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1. 70 Table 4 10 J7 BIN BCD OUTPUT CONNECTOR PIN 55 5 71 Table 4 11 J8 LCU CONNECTOR PIN ASSIGNMENTS sse 73 Table 4 12 J9 TACHOMETER INPUT CONNECTOR PIN ASSIGNMENTS 74 Table 4 13 J10 SYNCHRO ABC CONNECTOR PIN 5 6 5 75 Table 4 14 J11 POWER amp LIMITS ABC CONNECTOR PIN ASSIGNMENTS 76 Table 4 15 J11 CONTROL CONNECTOR PIN ASSIGNMENTS 77 Table 4 16 12 SYNCHRO DEF CONNECTOR PIN 5 5 78 Table 4 17 J13 POWER amp LIMITS DEF 55 6 79 Table 4 18 14 AC POWER LINE INPUT PIN ASSIGNMENTS 80 Table 4 19 J15 REFERENCE INPUT ASSIGNMENTS 80 Table 4 20 J20 SHELL UTILITY COM PIN 55 6 80 Table 4 21 J21 INCLINOMETER amp ENCODER 7 8 PIN 55 5 81 Table 4 22 J22 E STOP INTERLOCK 8 6 82 Table 4 23 J23 ENCODER DEF PART1 PIN ASSIGNMENTS 83 Table 4 24 J23
2. A S 32 2 4 2 Incremental Optical Encoders eee eene eren rennen 34 2 4 3 Absolute Optical Encoded onise aee ore Ph oe E ee pies 35 2 4 4 Inclin meleks x cai 36 2 4 5 36 2 5 MOTION CONTROLLERS ertet o bar o ret o e te n pe er e E E SERS 38 3 CHAPTER 3 UNPACKING amp INITIAL 40 3 1 INTRODUCTION wisi T X 40 3 2 UNPACKING amp INITIAL INSPECTION trennen en 40 3 3 42 3 4 PREPARING FOR USE sic sic cibsnssas 44 3 4 1 Power Requirements cerises saie eene ttem een eene ener tret EREE 44 3 4 2 Line Voltage Selection esee eene eene entrent nns 44 3 4 3 Power Cord ee REC e tee ER chant ov ER CO ree o LH be ete 44 3 4 4 Operating Environment essent nre emen ren een nent treten nene 45 3 4 5 Bench Operation soe vied eas ope op reta rc b PEDI EI DD BEER IUE 46 3 4 6 Rack Mount Operation eset are pero n PER crees D e POR EE 46 3 5 INITIAL PRE OPERATIONAL CHECKOUT trennen trennen 48 4 CHAPTER 4 HARDWARE CONFIGURATION amp INSTALLATION e eeeee
3. 134 Figure 5 23 Home Dialog Window ssesssseseene ener enne nnne 137 Figure 5 24 Axis Tuning nennen en nenne nennen nennen 145 Figure 5 25 CG Menu Inversing Direction sssseenenem emm 148 Figure 5 26 Position Menu Format nene nennen enne 149 Figure 5 27 Position Menu 151 Figure 5 28 Plot Window For Data Recording ssessseee 154 Figure 5 29 Status Window For Data Recording Results 154 Figure 5 30 CG Dialog sssesssesseneneeenenen KEANNA ARA nennen nennen nnne 155 Figure 5 31 Filter Dialog enitn enint sinet trn sinn nn 156 Figure 5 32 GUI for Recording Point to Point Motion ss 158 Figure 5 33 Zoomed In Plot of Rising Edge Transition 159 Figure 5 34 Step Analysis cr tn ift e cyber hh gue Cup BERRY BA Hub d Tz Bue 160 Figure 5 35 Dialog For Changing Display ssssssseeeen emm ennemis 161 Figure 5 36 Step Analysis uci t Paene aAA dpt Bates Y pec tee vai ecu pte e Pleat gee 162 Figure 5 37 Drive Command Signal When Adjusting KP Signal 163 Figure 5 38 Desired Position amp Actual Position
4. Figure 8 File Properties Comments Folder The Comments folder is a part of the General Properties It is separated to provide easy editing and viewing of long comments Doc No MAL 4806 3C doc 202 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URBIT FR File Properties Lx General Multi Axis Controller Comments Motion Analyzer Properties TRIGGER DEFINITIONS Triggr On Velocity Chennel 1 gt 10000 00 Pre Trigger 30 EVENTS DEFINITION None CONTROLLER TYPE Not Available Cancel Apply Help Figure 9 File Properties Folder An important issue is the properties of an imported file which does not have initial properties at all In this case all properties get default values The default value of some of the properties can be defined by the user as described in the next section The file properties are saved with the file when it is saved Doc No MAL 4806 3C doc 203 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller A 2 7 2 Default Properties The user can
5. amp Sv LD Rs EC OC QK BR WR QV Tem SC 4M AT Controller sc 4mcam1 COMI Baud 115200 k mum Product Version 4 2 63 Es Anis Axis Y x UE COE n 1 1 rites RSEN C0 Display Axis seam qeu MEME 100 NEN 05 Driver Fault e i Driver Fault L 1 iw 0 0 7 Custom Window Motion Status No Motion I P Motion Status No Motion E I Serve Em Motor aut None Servo Motor Fault Abort Input P Last Motion ended due to user command ST I W cuu EU LER TER Poin SS Potion GS O F S si sub ju LEN Driver Fault Driver Fault NENNEN ir NN oo Motion Status No Motion Servo Motion Status No Motion Motor Fault Abort Input Motor Fault Abort Input Macro IAT Iv initialized Running X Y 8 2 E F 6 BU V 6 Abort Input gt p Position 9 Axis 6 Enc Fine Coarse em Tacho Gain 04836 I l sWLowLim O0 MaxEn 2 de tachoOtteet 2040 Active Axis Sw Hi Lim 0 Torque Lim 32767 x Indoctusyn C Inclinome
6. 22 Table 1 3 Electrical Characteristics nennen 23 Doc No MAL 4806 3C doc 13 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Table 1 4 Physical Mechanical Specifications 25 Table 1 5 Front Panel Controls sisisi rettet ette ate tto d Ren t deg 25 Table 3 1 Supplied Equipment amp Accessories ssssss nnn 41 Table 4 1 Tools Required For Installation sssseennnnnnnnnnnnnns 53 4 27 Current Limit Setup rrt etae na ae ERR Int RIEN nto MERE a GA 56 Table 4 3 Rear Panel Connector Identification Opt 1 62 Table 4 4 Rear Panel Connector Identification Std Version sseee 64 Table 4 5 Rear Panel Connector Description Both Models see 65 Table 4 6 J1 DC OUT CONNECTOR PIN 8 69 Table 4 7 J4 IEEE 488 CONNECTOR PIN ASSIGNMENTS see 69 Table 4 8 Table 4 7 J5 I O RS 232 422 CONNECTOR PIN ASSIGNMENTS 70 Table 4 9 J6 DC OUT CONNECTOR PIN 8
7. PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME 1 DIO1 DIO1 2 DIO2 DIO2 3 DIO3 DIO3 Bi Directional data bits 1 4 DIO4 DIO4 to 4 5 EOIN EOIN End or Identify 6 DAVN DAVN Data Valid 7 NRFDN I O NRFDN Not Ready for Data 8 NDACN NDACN Not Data Accepted 9 IFCANE IFCANE Interface Clear 10 SRQN O SRQN Service Request 11 ATNN ATNN Attention 12 GND GND Earth Ground 13 DIO5 I O DIO5 14 DIOG DIO6 15 DIO7 DIO7 Bi Directional data bits 5 16 DIO8 DIO8 to 8 17 RENN RENN Remote Enable 18 GND GND Electrical Ground 19 GND GND Electrical Ground 20 GND GND Electrical Ground 21 GND GND Electrical Ground 22 GND GND Electrical Ground 23 GND GND Electrical Ground 24 GND GND Electrical Ground Doc No MAL 4806 3C doc 69 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller Table 4 8 Table 4 7 J5 l O RS 232 422 CONNECTOR PIN ASSIGNMENTS PIN INTERNAL O EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME 1 Protective Ground 2 TXD TXD Transmitted Data 3 RXD RXD Received Data 4 RTS RTS Request To Send 5 CTS CTS Clear To Send 6 DSR O DSR Data Set Ready
8. 163 Figure 6 1 Front Panel Controls amp Indicators 167 Figure 6 2 Sector Scan Profile cesse ien ree i edad d Eduensi pni h eR 174 Figure 6 3 Sector Scan Examples ssssssssessssee eene eren enne 177 Figure A 1 Data Viewer Main Screen With Example Data File 181 Figure A 2 Graphic Window Properties Main 184 Figure A 3 Graphic Window Properties Vectors 185 Figure A 4 Analyze Add And Subtract Window sssessee eee 192 Figure A 5 Analyze Statistics Window sse nennen 195 Figure 6 The Organizer WindOW cc ccceeeecceeseeccceeeeeeceeeeeeccaeeneeaaeeeseecaeeeseeacceeeeeeaeenseaaeentees 198 Figure A 7 File Properties General ene 202 Figure A 8 File Properties Comments Folder sssseeeeeeeeemn 202 Figure A 9 File Properties PMA Folder eeeeeeneneenemeennnnn 203 Figure A 10 File Properties PMA Folder ssssseeeeeeneeeeneneenen emen 204 List of Tables Table 1 1 Supplied Equipment amp eene 22 Table 1 2 AL 4806 3C Available
9. 124 5 3 1 PIV Filter Mode siini ponien Er o o EDI 124 5 4 CONFIGURING amp TUNING Y OUR SYSTEM esee nette netten nter toten inten s 127 5 4 1 The Importance Of Saving amp Archiving Parameter Files sess 127 5 4 2 Confieurihg An AxIsa aga cob toa tbe eese Uo 127 5 4 3 Getting Started First Time SHELL Operation sese 128 5 4 4 Home Position E 139 Doc No MAL 4806 3C doc 9 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 4 5 Overview Of The Tuning Process eene eere 142 5 4 6 eee Metus fecta 143 5 4 7 Tuning An Axis PIV Mode eese eene 144 6 CHAPTER 6 OPERATION iets ee Soa ros boe eR 165 6 1 INTRODUCTION Scie eae sensn et etse 165 6 2 PRIORITY ORDER OF CONTROL tecnica ie ates 165 6 2 1 AL 4806 3C Opt 1 Built In PCU Priority Order see 165 6 2 2 AL 4806 3C Without PCU Priority Order sse 165 6 3 HAND HELD CONTROL LCU 1 UNITS ONLY eese enne eene 166 6 4 LOCAL MANUAL CONTROL cte re
10. Use care when using metal tools that circuits are not shorted Some circuits have high current capacity which when shorted will flash and gt may cause burns and or eye injury Remove all jewelry and exposed objects from body and clothing before performing maintenance adjustments and or troubleshooting Before working inside equipment remove all power unless power is required to be on to perform procedures Do NOT replace parts or modules with power ON Servicing this equipment requires working with the equipment while the equipment while AC power is applied Extreme caution must be exercised during these procedures Electrical Ground Az Chassis or earth ground The WARNING sign denotes a hazard It calls attention to a procedure practice etc which if not correctly performed or adhered to could result in injury or loss of life Do not proceed beyond a WARNING sign until the indicated conditions are fully understood and met The CAUTION sign denotes a hazard It calls attention to an operating procedure practice etc which if not correctly performed or adhered to could result in damage to or destruction of part or all of the equipment Do not proceed beyond a CAUTION sign until the indicated conditions are fully understood and met Doc No MAL 4806 3C doc 6 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may
11. A A a A A A A b C A B A B d 1 1 l l f A GND A GND g A 5M A 5V Doc No MAL 4806 3C doc 85 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller Table 4 26 J24 ENCODER ABC PART 2 PIN ASSIGNMENTS PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME h _ B Bt B Bt k B B B B m SHILDED SHILDED n 1 1 1 l q B GND B GND r 5V B 5V S t C A A _ C Bt V C B C B Ww 1 1 X C I l y C GND C GND 2 C 5V C 5V AA A CLK 1 A CLK BB A CLK 2 A CLK CC A DATA 1 A DATA DD A DATA 2 A DATA EE GND COM GND FF 5V av GG B CLK 1 B CLK HH B CLK 2 B CLK JJ B DATA 1 B DATA KK B DATA 2 B DATA LL C CLK 1 C CLK MM C CLK 2 C CLK NN C DATA 1 C DATA PP C DATA 2 C DATA Doc No MAL 4806 3C doc 86 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller 5 CHAPTER 5 SETUP UTILITY CONFIGURATION amp USE 5 1 Introduction This chapter is intended to help the installer or user quickly co
12. B E STOP 2 E STOP2 Contact Closure Emergency Stop Interlock Return C SPARE SPARE D SPARE SPARE E SPARE SPARE F SPARE SPARE Doc No MAL 4806 3C doc 82 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller Table 4 23 J23 ENCODER DEF PART 1 PIN ASSIGNMENTS PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A D Home D HOME B E Home E HOME C F Home F HOME D Home GND HOME GND E Shield 1 SH1 F Shield 2 SH2 G T15V 15V H 15V 15V J REF_HI REF HI K REF_LO REF LO L D SIN LO D SIN LO M D SIN HI D SIN HI N D COS HI D COS HI P D COS LO D COS LO R E SIN LO E SIN LO S E SIN HI E SIN HI T E COS HI E COS HI U E COS LO E COS LO V F SIN LO F SIN LO W F SIN HI F SIN HI X F COS HI F COS HI Y F COS LO F COS LO Z D D A a D A D A b D Bt D B C D B D B d D_I D I D l F D GND D GND G D 5V D 5V Doc No MAL 4806 3C doc 83 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Table 4 24 J23 ENCODER DEF PART2 PIN ASSIGNMENTS PIN IN
