position Integral Limit Range 0 to 32767 Application This is performed every velocity loop The absolute value of position integral is limited to 256 X Use ACS family ACE family Position mode drives PL KD Position Derivative Gain Range 0 to 32767 Application This is performed every velocity loop Position derivative X is added to working current correction Use ACS family ACE family
45. tion Control Software Application Parameter Manual PM Rev 1 0 09 18 09 doc Document Number A11106 This documentation describes e ElectroCraft CompletePower Plus Drive Parameter Editor tool with Oscilloscope function and program debugging and monitoring descriptions DATE DESCRIPTION COMMENTS 09 18 09 Initial Release 2009 ElectroCraft Inc USA All rights Reserved Copying this document giving it to others and the use or communication of the contents there of without express authority is forbidden Offenders are liable for the payment of damages We reserve the right to modify our products at any time Information specifications and material data that appear within this user manual are subject to change without notice For the latest revision of this manual please check our web site or contact ElectroCraft The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract All rights are reserved with respect to the content of this documentation and the availability of the product ElectroCraft Incorporated P O Box 7746 Ann Arbor Michigan 48107 USA Tel 734 662 7771 Fax 734 662 3707 http www electrocraft com Dept Sales and Marketing ElectroCraft CompletePower Plus Motion Control Software Table of Contents 1 ElectroCraft CompletePower Plus Parameter ssesssseeeenneneeennennenes 4 1 1 OVSGrVIeW c ce od
46. treaming The number of samples to be returned are in the command parameter Each variable is returned as two 8 bit characters After all data is streamed a carriage return followed by a line feed is put out It is up to the user to make sure the number of points specified are available before issuing this command see DG PA The values are sent in the same order as DG RM DG PA Data Points Remaining Use ACS family ACE family EBC family This variable is read only Returns the total number of points which have been collected but not read DG DA Data Address Use ElectroCraft Inc ACS family ACE family EBC family This variable is the number of words which have been read This can be used in conjunction with data CRC to set the back to the place where the CRC was last valid in case the CRC does not match 33 ElectroCraft CompletePower Plus Motion Control Software DG CR Data CRC Range 0 to 65535 Application All Use ACS family ACE family EBC family For every word which is read by way of a read data command a CRC is computed by the code shown below When Data CRC is written it is written to the upper 16 bits of GraphCRC When DataCRC is read it is read from the upper 16 bits of GraphCRC By setting GraphCRC to a known number from 0 to 65535 65535 is recommended and keeping track of the CRC as each data word is sent the data can be verified with a very small probability of undetected error unsig
47. urn To write a new value Type the ASCII command followed by the new value X and a return Backspace allows you to start over in case a mistake is made ElectroCraft Inc 4 2 0 ElectroCraft CompletePower Plus Motion Control Software Running ElectroCraft CompletePower M Plus After establishing communications with the drive load drive parameters from a file or disk by clicking on File from the tool bar and then Open Parameters File from the drop down box of the tool bar Locate the file and click open In figure 1 below select from pre loaded parameter file sets that have been established for use with this drive when using ElectroCraft motors ElectroCraft CompletePower Plus untitled APP inl x File Edit View Communications Options Setup Help New Application Open Existing Application ACE500 Information Save pplication cis Save Application 4s Open Parameter File Ctrl 0 Save Parameters Open Graph File Status Save Graph L Print Mode Torque Current control eview or modify an xisting Application stored on disk Exit Commutation Type Sine mode Command Input PWM d KA Edit Application Motor Feedback Halls only Save Application Primary DSP Firmware Version 50016208 ACES00 Debug Sept 10 2003 Debug Compile Date Sep 10 2003 UE 3 10 DSP Firmware Version Quick Diagnostics 50016303 ACES00 DSP Ju
48. y 4096 to 4096 ACE500 Application All Use ACS family ACE family EBC family This is the current that the drive is delivering to the motor CL ER or Current Error ER Application All Use ACS family ACE family EBC family This variable is read only Current error is commanded current current ElectroCraft Inc 36 ElectroCraft CompletePower Plus Motion Control Software CL IN or Current Integral low order IN CL IH or Current Integral high order IH Range 2147483648 to 2147483647 Application All Use ACS family ACE family EBC family This variable is read only The current integral is the sum of the current errors The integral is not summed if the current loop is saturated IN or CL IN when not used as a data gathering variable returns the value of both words together Both IN or CL IN and IH or CL IH need to be used while setting up data gathering to get both words VF VD Filtered Command low order VF VA Filtered Command high order Application All Use ACS family ACE family EBC family This variable is read only See command filter VF FL for details about how the filter operates When not used as a data gathering variable VF VA returns the integer part of the filtered command and VF VD returns both the integer and fractional parts 65536 CF VD Filtered Feedback low order CF VA Filtered Feedback high order Application All Use ACS family ACE family
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