13. Indoctusi Incli t Encad e Select the RESOLUTION BITS to le Messa en ncinometer ncoder i applicable to the active axis The Absolute bits the more resolution and accuracy to Res 12 Bit Res 12 Bit gt the axis e Setthe VELOCITY format for the active axis iy The example above illustrates a dual speed 12 bit Synchro with Tach velocity feedback Step 6 Configure Position amp Velocity Set the following parameters for each axis prior to calibrating tuning an axis l Position I Tacho Gain 0 04836 Tacho Offset 2040 Tach Gain Monitor the gain for velocity feedback Mech Offset 0 Offset O0 Set To Tach Offset Enter the Tach Offset if applicable Decimal Point 3 Position Format 0 360 deg Error Mapping Error Mapping 21 Mech Offset Enter the mechanical offset in pls 360 Reading T user units if applicable e Offset Enter the electrical offset if applicable 360 Reading Set flag whether to inverse the direction of a Synchro Inductosyn or Encoder readout Doc No MAL 4806 3C doc 136 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e Decimal point Set resolution of angl
14. Multi Axis Controller 5 2 5 2 Home ON FLS Home on FLS perform the following steps Start fast motion to FLS direction until motion is stopped by FLS limit Move fast out of FLS to RLS direction until FLS limit is OFF Move fast to Home Slow Limit Search Dist position from limit Move slowly into the FLS limit pe o FLS Figure 5 6 Home ON FLS Note If search index option is selected after the sequence above the first index is searched see section 5 2 5 6 5 2 5 3 Home ON RLS Home on RLS perform the following steps 1 Start fast motion to RLS direction until motion is stopped by RLS limit 2 Move fast out of RLS to FLS direction until RLS limit is OFF 3 Move fast to Home Slow Limit Search Dist position from limit 4 Move slowly into the RLS limit Doc No MAL 4806 3C doc 106 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Note If search index option is selected after the sequence above the first index is searched see section 5 2 5 6 RLS Figure 5 7 Home ON RLS 5 2 5 4 ON Input To RLS Direction There are 3 states to consider 1 Home Input is on from beginning of the sequence 2 RLS was found before the home input 3 Home Input was before reaching Limit RLS On
15. Res 1 p 360 Reading T I V Fac 500 Phase Offset 0 I Decimal Point 3 1 ABS Enc P Fac Gain 1 li Position Format 0 360 deg l Acc Dec 5 T Lim Dec 100 Gain 1 Panel Aux Enc Rat Error Mapping i l Set Home Parameters fi Error Mapping 7 Home Zero Pos 22 I Axis Saving amp Downloading Axis Motion Filter Functions CG Config Menu Error Correction Parameters Homing Parameters Figure 5 21 Active Axis Configuration Folder Sections Axes 1 thru 6 Doc No MAL 4806 3C doc 133 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller Step 3 Select amp Enable The Axis To Be Configured e Press the Active button in the upper left corner e Failing to press this button shall result in i The axis configuration folder shall remain inactive all gray i controller shall display in the display window Step 4 Define amp Label The Axis e Select Special Functions Axis 1 menu to configure the A axis connected to the 4806 3C controller Note that axes A through F of the 4806 3C correspond respectively to axes 1 through 6 of the SC Shell utility Upon making the above selection the user interface window
16. 207 208 w w w CO w w W CO UJ W UU W W CO W CO W UU CO CO CD W W W W W W Doc No MAL 4806 3C doc E Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller WARRANTY We warrant that this product when properly used will perform in accordance with ORBIT FR s applicable specifications If within one year after original shipment or other period if so stated in the relevant contract it is found not to meet this specification ORBI FR s will at its option either repair or replace the products which prove to be defective ORBIT FR warrants that its software and firmware designated for use with the product will execute its programming instructions when properly installed in the product ORBIT FR does not warrant that the operation of the product or software or firmware will be uninterrupted or error free The foregoing warranty shall not apply to defects resulting from improper or inadequate maintenance by Buyer Buyer supplied software or in interfacing unauthorized modification or misuse operation outside of environmental specification for the product or improp
17. B or Motion Velocity PI j i 16 Bit Brushless Filter E Single Profile DACS Command Interface or Sinusoidal Brushless 2 Phase Command Interface Position Loop Gain Saturation Commutation Encoder Velocity Motor and Counts 2 Load System T Gain Encoder Position PS Counts Encoder Figure 5 16 AL 4806 3C Servo PIV Algorithm Block Diagram Doc No MAL 4806 3C doc 125 Rev B Information contained herein is the sole property of ORBIT FR Engineering Ltd and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Engineering Ltd URHIT FR Multi Axis Controller The Velocity PI control loop algorithm is shown in the following block diagram Velocity Loop Gain Velocity Controller Figure 5 17 AL 4806 3C Velocity Control Loop Algorithm The Velocity PI filter implementation is normalized This means that the Gain constant KD directly controls the Velocity open loop gain while the integral term gain KI controls the Velocity Open loop Zero in frequency response domain location Using schematic continuous time representation the Velocity loop controller can be characterized by the following frequency response equation ca 32 jn It is clearly noted that changing KD the derivative loop gain does not effect the Zero location and changing KI the integral term
18. CHAPTER 7 MAINTENANCE amp SERVICE lists simple operator maintenance procedures fuse replacements and returning for service instructions APPENDIX A DATA VIEWER Describes how to use the recorded motion data viewer APPENDIX B INDUCTOSYN amp TACHOMETERS CALIBRATION Describes how to calibrate the Inductosyn amp Tachometer Doc No MAL 4806 3C doc 19 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller 1 4 Product Family The AL 4806 3C Positioner Controller family of controllers is shown below AL 4806 3C Opt 1 Positioner Controller with Built In PCU 6 Axes of Sequential Control Supports up to 1 HP positioners AL 4806 3C Positioner Controller 6 Axes of Sequential Control Separate PCU required such as the AL 4146 2 or AL 4106 2 6A LINE 1 3 KV Figure 1 2 AL 4806 3C Rear Panel View Opt 1 w Built In PCU shown Doc No MAL 4806 3C doc 20 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Figure 1 3 AL 4806 3C Front Panel View without PCU SHELL INCREM
19. One bit sign for direction three bits of factor The actual velocity can be calculated by using the following formula factor Velocity 2 Actual Velocity When factor FV1 2 FVs 4 FV4 Doc No MAL 4806 3C doc 60 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 4 6 Rear Panel Connectors amp Switch Description 4 6 1 AL 4806 3C Opt 1 w Built In PCU Rear Panel EncJind Abs __ DEF fum Figure 4 8 AL 4806 3C Opt 1 w Built In PCU Rear Panel Doc No MAL 4806 3C doc 61 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 4 6 2 Rear Panel Connector Identification AL 4806 3C Opt 1 Table 4 3 Rear Panel Connector Identification Opt 1 Version Ref Name AL 4806 3C Rear Suggested Mating No Des Panel Cable Connector Of Bulkhead Pins Connector J1 INCREMENT BNC F BNC M 1 J4 IEEE 488 IEEE STD IEEE STD 24 J5 I O RS 232 RS 422 DB 25S DB 25P 25 J6 DC OUT BNC F BNC M
20. Web site www orbitfr com DORBIT FR AL 4006 36 OPT MULTI AXIS CONTROLLER WITH BUILT IN PCU Operation Manual PROPRIETARY DATA ORBIT FR Has proprietary rights on the information in this document It is forbidden to copy duplicate or disclose the information herein in whole or in part or make use of the information unless permission has been previously obtained in writing from ORBIT FR Date Title Doc No August 2006 Multi Axis Controller with PCU Manual MAL 4806 3C Prepared by Version Approved by John Casserta Gilat Orkin Wolf B Roni Braun Document pages and revisions are identified on page 2 ORBIT FR Multi Axis Controller REVISIONS Rev DESCRIPTION DATE APPROVED ECO No 291817 17 1 2005 Roni Braun B ECO No 250611 1 5 2006 Roni Braun C ECO No 250682 29 7 2007 Roni Braun PAGE REVISION PAGE REVISION PAGE REVISION PAGE REVISION PAGE REVISION 1 39 B 77 B 115 B 145 B 2 B 40 B 78 B 116 B 146 B 3 B 41 B 79 B 117 B 147 B 4 B 42 B 80 B 118 B 148 B 5 B 43 B 81 B 119 B 149 B 6 B 44 B 82 B 120 B 150 B 7 B 45 B 83 B 121 B 151 B 8 B 46 B 84 B 122 B 152 B 9 B 47 B 85 B 123 B 153 B 10 B 48 B 86 B 115 B 154 B 11 B 49 B 87 B 116 B 155 B 12 B 50 B 88 B 117 145 13 51 B 89 B 118 B 146 B
21. 1 J7 BIN BCD OUT 57 30500 50 J8 LCU MS3102E 20 MS3106E 20 17 29SW 29PW J9 TACH MS3102E 20 33P MS3106E 20 33S 11 J10 SYNCHRO ABC MS3102E 28 11SX MS3106E 28 11PX 22 J11 POWER LIMITS MS3102E 28 11S MS3106E 28 11P 22 J12 SYNCHRO DEF MS3102E 28 11SX MS3106E 28 11PX 22 J13 POWER LIMITS DEF MS3102E 28 11S MS3106E 28 11P 22 J14 LINE IN IEC 320 M IEC 320 F 3 3 J15 REFERENCE IN 53102 125 3 MS3102E 12S 3S 2 J20 SHELL COM RJ 45 F RJ 45 M 8 8 J21 ADD ENC INC MS3470L16 26S MS3476L16 26P 26 J22 INTERLOCK MS3470L10 6S MS3476L10 6P 6 J23 ENC IND ABS DEF MS3470L24 61S MS3476L24 61P 61 J24 ENC IND ABS ABC MS3470L24 61S MS3476L24 61P 61 Doc No MAL 4806 3C doc 62 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT Multi Axis Controller 4 6 3 AL 4806 3C Without PCU Rear Panel Connectors amp Switches VREFSERIERIISU ESS NTS ETI YES ET EESE A FY A VOEE EEE A EET EEE IEE ES NEES ET Enc Ind Abs e amp 19 1 0 SpEN INCREMIENT ABC SYNCHRO D E M J20 J5 D amp te IEEE 488 DC OUT INTERLOCK 2 CONTROL Diu e bV 4A sB 4 H 25 LINE OV 2A SB 0 5 KVA MAX amp 2 a d
22. 7 GND GND Signal Ground 8 CD CD Receive Signal Detector 9 Reserved for data testing 10 Reserved for data testing 11 Unassigned 12 SCF SCF Secondary Receive Signal Detector 13 SCB SCB Secondary Clear to Send 14 SBA SBA Secondary Transmitted Data 15 DB Transmission Signal Element Timing 16 SBB SBB Secondary Received Data 17 DD Receiver Signal Element Timing 18 Unassigned 19 SCA SCA Secondary Request to Send 20 DTR Data Terminal Ready 21 CG O CG Signal Quality Detector 22 Ring Indicator 23 CH CI lO CH CI pole oignal nale Selector 24 DA Transmit Signal Element Timing 25 Unassigned Table 4 9 J6 DC OUT CONNECTOR PIN ASSIGNMENTS PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME BNC DC OUT O DC OUT DC voltage output proportional to the position of the operating axis Doc No MAL 4806 3C doc 70 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller Table 4 10 J7 BIN BCD OUTPUT CONNECTOR PIN ASSIGNMENTS PIN BCD BINARY FUNCTION SIGNAL NAME SIGNAL NAME 1 0 01P P4 These signals represent the 2 0 02P P5 hundreds tens units 3 0 1P P8 tenths and hundredths 4 0 2P P9
23. Axis configuration file from the PC s hard disk to the PC s RAM To Selected Axis e Save Data To File Save PC s RAM Data of selected axis to dedicated ORB axis configuration file on the PC s hard disk Doc No MAL 4806 3C doc 141 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 4 5 Overview Of The Tuning Process The AL 4806 3C controls positioners and their servo motors by comparing the desired commanded and actual positions The difference between the commanded and actual positioners is defined as the position error As the position error increases the motor control signals are increased to counteract the error The computation of the value of the control output for a given position error is determined by the digital filtering parameters The process of adjusting these parameters to provide the best control for a particular positioning subsystem and its loads is called Tuning This section provides guidelines for tuning a particular positioning subsystem There are generally two methods for tuning closed loop control systems Calculation and Trial amp Error The calculation method involves complicated calculations and knowledge of the positioners characteristics such as motor amp gear train response load inertia and fr
24. However the zoom feature should first be used to zoom in on a rising edge e Within the plot window position the left vertical marker line by grabbing it with the mouse cursor to the left of one of the waveform rising edges and position the right vertical marker line to the right of the same rising edge after the signal Doc No MAL 4806 3C doc 158 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller settles to a constant value Under the Zoom pull down menu zoom to the X markers Figure 5 33 shows a zoomed in plot of a rising edge transition e Next perform the Step Analysis function via the following commands Analyze pull down menu Step Analysis selection Markers Range X axis range This will open the window shown in Figure 5 34 e Note that the Damping is calculated within this window KI is adjusted until the damping value is about 0 4 or slightly below that value FZ Solutions Data Viewer data sd DATA SD Untitled Sale d File View Window Zoom Objects Analyze Help a Gu 188 AF SAT 3185 m 3 1622314453125 d 0 1t XDrvCom 6657 Figure 5 33 Zoomed In Plot of Rising Edge Transition Doc No MAL 4806 3C doc 159 Rev B Information contained herein is the sole property of ORBIT FR and is n
25. and their minimum and maximum values Using the Organizer you can add a Time vector if you did not record it delete vectors cut vectors remove non required parts of a vector and import vectors from other file Notes When adding a time vector the Data Viewer prompts the user to define the vector name Time is suggested as a default the vector length the highest length in this file is suggested as a default and the sampling time in us 1000 us is suggested as the default gt To delete a vector select it by clicking its name and click the Delete button Cutting a part of a vector is possible only if it is not displayed at any of the Graphic Windows When cutting a vector the Data Viewer prompts the user to define the start and the end indexes The vector part between these indexes will remain while all indexes outside parts will be cut before the start index and after the end index This operation is not reversible unless re loading the file from the disk gt Importing vectors from other files is possible only if the other file from which to import is also opened The process of importing a vector is as follows Open the two files the file to import to and the file to import from Make the file to import to the active file by selecting one of its Graphic Windows Open the Organizer File organizer or the toolbar s Organizer button Note that the Graphic File supports vectors w
26. facing transmit CW Fwd Positive Positive Reverse facing transmit CCW Rev Negative Negative Upper Rotary Clockwise facing top CW Fwd Positive Positive Azimuth view CCW Rev Negative Negative Elevation Rotary Tilted forward towards TX CW Fwd Positive Positive Tilted reverse away from CCW Rev Negative Negative TX Lower Rotary Clockwise facing top CW Fwd Positive Positive Azimuth view CCW Rev Negative Negative Floor Slide Linear Forward facing transmit CW Fwd Positive Positive Reverse facing transmit CCW Rev Negative Negative Feed Rotary Clockwise facing axis CW Fwd Positive Positive Polarization table CCW Rev Negative Negative Doc No MAL 4806 3C doc 147 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller Step 12 Correct Angle Sensor Polarity if applicable e lf the direction of an axis does not comply with the expected samples in Table 5 1 then click on the Config button and change the state check it if unchecked or uncheck it if already checked of the Inverse Encoder Direction selection and or Invert Motor Command Direction Opt 1 units only The motor direction should not be changed unless a specific application requires it Refer to Table 5 1 for direction samples e The ch
27. 10 29 0 8P 11 30 4P 14 31 8P 15 32 40 18 P18 position MSB BINARY 33 80P SPARE SPARE pin is at 0 Logic 34 35 FV4 FV4 36 0 004P O P2 37 0 008P O P3 38 0 08V O V3 39 0 04V O V2 40 0 02V O V1 41 0 01V O VO Velocity LSB 42 INCR O INCR Increment Sync Pulses 43 BIN BCD BIN BCD Format selector bit 0 logic for BCD format 1 logic default for Binary format 44 45 46 SIGN V SIGN V Direction bit 0 logic CW T logic CCW 47 INH_P INH P 0 logic inhibits position angle updating 48 INH P INH P 0 logic inhibits velocity updating 49 50 GND O GND GROUND P Position bit FV Velocity factor bit Velocity bit Doc No MAL 4806 3C doc 72 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Table 4 11 J8 LCU CONNECTOR PIN ASSIGNMENTS PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A AXIS SELECT AXIS SELECT A A B AXIS SELECT AXIS SELECT B Axis bit representing B selected C AXIS SELECT AXIS SELECT C operating axis C E AXIS SELECT AXIS SELECT D D AXIS SELECT AXIS SELECT E E G AXIS SELECT F AXIS SELECT F J
28. 3C doc 75 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller Table 4 14 J11 POWER amp LIMITS ABC CONNECTOR PIN ASSIGNMENTS OPT 1 BUILT IN PCU UNITS ONLY PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A F1 FIELD O F1 FIELD 110 VDC B AXIS B BRAKE O AXIS B BRAKE 0 424 VDC C BRAKE COM BRAKE COM GND D AXIS A BRAKE O AXIS A BRAKE 0 424 VDC E AXIS A LIMIT CW I AXIS A LIMIT CW Contact Closure F AXIS B LIMIT CW I AXIS B LIMIT CW Contact Closure G AXIS C LIMIT CW I AXIS C LIMIT CW Contact Closure H AXIS A LIMIT AXIS A LIMIT CCW Contact Closure CCW AXIS C LIMIT AXIS C LIMIT CCW Contact Closure CCW J AXIS B LIMIT AXIS B LIMIT CCW Contact Closure CCW K A2 DEF COM A2 DEF COM Armature Common L LIMIT COM LIMIT COM GND M F2 FIELD O F2 FIELD RETURN RETURN N AXIS B A1 O AXIS B A1 0 to 120 V P AXIS C A1 O AXIS C A1 to 120 V R AXIS A A1 O AXIS A A1 0 to 120 V S SPARE SPARE AXIS C BRAKE O AXIS C BRAKE 0 424 VDC U SPARE SPARE V GND GND GND W SPARE SPARE X SPARE SPARE 110 VDC CAUTION AN VOLTAGE LEVELS DANGEROUS TO PERSONNEL EXIST ON THIS CONNECTOR DO NOT TOUCH CONNECTOR CONTACTS IF POW
29. 4806 3C doc 52 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 4 3 4 4 Installation Equipment The tools listed in Table 4 1 are required for installation of the AL 4806 3C controller Table 4 1 Tools Required For Installation Item Qty Description 1 1 Philips screwdriver No 2 2 1 Non Metallic Tool for setting switches etc 3 1 Laptop Computer with Windows XP Operating System amp RS 232 port 4 1 Digital Multi meter Volt Ohm Ampere Fluke Model 77 or equivalent Internal Hardware Switch Settings The AL 4806 3C controller contains internal switch settings which require attention during the configuration and installation stage They may be reset to accommodate a specific system configuration by selecting and setting the proper switch according to the following table In order to make the adjustments and change the switch settings the top cover of the controller must be removed To change the switch settings the following procedure should be followed 1 Turn OFF the controller and unplug the unit from the power source 2 Wait at least 10 seconds before proceeding 3 Change the switch settings and carefully Fasten the top cover and check for proper operation of the unit Doc
30. Controller 1 7 2 Physical Mechanical Specifications Table 1 4 Physical Mechanical Specifications AL 4806 3C AL 4806 3 Opt 1 Weight 40 Ibs 60 Ibs Dimensions 19 00 48 3 cm wide 7 00 17 8 cm high 19 5 49 4 cm deep Operating Temperature 0 to 50 32 to 122 F Storage Temperature 20 60 75 4 to 167 F Relative Humidity 9096 1 7 3 Front Panel Specifications Table 1 5 Front Panel Controls Feature Specification Power 0 1 Panel Bus local remote Select AC Input Power ON OFF Illuminated when unit is ON Latching Illuminated Pushbutton Switch Selects either computer BUS control or front panel PANEL control Coarse Fine Speed Toggle Switch Operating Axis Select A thru F via 6 position switch knob Speed amp Direction Control Dual Function Knob Potentiometer with integrated mechanical zero detent Provides manual velocity control for both Reverse or Forward direction control Display Axis Select A thru F via 7 position switch knob Velocity Monitor Select Activates Actual velocity for the operating axis when the display axis selector right side is set to position 7 Displayed in user selected units Position Zero Sets the operating axis position display to 0 0000 Saved in non volatile memory Set Offset Activates Offset Position Entry Offset Position 8 po
31. Controller A 2 3 7 Zoom Manual Manual definition of the X and or the Y ranges The Zoom Manual is done by one of gt The menu selection Zoom Manual The menu selection Zoom Manual at the pop up menu A 2 3 8 Zoom Move Left The displayed area is scrolled to the left by 2 3 of the display area The Zoom Move Left is done by one of The menu selection Zoom Move Left The toolbar s Move Left button The menu selection Zoom Move Left at the pop up menu A 2 3 9 Zoom Move Right The displayed area is scrolled to the right by 2 3 of the display area The Zoom Move Right is done by one of The menu selection Zoom Move Right The toolbar s Move Right button The menu selection Zoom Move Right at the pop up menu Doc No MAL 4806 3C doc 189 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller A 2 4 Performing Graphic Measurements A 2 4 1 Window Markers The Data Viewer provides two vertical markers The markers can be enabled or disabled using the menu selection Window markers or the pop up menu with the right mouse button By default the markers are enabled The markers state is not saved as a property of the Graphic File The markers are always enabled when a file is opened The two markers includes the Master marker w
32. Controller detection logic TR is used in conjunction with TT the Target Time and the Status register parameters During operation while an axis is enabled and not in motion the real time control loop continuously checks the position error PE and when ABS TR for at least Target Time sample times the controller detect the lock window The In Target logic is usually used to let a host application or a script program to monitor end of motion condition and waiting for the axis to reach the desired target position within a specific defined error e Lock Win Time Target Time Entry Field The Lock Win Time parameter defines the Target Time in servo sample units for the In Target detection logic Lock Win Time is used conjunction with the Target Radius During operation while an axis is enabled and not in motion the real time control loop continuously check the position error and when ABS PE lt TR for at least Lock Win Time sample times the controller detects the lock window The units of the lock window time are controller clock cycles Each cycle equals 61 microseconds The In Target logic is usually used to let a host application or a script program to monitor end of motion condition and waiting for the axis to reach the desired target position within a specific defined error e Phase Offset Parameters for alignment between course and fine synchro In order to find the misalignment between the 2 synchro
33. FWD LIMIT O FWD LIMIT Indicate axis position L REV LIMIT REV LIMIT limit reached SHUTDOWN SHUTDOWN K RATE ERROR I RATE ERROR Input to controller from LCU Analog signal 10V range H LCU REMOTE LCU REMOTE Sends local remote state SELECTOR SELECTOR to controller based on LCU s LOCAL REMOTE switch position M COM RATE ERROR RATE ERROR Input to controller from LCU Analog signal 10V range D 12V 12 R 12V O 12V S GND FROM GND FROM LCU LCU T as E Doc No MAL 4806 3C doc 73 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller Table 4 12 J9 TACHOMETER INPUT CONNECTOR PIN ASSIGNMENTS PIN INTERNAL VO EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A TACH 1 TACH A B TACH 2 Analog tachometer C TACH 3 signals from the 6 Axes D TACH 4 TACH D 40 volt range E TACH 5 TACH E F TACH 6 TACH TACH RET D E F return line 4 5 6 D E F J SPARE SPARE TACH RET D E F return line 1 2 3 L SHIELD GND D E F Electrical Ground M SHIELD Doc MAL 4806 3C doc T4 Rev B Information contained herein is the sol
34. LCU labeled LOCAL REMOTE is on REMOTE It emulates some of the controller s front panel controls For more information on operation of the LCU refer to the User s Manual for the LCU Doc No MAL 4806 3C doc 166 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller 6 4 Local Manual Control 6 4 1 Front Panel Controls amp Indicators Figure 6 1 is a pictorial representation of the controller front panel Numbered identifiers are associated with each control or indicator Table 6 1 describes the function of each Figure 6 1 Front Panel Controls amp Indicators Doc No MAL 4806 3C doc 167 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Table 6 1 Front Panel Controls Specification Power AC Input Power ON OFF Illuminated when unit is ON When set to O position power is disengaged from the unit When set to 1 power is applied Panel Bus Latching llluminated Pushbutton Switch Selects local remote Select either computer BUS control or front panel PANEL control The controller may be operated in either the PANEL LOCAL or the BUS REMOTE m
35. MAL 4806 3C doc 78 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Table 4 17 J13 POWER amp LIMITS DEF ASSIGNMENTS OPT 1 BUILT IN PCU UNITS ONLY PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A F1 FIELD O F1 FIELD 110 VDC B AXIS E BRAKE O AXIS E BRAKE 0 424 VDC C BRAKE COM BRAKE COM GND D AXIS D BRAKE O AXIS D BRAKE 0 424 VDC E AXIS D LIMITCW I AXIS D LIMIT CW Contact Closure F AXIS E LIMIT CW I AXIS E LIMIT CW Contact Closure G AXIS F LIMIT CW I AXIS F LIMIT CW Contact Closure H AXIS D LIMIT AXIS D LIMIT CCW Contact Closure CCW AXIS F LIMIT AXIS F LIMIT CCW Contact Closure CCW J AXIS E LIMIT AXIS E LIMIT CCW Contact Closure CCW K A2 DEF COM A2 DEF COM Armature Common L LIMIT COM LIMIT COM GND M F2 FIELD O F2 FIELD RETURN RETURN N AXIS E A1 O AXIS E A1 0 to 120 V P AXIS F 1 O AXIS F 1 0 to 120 V R AXIS D A1 O AXIS D A1 to 120 V S SPARE SPARE T AXIS F BRAKE O AXIS F BRAKE 0 424 VDC U SPARE SPARE V GND GND GND W SPARE SPARE X SPARE SPARE 110 VDC A CAUTION VOLTAGE LEVELS DANGEROUS TO PERSONNEL EXIST ON THIS CONNECTOR DO NOT TOUCH CONNECTOR CONTACTS IF POWER IS APPLIED TO THE AL 4806 3C CONTR
36. ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller The newly calculated vector is added to the numeric data and will be saved to the Graphic File when it will be saved Optionally the newly calculated vector can be added to the active Graphic Window and or added to a new Graphic Window A 2 5 2 Minimum Maximum And Average These are vectors operations The user selects a set of vectors and a new vector is calculated which at each index point is the minimum maximum or average of the selected vectors at the same index These operations can be used to calculate the average or the envelop of multiple recordings of the same events A 2 5 3 Extract Bit This operation extracts a selected bit from a vector and gives the values 0 and 1 to the resulting vector This operation is useful to isolate a single digital input bit behavior from a digital inputs recording which contains few active input bits A 2 5 4 Differentiate And Integrate These operations operate on a single vector which is differentiated or integrated by a second vector generally the Time vector These operations can be used to calculate velocity from a recorded position or acceleration from a recorded velocity or vice versa Future software versions will include a filter option for the differentiation in order to limit its sensitivity t
37. Window Custom Commands 1 6 8 Custom Commands 2 9 Custom Commands 3 1 0 Support For example in Figure 5 1 the Special Functions top level menu has been selected and the following second level menus are listed below the selection Feedback Type Event Capture Event Generator X Y Z W 1 T Velocity ORBIT General Axis 1 thru 6 and ORBIT Debug From hereon the selection of a top level menu and second level menu will be indicated by the following shorthand notation TopLevelSelection SecondLevelSelection For example the notation Special Functions Feedback Type means to select the Special Functions top level menu and then the Feedback Type secondary menu To the right of the top level menu selections are other user interfaces The upper 2 3 of the interface contains 4 axes status sections Each of these sections contains information about an axis position velocity and several other pieces of information relevant to a particular axis Through out the remainder of this procedure only the upper left axis status section will be utilized This will always be referred to as the Active Axis section The lower 1 3 of the user interface to the right of the top level menu selections will contain a section of interfaces that are dependent on the top level and second level selection These interfaces are used to configure the axis types axis tuning parameters and axis test motions These will be discussed on a case
38. an external PCU AL 4806 3C Opt 1 units only 22 pin circular connector provides Axis output to positioner s DC motors and accepts contact closure limit signals from the positioner 22 pin circular connector allows the AL 4806 3C to accept the synchro signals for axes D E F The AL 4806 3C Opt 1 outputs a reference voltage of 115V 50 60Hz or optional 400Hz reference using en external reference source to the synchros The synchros then receive variable voltages 90V RMS 50 60Hz which indicate their position The angle position is then sent by the synchro to the controller via three signal lines entitled 51 52 53 The analog synchro signals are then routed to the controllers S D module for digital conversion One speed synchro position indication from one synchro transducer coarse 1 1 The maximal resolution at single speed is 0 021 Dual speed synchro position indication from two synchro transducers coarse 1 1 and fine 36 1 The maximal resolution of a dual speed synchro is 0 0006 AL 4806 3C Opt 1 units only 22 pin circular connector provides Axis D E F output to positioner s DC motors and accepts contact closure limit signals from the positioner Recessed IEC 320 format 3 prong power receptacle accepts the standard power cable provided with the unit and allows prime AC power to be applied to the AL 4806 3C The controller s rated input voltage is 115V 230V 47 63 Hz The voltage source enters thr
39. case 1 the routine jumps to the code block that handles the Event Find Input ON On case 2 the routine start fast motion on the RLS direction until RLS is found Than it starts fast motion on the opposite direction seeking for Doc No MAL 4806 3C doc 107 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller the Home Input On After finding the Input ON the motion direction will be as it can be seen in figure 3 on steps 2 3 2 3 arrow directions On case 3 the routine starts fast motion on the RLS direction until the home Input is Then it jumps to the code block that handles the Event Find Input Home on input to RLS direction performs the following steps when find Input ON 1 Start fast motion to RLS limit direction until home input is OFF 2 Move Relative Distance away from INPUT on RLS Dir to ensure fixed speed on the next step 3 Go back into Input slowly on FLS Dir until Input is on Note If search index option is selected after the sequence above the first ag index is searched see section 5 2 5 6 e 4 N gt Home Input RLS Figure 5 8 Home ON Input RLS Direction Doc No MAL 4806 3C doc 108 Rev B Information contained herein is the sole property of ORBIT FR
40. connected CURRENT LIMIT SETTINGS ARE IMPORTANT FOR PROTECTING THE POSITIONER S MOTOR FROM DAMAGE TAKE PRECAUTION TO CHECK ALL DIP SWITCH SETTINGS BEFORE PROCEEDING Doc No MAL 4806 3C doc 56 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller 4 4 2 Rear Panel GPIB Address Mode DIP Switch SW3 Settings SW3 is located on the controller s rear panel left side This switch determines various settings described below The controller s default GPIB address is 4 Bit Configuration 0 0 1 0 0 NOTE The controller must be powered down and on to activate the switch settings Bit 6 determines whether the GPIB address will be set by the DIP switch on the real panel or by the configuration application E 2 4 WI UE FP E TE H o o o e e e o o o Bote O O C CLOSE OPEN GPIB Address Bit 1 Spare GPIB Address Bit 2 Commanded vs Actual Velocity Selection GPIB Address Bit 3 1 Actual GPIB Address Bit 4 0 Commanded GPIB Address Bit 5 GPIB Software Address Selection 1 GPIB address set by software configuration utility 0 GPIB address set by SW3 Bits 1 thru 5 GPIB Bit Value 1 1 2 2 3 4 4 8 5 16 Figure 4 7 SW3 GPIB Address amp Mode Switch Illustration Doc No MAL 4806 3C doc 57
41. controller s velocity loop requires a rotary or linear axis to display positive angle increments for CW forward motion and negative angle increments for CCW reverse motion If the direction is reversed use the Inevt Encoder Direction check box to repair Doc No MAL 4806 3C doc 146 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e Place the controller in PANEL mode Using the front panel speed control knob move the active axis in forward and reverse direction Verify that the position angles displayed are consistent with the expected direction Industry standard examples are shown in Table 5 1 to assist in this task Fr It is common for a positioner manufactured by Scientific Atlanta to require a reversal of synchro direction polarity A qualified technician can easily reverse the angle direction for any given axis Refer to the CG menu next page for inverting angle direction Table 5 4 Sample Industry Standard Direction vs Angle Polarity Axis Axis Axis 4806 Angle Tach Coordinate Type Physical Direction Direction Update Voltage Roll Rotary Clockwise facing axis CW Fwd Positive Positive table CCW Rev Negative Negative Offset Slide Linear Forward
42. cord grounds the instrument cabinet WARNING BEFORE SWITCHING POWER ON BE SURE THAT ONLY THE SUPPLIED POWER CORD IS USED THE INSTRUMENT IS PROVIDED WITH A 3 WIRE POWER CORD WHICH GROUNDS THE INSTRUMENT CABINET THIS CORD SHOULD ONLY BE INSERTED IN A SOCKET OUTLET PROVIDED WITH A PROTECTIVE EARTH CONTACT THIS Doc No MAL 4806 3C doc 44 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller PROTECTIVE ACTION SHOULD NOT BE NEGATED BY THE USE OF AN EXTENSION CORD OR POWER CORD WITHOUT A PROTECTIVE GROUND CONDUCTOR GROUNDING ONE CONDUCTOR OF A TWO CONDUCTOR OUTLET IS NOT SUFFICIENT PROTECTION The AL 4806 3C fusing is factory set to normal 115 or 230 VAC operation Note that different fuses are required for 115 and 230 VAC operation Refer to Table 6 1 for fuse replacement information 3 4 4 Operating Environment 3 3 4 1 Temperature The AL 4806 3C should be operated at temperatures ranging from 0 C 32 F to 50 C 122 F Specifications cannot be guaranteed when operating beyond this range 3 4 4 1 Humidity The AL 4806 3C should be operated in environments with humidity ranging to 9096 however it should be protected from temperature extremes which could cause condensation of moisture within the instrument 3 4 4 2 Altitude The A
43. digits of the operating axis 5 1P 12 angle The polarity of the 6 2P P13 angle is given by SIGN 7 10P P16 LOGIC UPDATE is a 8 20P 17 positive pulse indicating the 9 100P SPARE angle has just changed A Logic O on UPDATE dd z APARE INHIBIT will prevent the BCD angle presentation from changing SPARE pin is at 0 logic 200p position MSB BCD 11 0 001P Position LSB 12 0 002P 1 13 FV1 FV1 Factor LSB 14 FV2 FV2 15 SIGN P SIGN P 0 Logic when T Logic when 16 10V SPARE Spare Pin is at 0 Logic 10V VelocityMSB BCD 17 8V O SPARE Spare Pin is at 0 Logic 18 4V O SPARE Spare Pin is at 0 Logic 19 2V O 9 V9 velocity 5 BINARY 20 1V V8 21 0 8V V7 22 0 4V O V6 23 UPDATE O UPDATE Active high pulses indicate new data updating Data read is forbidden while update 1 logic 24 0 2V O V5 25 0 1V V4 P Position bit FV Velocity factor bit Velocity bit Doc No MAL 4806 3C doc T1 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller PIN BCD BINARY FUNCTION SIGNAL NAME SIGNAL NAME 26 0 04P 6 27 0 8P P7 28 0 4P
44. enne nnne 50 Doc No MAL 4806 3C doc 8 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 4 1 INTRODUCTION rM 50 4 2 SYSTEM INTERCONNECTIONS irit ette pete er tete doe tee Perte en eere eee niens 50 4 3 INSTALLATION EQUIPMENT eei tenen 53 44 INTERNAL HARDWARE SWITCH 5 ee een enne 53 4 4 1 Armature Current Limit Settings Opt 1 Built In PCU Units Only sss 54 4 4 2 Rear Panel GPIB Address Mode DIP Switch SW3 Settings sss 57 4 5 OPERATIONAL FEATURES preter re er rb err ERR nb ree nba step par pe ebore eb dvavstonds 58 4 5 1 Audible ALAF ees 58 4 5 2 Position over Velocity Control Filter 58 4 5 3 BCD Bina ry eR i ERR c e Ep ete ERE C ee eel eth een 59 4 6 REAR PANEL CONNECTORS amp SWITCH DESCRIPTION eee en eene 61 4 6 1 AL 4806 3C Opt 1 w Built In PCU Rear Panel sse 61 4 6 2 Rear Panel Connector Identification AL 4806 3C Opt 1 sse 62 4 6 3 AL 4806 3C Without PCU Rear Panel Connectors amp Switches sss 63 4 6 4 Rear Panel Co
45. file Download Upload pull down menu appears while pressing the FOLDERS menu button on the bottom right corner Download Data To Controller Upload Data From controller Set Default Values Download To Diffrent Axis Upload Data From File Save Data To File Figure 5 10 Secondary File Menu Secondary File Menu Parameter Definitions e Download Data To Controller Download the data from the current folder to the controller e Upload Data From controller Uploads the data of the current axis folder from the controller e Set Default Values Sets this folder with default values e Download To Different Axis Download the current folder data to a different axis e Upload Data From File Load the current axis data from file this option does not download the data to the controller e Save Data To file Save the current axis data to file data saved is the data from the user interface Doc No MAL 4806 3C doc 116 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller 5 2 9 Service Dialog The service dialog intends to give a user interface of the current panel state This is a read only folder Orbit Service Dialog x Panel r Speed Control Operating Axis
46. gt Te UR OD CO GD QC G9 Figure 4 9 AL 4806 3C without PCU Rear Panel Doc No MAL 4806 3C doc 63 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 4 6 4 Rear Panel Connector Identification AL 4806 3C Table 4 4 Rear Panel Connector Identification Std Version Ref AL 4806 3C Rear Suggested Mating Des Panel Cable Connector Bulkhead Connector INCREMENT BNC F BNC M IEEE 488 IEEE STD IEEE STD J5 I O RS 232 RS DB 25S DB 25P 25 422 p emm p 20 BIN BCD OUT 57 30500 Amphenol J10 SYNCHRO ABC MS3102E 28 11SX MS3106E 28 11PX 22 J11 CONTROL 53102 28 125 MS3106E 28 12P 26 REFERENCE uarusw umane pm secon men uem 5 J21 ADD ENC INC MS3470L16 26S MS3476L16 26P 26 J22 INTERLOCK MS3470L10 6S MS3476L10 6P J23 ENC IND ABS DEF MS3470L24 61S MS3476L24 61P 61 ENC IND ABS MS3470L24 61S MS3476L24 61P J25 CONTROL MS3102E 28 12S MS3102E 28 12P Doc No MAL 4806 3C doc 64 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Table 4 5 Rear Panel Connector Descriptio
47. i I Lim Dec 100 1 Panel Ace Aux Enc Rat 0 Set the motion parameters that apply for each axis prior to calibrating tuning an axis Step 9 Axis Mapping Parameters e Motor Off at EOM Flag defining whether motor will remain on or be set off at end of motion e Error Mapping Flag whether the axis includes error mapping e Mapping Axis Enabled only if the Error Mapping flag was set States which mapping is set to the current axis e Axis Name Enables the user to name the axis Open Loop Motor Set Home Parameters I I MoOfStEOM I Home Zero Pos Doc No MAL 4806 3C doc 140 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller Step 10 Save Parameters To Controller s Memory Save parameters by choosing one of the following Download Data To Controller Downloads the current selected axis data from the PC s RAM to the 4806 controller e Upload Data From Controller Uploads the data from the 4806 controller for the selected axis folder to the PC s RAM e Download to Different Axis Downloads the current selected axis data to the 4806 controller from the PC s RAM to a selected axis e Upload Data From File Enables operator to load an ORB file
48. maximum accuracy but it is within the locking window Additional parameters which define the movement profile the PID parameters and ACCELERATION DECELERATION To summarize the input parameters which define tracking motion are The target angular position e The direction of movement e The speed of movement SECTOR SCAN Mode This movement is used to scan a section of the test sphere cylinder or plane in order to record antenna RF parameters at fixed intervals The positioner scans the space within the limits of the sector During the scanning motion the controller delivers sync pulses at fixed position intervals thereby synchronizing and RF receiver incorporated in the measuring system Once the first scan is completed the scan is repeated in the opposite direction until the required number of scans is achieved At that point the motion is stopped The operator defines the scan direction number of scans scan speed the initial and final values of the scanned sector Scan Start and Scan End and the intervals at which increments sync Pulses are delivered Doc No MAL 4806 3C doc 173 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller The operator must determine a locking window which as in the tracking mode case defines the
49. may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 1 2 General Description The AL 4806 3C multi axis one axis at a time Controller with Built In PCU is capable of controlling and driving up to six axes positioner motion The positions of the operating axis and a user selected additional axis are numerically displayed by 7 segment display on the front panel Other status data such as axis velocity limit conditions axis type and LOCAL REMOTE are indicated by LEDs on the front panel display Several functions may be executed from the front panel by manual controls located on the front panel or through the LCU AL 4146 2L These functions entail simple motions and axis offset settings Several modes of motion have been pre programmed into the Controller These modes enable the Controller upon receiving a single command to issue a sequence of motion instructions to the positioner Together the various modes constitute the motion protocols discussed in chapter 7 They include sequences frequently encountered in positioning equipment applications antenna pattern measurement and tracking applications In addition the Controller carries out motion functions which are transparent to both the user and the computer For instance to move a positioner from a given initial target position to a final target position using a prescribed cruising speed it is first necessary
50. non metallic plastic tool set the switches according to the Current Limit Setup Chart shown in Table 4 2 Doc No MAL 4806 3C doc 54 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller AXIS select from the cage Setup for AXIS 1 A Setup for AXIS 2 B Setup for AXIS 3 C Setup for AXIS 4 D Setup for AXIS 5 E Setup for AXIS 6 F A Icont To VIO I peak ORBIT NZ Figure 4 6 DIP Switches Setup Doc No MAL 4806 3C doc 55 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller The next figure describes the current limit setup for one AXIS The user can tune each AXIS type by setting 4 Dip switches systems according to the motor type SWA will be used as LOOP type select current On or Velocity Off 7 Sw2 2 7 7 SW4 Loop type Table 4 2 Current Limit Setup SW1 SW2 SW3 Motor Type On On On 1 16 HP On On Off 1 8 HP On Off On 1 3 HP On Off Off 1 HP Off On On 2 HP Off On Off User type1 Off Off On User type2 Off Off Off AXIS not
51. not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Table 7 2 Fuse Table AL 4806 3C Only Fuse Size Description Designation F1 10A Slow Blow 115 VAC LINE IN 5A Slow Blow 230 VAC F5 2A Slow Blow REFERENCE OUT 1A Slow Blow REFERENCE IN Opt 7 7 3 1 7 3 2 Main Power Fuse F1 If the controller will not accept power as evidenced by a lack of front panel indicator lighting and a lack of sound and air motion from the rear panel fan then the LINE fuse should be examined Set the front panel LINE switch to the O position and remove the power cord from the controller Remove Fuse F1 and check the fuse with a standard ohmmeter If it has opened replace the fuse with an identical fuse Brake Fuse F2 Opt 1 Built In PCU Units Only If the positioner brakes fail to activate and the front panel indicators are normal then a possible problem may be the brake fuse To remove the fuse for testing set the front panel LINE switch to the O position and remove the power cord from the controller Twist and pull the fuse holder from the fuse body Check the fuse with a standard ohmmeter If it has opened replace the fuse with an identical fuse Doc No MAL 4806 3C doc 179 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written author
52. or any other analogue feedback Doc No MAL 4806 3C doc 28 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 2 2 DC Motors DC motors convert electrical energy to mechanical energy or more specifically convert current into rotational torque The key parameters of a DC motor are the torque constant Ki the armature resistance the moment of inertia Jm and the maximum torque levels The torque constant is expressed in units of Nm A or oz in A and indicates the amount of torque that the motor generates for a unit of current For example a DC motor with a torque constant of 0 1 Nm A converts a current of 2 amps to a torque of 0 2 Nm The armature resistance is the total resistance of the armature winding and the brushes it is expressed in ohms The moment of inertia Jm is the sum of the moments of inertia of the rotating parts of the motor and is expressed in units of Kg m or oz s The level of torque can also produce a characterizes motor The motor torque capability is expressed by two parameters continuous and peak values The continuous torque is the torque that the motor can produce continuously often at any speed without overheating The peak torque on the other hand is the maximum torque that can be generated fo
53. panel Indicators Limit Switch Indicators LED indication when the active axis reaches the limit of the corresponding direction CW forward or CCW reverse Operating Axis Scale LED indication for 180 0 360 or Linear scales for Indicator the Operating Axis Local Remote Indicators LED indication whether the positioner is controlled by the Local Control Unit LCU or by the Controller Remote Operating Axis Position 7 segment digital LED display Window Selectable resolution 0 1 to 0 0001 Angular or Linear Representation selectable per axis Angular selectable scaling for 180 or 0 360 11 12 13 14 15 Operating Axis Number 2 segment digital LED display Display Axis Number 2 segment digital LED display 17b 18 19 17a Display Axis Position 8 segment digital LED display Window Selectable resolution 0 1 to 0 0001 Angular or Linear Representation selectable per axis Angular selectable scaling for 180 or 0 360 Velocity Display Displays Commanded or Actual velocity for the operating axis when the display axis selector right side is set to position 7 Displayed in user selected units Speed Indicator LED indication when Operating Axis velocity is shown in the display axis window Display Axis Scale LED indication for 180 0 360 or Linear scales for Indicator the Display Axis Doc No MAL 4806 3C doc 170 Rev B Information contained herein is the sole property of ORBIT FR and is not for pu
54. passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e Wireless LCU Check box used to define if a wireless remote control with position display is hooked to the controller In case the check box is checked the controller will transmit the positions to the wireless remote control e Potentiometer Offset Entry field that defines the analog potentiometer offset Set the Potentiometer in middle Press the Calculate offset button and the controller will automatically set the value e Potentiometer Dead Zone Entry field that defines the tolerance around enter of the potentiometer that will define the zero speed command e Fine Ratio Defines the ratio between the coarse and fine speed while operating the positioner from the front panel The parameter set is percentage from the maximum speed e Pulse Polarity Sets the trigger pulse polarity e Pulse Width Sets the trigger pulse width Download Button Downloads the settings to the controller e Upload Button Upload current panel state from controller OK Button Close the dialog Doc No MAL 4806 3C doc 115 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 2 8 Secondary File Menu The secondary Setup
55. pop window The menus in this window are used for the home parameters configuration e Home zero pos Flag that determines whether to zero the axis position at startup This parameter is only relevant for incremental axes Doc No MAL 4806 3C doc 97 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 2 3 Filter Dialog Menu Filter Menu Parameter Definitions e Control Filter Proportional Gain Entry Field The KP parameter is used to set the control filter algorithm position loop proportional term gain in PID control mode and position loop overall gain in PIV control mode Orbit Filter Dialog Main 2nd The first element KP 1 or KP sets the 20 20 200 200 normal filter gains while the second element ko 1000000 110000007 KP 2 sets the gain for the Gain SePdi Pi2 2nd PID Filter Duration 10000 CA4 Scheduling algorithm uM T sess Velocity FF 0 1 Acc FF 0 FF2 r 5 3 e KI Control Filter Integral Term Gain pupa ES Entry Field Voltage Command Offset 0 Use 2nd Order Filter The parameter that is used to set the 2nd Order Filter AO 13112251 2nd Order Filter B1 120522 CAS control filter algorithm position loop integral S786
56. press the read button Prior to reading the synchro output the axis has to be stopped unselected and reselected using the axis selector on the front panel Rotate the axis and read the synchro output until you get a zero reading for the coarse synchro motor Mark the reading of the fine synchro motor and enter this value in the axis phase offset Misalignment between the 2 synchro motors will cause instability in the axis angle reading o Coarse displays coarse synchro output o Fine displays fine synchro output o Read button initiates reading of the synchro motors e GPIB Software Address sets the controllers GPIB address The GPIB address can be set either from this menu or from a dipswitch on the controllers rear panel The e dipswitch on the rear panel defines whether the GPIB address will be set by the software or by the dipswitch e Extended ORBIT FR Protocol Check box defines if the GPIB communication protocol is the com link compatible with the AL 4706 communication protocol or the extended communication protocol e Inforce CR LF Check box used to control the way the control communication protocol reacts to carriage return line feed If the check box is checked the host software must always send carriage return line feed at the end of each message Doc No MAL 4806 3C doc 114 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be
57. system motion control components may behave erratically due to misconnected lines or incorrectly configured software settings Sudden and unexpected moves by positioner axes can cause serious personal injury and or property damage Under NO circumstances should the controller and its connected motion system be tested or operated while personnel are within the safety zone Additionally beware of flying debris from unsecured hardware operating at high speeds Virtual Safety Figure 5 20 Safety Zone Illustration Doc No MAL 4806 3C doc 132 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Step 2 Review The Active Axis Configuration Folder The Active Axis Configuration Folder comprises five 5 major sections shown below Configure Axis o Set Active Transducer amp Velocity Configure Position Format Velocity amp Homing Axis Enc T Fine Coarse Velocity r Tacho Gain 0 04836 SW Low Lim 0 Max En Nene l l ae gt pi Synchro n Tacho Offset 2040 Sw Hi Lim D Torque Lim 32767 bE Indoctusyn Inclinometer C Encoder Mech Offset NN I I l I I l l lle Max Speed 1 5 Lock Win 0 05 ie Sa aa 1 Offset Set ToD I P Fac 500 Lock win Time 10000 I fes 55
58. target area for the Scan Start and Scan End positions In this mode the locking window serves for defining the motion profile Only the final locking windows serves as in the tracking motion mode to shutdown the PCU and issue a corresponding message to the computer ACC DCC PID Parameters and torque offset also defines the motion profile For each scan the controller brings the positioner somewhat ahead of the designated start position of the sector see Figure 8 This assures that the accelerated positioner will reach the desired scan speed when the Scan Start position is reached Similarly the scan motion continues beyond the Scan End position of the sector during which the positioner is decelerated to a halt Two possible Sector movement modes are offered Increments Velocity f Scan Velocity Position Scan Scan Start End Figure 6 2 Sector Scan Profile Doc No MAL 4806 3C doc 174 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 6 5 1 4 1 Sector A Mode FRWD and RVRS The positioner is brought to the Scan Start position FWRD When the scan begins the positioner starts moving in the forward direction between the predetermined limits while data acquisition increments sync Signals are issued along the path
59. until the list is updated Use this feature to display the vectors values after you have zoomed in to the relevant range This property Show List is unlike other properties not saved when a graphic file is saved A newly opened file will never show lists even if it showed them when saved This is to avoid unexpected delays when files are opened Window Properties LX Main Vectors Available Vectors Displayed Vectors Add gt gt Add All RES EN Delete Delete All omen Figure A 3 Graphic Window Properties Vectors Folder Doc No MAL 4806 3C doc 185 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller At the Vectors folder the user can select which vectors to display at this window and the properties color and line type of each vector A 2 3 Zooming Operations The Data Viewer provides a large number of methods for zooming operations as described below A 2 3 1 Zoom In To Markers Zoom to the range defined by the window markers refer to section A 2 4 1 This option is enabled only if the markers are enabled The markers define an X range to zoom in to The Y range is automatically scaled to display the selected vectors Note that the X range after the zooming will not be the exa
60. will appear as shown in Figure 5 13 Note that the lower 1 3 of the window will now contain several interfaces related to axis configuration Only some of these are important at this time and they will now be discussed E set data sd_ SCShell 7 00 SC Controller Shell Application Control ft Robotics Solutions Ltd File Communication Macro Commands DataRecording Tools E sv LD RS EC QC QK KR BR B VR QV Terminal SC 4M AT Controller sc Amcom COMI Baud 115200 Motions Configurations Aux Ass 10 s Postion EMM PLS 705 07 Position DIEU FLS veoc SHE l Velocy DNMENEENEM Slo 3H Miscellaneous ONE bo Motion r Motion Serve Eu Motion Status No Motion Bae Motion Status No Motion Motor Fault None Motor Fault Abort Input mem ct Motion ended due to user command AB ST Custom Window gt Axis W as MNNN 5 eas FS l sue she f Ti Wr 1 v MEE 5 2 v EEENN lid l to too 5 r J sem Servo OFF Motion Status No Motion Servo Motion Status No Motion 1 l Motor Fault Abort Input Motor Fault Abort Input 1 Meco IV Iniiaized Running X Y 2 W amp E 9 GU G V Abotinput 1 Se ee NUNC DERE rss Rep ram RD EE s Position I P Active Avis 6 Enc ate pees 0 MaxE
61. 004 Inclinometer Interface X X Opt 005 EnDat amp Absolute Optical Encoder Interface X X Opt 007 400 Hz Synchro Support X X Includes external 115 VAC 400 Hz Generator Opt 008 11 8 Volt Synchro Input Requires Opt 007 X X Opt 009 Wireless Local Control Unit LCU Hand held X Opt 100 Maintenance Manual Commercial Standard X X Opt 102 Additional Standard Manual Set X X User s Manual Programming Reference Opt 103 International Localization Specify Country amp X X Voltage Doc No MAL 4806 3C doc 22 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller 1 7 Product Specifications This section describes the specifications for the AL 4806 3C series positioner controller These specifications provide physical and mechanical mounting information electrical power requirements and list controls indicators programming related interfaces and other equipment features 1 7 1 Electrical Characteristics Table 1 3 Electrical Characteristics AL 4806 3C AL 4806 3C Opt 1 AC Input Power 115 230 VAC 10 96 47 63 Hz Single Phase rms 0115 VAC 3 5A rms 230 VAC Power Dissipation 1 5 KVA Maximum Controlled Axes Six 6 Sequential Control Selectable one axis at a time EMI Filtering MIL STD 461 2 VDE 0871
62. 1 1 AL 4806 3C Series Positioner Controller 2 1 CD ROM Electronic Documentation Set containing e User s Manual Installation Setup Operation e Programming Reference Manual e SHELL Software Setup Utility e DCOM Software Utility 3 1 Cable RS232 for Setup Utility 4 1 AC Power Cord IEC 320 F to LOCAL COUNTRY plug 5 1 Quality Assurance Certificate 6 1 Warranty Statement Warranty Figure 3 1 Shipping Contents Doc No MAL 4806 3C doc 41 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller 3 3 Safety The AL 4806 3C as well as any other documentation related to the positioning subsystem should be reviewed for user familiarization with safety markings and instructions before operation This product has been manufactured in accordance with commonly recognized safety standards Refer to the summary of safety notations near the front of this manual To minimize hazards to yourself and others please observe the following safety precautions before and during the use of AL 4806 3C Positioner Controller e The AL 4806 3C positioner controller contains potentially harmful voltages when connected to an appropriate power source Disconnect all electrical power before removing any covers for maintenance or adjustments e To prevent sho
63. 14 B 52 B 90 B 119 B 147 B 15 B 53 B 91 B 120 B 148 B 16 B 54 B 92 B 121 B 149 B 17 B 55 B 93 B 122 B 150 B 18 B 56 B 94 B 123 B 151 B 19 B 57 B 95 B 124 B 152 B 20 B 58 B 96 B 125 B 153 B 21 B 59 B 97 B 126 B 154 B 22 B 60 B 98 B 127 B 155 B 23 B 61 B 99 B 128 156 B 24 B 62 B 100 B 129 B 157 B 25 63 B 101 B 130 B 158 B 26 B 64 B 102 B 131 B 159 B 27 65 B 103 B 132 B 160 B 28 B 66 B 104 B 133 B 161 B 29 B 67 B 105 B 134 B 162 B 30 B 68 B 106 B 135 B 163 B 31 B 69 B 107 B 136 B 164 B 32 B 70 B 108 B 137 B 165 B 33 B 71 B 109 B 138 B 166 B 34 B 72 B 110 B 139 B 167 B 35 B 73 B 111 B 140 B 168 B 36 B 74 B 112 B 141 B 169 B 37 B 75 B 113 B 142 B 170 B 38 B 76 B 114 B 143 B 171 B Doc No MAL 4806 3C doc EN Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR Multi Axis Controller PAGE REVISION PAGE REVISION PAGE REVISION PAGE REVISION PAGE REVISION 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206
64. 3 68 VDE Tests Leakage 1 500 VAC Insulation 500 VDC Bonding 25 ADC Speed Control Range Coarse 0 to 100 Fine 0 to 18 user selectable Tach Input Voltage 0 to 40 VDC BCD Binary Output BCD Update Rate 24 Bit 61 sec 10 BINARY Update Rate 19 Bit 80 sec 10 Software Selectable Output Compatible with AL 4806 3A AL 4906 3A FR8502 Connector 50 Pin D type TTL Increment Output Pulse Width Selectable from 1 96 sec to 248 ocsec Pulse Logic Polarity Selectable Interval Resolution 0 0001 Max Time Jitter 10 sec Max Increment Rate 4000 pulses per second Connector BNC F Supported Motion Modes Slew Track Sector Raster Alternate Mode TTL pulses at discrete positions Note Increments are also available via the SHELL setup utility However the data rate is limited due Doc No MAL 4806 3C doc 23 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR FR Multi Axis Controller Table 1 3 Electrical Characteristics AL 4806 3C AL 4806 3C Opt 1 to protocol overhead Supported Position Sensors Selectable for each axis via setup utility Dual Speed Synchro 1 1 amp 36 1 Single Speed Synchro 1 1 Incremental Encoder 400 Hz Synchro Format 90 v or 11 8 v Optional EnDat Absolute Optical Encoder Op
65. 3A format SW3 ADDRESS MODE DIP Switch Address and configuration switch for SELECT defining the Controller address in the IEEE 488 Bus and controller configuration Switches 1 thru 5 define GPIB address Switch 6 defines whether the GPIB address is set by SW3 switch or from the software configuration utility Switch 7 defines whether the displayed speed on the front panel represents the commanded or actual speed A finger guard covered fan draws ambient air into the AL 4806 3C for cooling purposes The fan is powered by DC voltage directly from the internal power supply and so operates regardless of whether the line voltage is 115 VAC or 230 VAC Doc No MAL 4806 3C doc 68 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR 4 7 Rear Panel Connector Pin Outs Multi Axis Controller Table 4 6 J1 DC OUT CONNECTOR PIN ASSIGNMENTS PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME BNC INCREMENT INCREMENT Enable by the host computer or front panel this pulse indicates that the primary axis angle has changed by an amount that exceeds a preset threshold TTL logic levels Positive going pulse Table 4 7 J4 IEEE 488 CONNECTOR PIN ASSIGNMENTS
66. 4806 3C doc 109 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URBIT FR Multi Axis Controller Table 5 1 Home Relevant parameters 1 Parameter Type IDLE RLS FLS INPUT RLS DIR INPUT FLS DIR Home Fast Speed V V ov Home Slow Speed d J Home Limit To Index Search y J Dist Home Position Home Move To ABS Pos Home Slow Limit Search Dist x N N N This table correlates between Home Mode and its relevant parameters This table presents a case that some sequence of Homing is performed and after that search for index is not performed Table 5 2 Home Relevant Parameters 2 Parameter Type IDLE RLS FLS INPUT_RLS_DIR INPUT_FLS_DIR Home Fast Speed y N N N Home Slow Speed y Home Limit To Index Search x x x x x Dist Home Position Home Move To ABS Pos Home Slow Limit Search Dist x 4 4 NI 4 Doc No MAL 4806 3C doc 110 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller 5 2 5 6 5 2 5 7 Home With Index This parameter defines if to perform homing on index The parameter c
67. BIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller The flow chart process below illustrates of the major steps that should be used to configure each axis Axis Configuration Process Define Safety Zone amp Clear area of debris and personnel Review Active Axis Configuration Folder y Select amp Enable Axis To Be Configured Define amp Label Axis Configure Angle Sensor Type amp Velocity Input Configure Position amp Velocity Configure Homing if applicable Configure Motion Parameters axis label SW limits PFac Vfc max speed acc dec v Define Error Mapping if applicable N Save amp Download XC D Figure 5 19 Axis Configuration Process Doc No MAL 4806 3C doc 131 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Step 1 Define and Clear A Safety Zone A WARNING During installation and testing of the controller a safety zone should be defined around moving positioner axes and kept clear of personnel hands fingers and loose hardware During re powering of the
68. Contents Pop up Table Contents dialog see section 0 e Set Linear Correction Pop up Set Linear Correction dialog see section 5 2 12 e Inverse Table Inverse the correction values sine for all the table e Transpose Table Transpose the correction value vector e Download Table Download the table only if currently connected to controller e Upload Table Upload table according to the selected table only if currently connected to controller e Set Mode Enable the use of this table in the controller e Reset Mode Disable the use if table in the controller e Close Close this dialog Doc No MAL 4806 3C doc 119 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 2 10 Table Configuration Dialog Menu The table configuration dialog box enables the user to add delete or update the table initial setup Table Configuration x Table 7 Add Delete Update Axis H Factor NN Active mi Start Pos Delta Pos E Figure 5 13 Table Configuration Table Configuration Parameter Definitions Axis The table related axis Table Table name selection or editing Add Button Adds a new table to the table list Update Button Updates the current selected table data Del
69. Controller IMG Figure 6 3 Sector Scan Examples End 30 Start 30 Start 30 o End 30 o Doc No MAL 4806 3C doc 177 party without written authorization from Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other ORBIT FR Multi Axis Controller 7 CHAPTER 7 MAINTENANCE amp SERVICE 7 1 Introduction Operator maintenance of the AL 4806 3C controller is limited to cleaning of the surfaces of the unit and replacement of blown fuses 7 2 Preventive Maintenance Use a soft slightly moistened cloth to clean the controller s front panel and other exposed surfaces of accumulated dust and fingerprints Cleaning should be performed on an as needed basis Care should be exercised in the wiping of the front panel 7 3 Fuse Replacement All fuses are located on the rear panel Refer to Tables 7 1 and 7 2 for their exact location Table 7 1 Fuse Table AL 4806 3C Opt 1 Only Fuse Size Description Designation F1 10A Slow Blow 115 VAC LINE IN 5A Slow Blow 230 VAC F2 2A Slow Blow BRAKE F3 8A Slow Blow ARMATURE F4 8A Slow Blow FIELD F5 2A Slow Blow REFERENCE OUT 1A Slow Blow REFERENCE IN Opt 7 Doc No MAL 4806 3C doc 178 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may
70. Display Axis Coarse Speed E 0 Num 0 Num Fine Operating Display Axis z Panel Download Upload Figure 5 11 Service Dialog Menu ORBIT Service Parameter Definitions Speed Control Area o Coarse Fine If Coarse or Fine is selected o Speed Current selected axis speed Operating Axis Area o FLS Signed if active axis is in FLS limit o RLS Signed if active axis is in RLS limit o Position Active axis position o Num Active axis number 1 based Display Axis Area o Position Display axis position Doc No MAL 4806 3C doc 117 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR FR 5 2 9 1 o Num Display axis number 1 based Multi Axis Controller e Panel Bus LED Show the current controller state BUS Panel Download Button Currently not supported Upload Button Upload current panel state from controller OK Button Close the dialog Error Mapping Correction Table This window describes the Error Mapping Correction Table This dialog is accessed via the Tools menu of the AL 4806 3C Configuration utility under Error Mapping menu item Error Mapping x From To Position Range 1 p Mapping Delta 8 Table Size 10
71. ENCODER DEF PART2 8 84 Table 4 25 J24 ENCODER ABC PART1 551 6 85 Table 4 26 J24 ENCODER ABC PART2 PIN ASSIGNMENTS 86 Table 5 1 Home Relevant parameters 1 ssssssssssssssssseseeeeeeeeen enne 110 Table 5 2 Home Relevant parameters 2 110 Table 5 3 General Dialog Men nennt ntn censa 113 Table 5 4 Sample Industry Standard Direction vs Angle 147 Table 6 1 Front Panel Controls e a ia HAT na Td n Td PAPA a DUE 168 Table 6 2 Front panel Indicators 170 Table 7 1 Fuse Table AL 4806 3C Opt 1 Only enne emen 178 Table 7 2 Fuse Table AL 4806 3C Only sssssssssseseeeee nennen nennen 179 Doc No MAL 4806 3C doc 14 Rev Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 1 1 CHAPTER 1 GENERAL OVERVIEW Product Overview AL 4806 3C series positioner controllers represent the newest generation of positioner controller technology that is proudly offere
72. ENTS Y jai IEEE 488 en ea SEL INTERLOCK J21 4806 5 3 ez 2 e CONTROL 115V 4A SB 230V 2A SB Figure 1 4 AL 4806 3C Rear Panel View without PCU Doc No MAL 4806 3C doc 21 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR 1 5 Supplied Equipment amp Accessories Multi Axis Controller The AL 4806 3C Positioner Controller is delivered with the following supplied accessories Table 1 1 Supplied Equipment amp Accessories Item Qty Description 1 AL 4806 3C Positioner Controller 2 1 CD ROM Documentation Set containing User s Manual Installation Setup Operation Programming Reference Manual SHELL Software Setup Utility DCOM Software Utility 3 1 Cable RS232 for Setup Utility 4 1 AC Power Cord IEC 320 F to LOCAL COUNTRY plug 5 1 Quality Assurance Certificate 6 1 Warranty Statement 1 6 Available Options The AL 4806 3C Positioner Controller family is available with the following ordering options Table 1 2 AL 4806 3C Available Options OPTION DESCRIPTION AL 4806 3C AL 4806 3C Opt 1 Opt 002 Local Control Unit LCU Hand held Unit X Opt 003 Inductosyn Interface X X Opt
73. ER IS APPLIED TO THE AL 4806 3C CONTROLLER Doc No MAL 4806 3C doc 76 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Table 4 15 J11 CONTROL CONNECTOR PIN ASSIGNMENTS STANDARD UNITS WITHOUT BUILT IN PCU ONLY PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A A AXIS SELECT O A AXIS SELECT Three bit code B B AXIS SELECT O B AXIS SELECT representing selected C C AXIS SELECT O C AXIS SELECT operating axis D E A AXIS ACTIVE O A AXIS ACTIVE F FWD LIMIT FWD LIMIT Indicate axis position G REV LIMIT REV LIMIT limit reached H B AXIS ACTIVE B AXIS ACTIVE J C AXIS ACTIVE C AXIS ACTIVE K L M LIM COM O LIM COM 12V Return line for limit switches N RATE ERROR O RATE ERROR Input to PCU Analog signal 10V range RATE RETURN O RATE RETURN Return line for RATE ERROR R 12V PCU O 12V PCU S GROUND GROUND Ground T LOCAL REMOT LOCAL REMOTE E U V W SHUTDOWN O SHUTDOWN Turns PCU ON OFF X SHUTDOWN SHUTDOWN RET Return line for RET SHUTDOWN Y Z a b POWER O POWER ON OFF Enables power to ON OFF PCU d POWER O POWER ON OFF ON OFF RETURN RETURN Doc No MAL 4806 3C doc 77 Information contained here
74. FR URHIT FR Multi Axis Controller When set to 0 default normal mode is used When set to 1 SIN commutation is enabled based on the encoder position e Use PID Control Scheme for This Axis This checkbox configures the servo loop control scheme to PID or PIV When set to 0 PIV control scheme is used When set to 1 PID control scheme is used e Invert Auxiliary Motor Command Direction Aux DAC Only This checkbox controls the Auxiliary DAC polarity command Aux servo driver analog command output AO When set to 0 the default polarity is invert i e AO 32767 will result in an analog command voltage of 10V When set to 1 the default polarity is non invert i e AO 32767 will result in an analog command voltage of 10V e Enable Encoder Error Detection and Report as Driver Fault This checkbox Disables when set to 0 or Enables when set 1 the Hardware Encoder Error detection Feature Note that when enabled the controller will force Driver Fault condition when encoder error is detected This option must be used with encoders having electrical differential interface only When single ended encoders are used this checkbox must be disabled e Invert Driver Fault DRV FLT Logic This checkbox controls the logical polarity of the Driver Fault digital input Note that previews firmware versions supported this feature in the high IL bits As of firmware
75. FR URHIT FR Multi Axis Controller Step 11 Verify Angle Sensor Polarit e Prior to checking the axis polarity the controller must be set to open loop operation This is done by checking the open loop checkbox in the relevant axis tuning folder and pressing the download button The max speed should be set to 32767 P factor Max speed download the parameters to the controller after setting e Within the Active Axis section enter a value of 1 000 000 in the ERROR window This is a maximum error value and will allow the axis to run in an open loop mode without causing a shutdown due to an excessive error e Download the data to the controller to apply this change e Set the controllers bus panel button to panel mode Use the front panel potentiometer e Rotate the axis in CW direction Verify that the axis is moving in a positive direction CW Also verify that the axis position display within the active axis is increasing in a positive direction e After this has been verified stop the motion e f the positioner moved in a negative direction then click on the Config button located below the Fine selection used to setup the axis type This will open up the dialog box shown in Figure 5 19 Within the dialog box change the state check it if unchecked or uncheck it if already checked of the Invert Motor command direction e Verify the axis angle direction as it may need modification Proper operation of the
76. L 4806 3C can be operated at altitudes up to 10 000 feet 3048 meters Doc No MAL 4806 3C doc 45 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller 3 4 4 3 Cooling The AL 4806 3C incorporates an internal fan mounted on the top right side of the rear panel This fan blows ambient air into the instrument for cooling purposes The air is exhausted via ventilation holes in the bottom of the unit A No hindrances to air flow into or out of the unit should be 3 4 5 A 3 4 6 permitted Clearances for ventilation should be three to four inches at the rear of the cabinet and at least 1 75 inches on the bottom side Bench Operation The AL 4806 3C instrument cabinet incorporates plastic feet allowing convenient freestanding desk table or bench top operation CAUTION THE VENTILATION HOLES FOR THE AL 4806 3C ARE LOCATED UNDERNEATH THE CONTROLLER ON THE BOTTOM PANEL TOWARDS THE FRONT OF THE UNIT TO ENSURE PROPER VENTILATION DO NOT REMOVE PLASTIC FEET FOR BENCH OPERATION Rack Mount Operation The AL 4806 3C can be installed in a standard 19 EIA rack mount In the rack mount configuration a pair of strong equipment angle rails must support the controller Doc No MAL 4806 3C doc 46 Rev B Information contained herein is the
77. MAL 4806 3C doc 153 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller En Solutions Data Viewer data sd_ DATA SD_ Untitled d File View Window Zoom Objects Analyze Help Zoom Zoom gt Aniginp Pos lt Veldtt 3000000 1 1 1 4 1 1 1 1 D 1 D 1 D 1 D 1 TET M GI N Nh a 2 00390625 d 1 992187 XAnlaInp 311 2483270 xveldtt 6400 Figure 5 28 Plot Window For Data Recording Statistics Shows statistic information for the selected vector X Time range is from 0 to 5 96 All the x vector RMS and Tolerance percents relate to the Average value Vectors Common Statistics Pos Average 303 680 RMS 1 672 0 540 gt Veldtt Min 31 4 000 Max 306 000 Tolerance a 000 2 583 Pair Statistics Max Difference Index 1 975 Index 2 976 1 3 809 x2 3 813 afa 306 000 AAR 31 2 000 Tolerance 6 000 1 937 Calculate statistics for every f samples xe Figure 5 29 Status Window For Data Recording Results Doc No MAL 4806 3C doc 154 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without wr
78. NemialPos _ Comection ActualPos 1 3 10 1 2 3 811111 171111 3 17 7 22222 24 2222 4 25 5 33333 31 3333 5 33 5 44444 38 4444 41 4 55556 45 5556 7 49 3 66667 52 6667 8 5 2 77778 53 7778 3 65 1 88889 66 8889 10 73 1 74 Table Selection x Configure T able Load Table From Disk Load Vector From Disk Save Table To Disk Set Table Contents Set Linear Correction Inverse Table Transpose Table Download T able Upload Table Set Mode Reset Made Figure 5 12 Error Mapping Correction Table Dialog Menu Doc No MAL 4806 3C doc 118 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Error Mapping Parameter Definitions e Position Range From Start Error Mapping position user units e Position Range To End Error Mapping position user units e Mapping Delta Delta between positions in the table user units e Table Size Number of table entries e Table Selection Selects the table to edit e Configure Table Pop up the Table Configuration Dialog e Load Table From Disk Loads the current selected table data from disk e Load Vector From Disk Loads correction vector from disk e Save Table To Disk Save the current selected table to disk e Set Table
79. No MAL 4806 3C doc 53 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller 4 4 1 Armature Current Limit Settings Opt 1 Built In PCU Units Only It is essential that the controller s motor drive current limits be set to match the connected positioner s motor sizes Damage to the positioner s motor and or the controller can occur if this procedure is not followed AL 4806 3C Opt 1 Ver 1 controllers that possess a Built In PCU contain a servo card SC 4806 which contains six 4 position dip switches Axis A to Axis F This dip switch allows the installer to select the armature current limit for any positioner attached to the controller The current limit switch setup chart is shown in Table 4 2 The current limit factor for each axis is set by four 4 DIP switches located on the SC 4806 Card as shown in Figure 4 7 The factory default setting is 10 amps Each axis utilizes its relevant 4 DIP switches Axis A to Axis F respectively To set the switches perform the following steps Step 1 Unscrew the top cover by removing the four Phillips screws Step 2 Remove the clear plastic protective sheet by pulling the plastic caps upward Step 3 Locate the SC 4806 card in the PWM card Assy located at the far front left of the controller top view Step 4 Using a
80. OLLER 79 Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from Doc No MAL 4806 3C doc Rev B URBIT FR Multi Axis Controller A Table 4 18 J14 AC POWER LINE INPUT ASSIGNMENTS PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A 115 230 VAC 115 230 VAC HOT HOT Main Single Phase AC B GROUND GROUND Power Input to Controller C 115 230 VAC 115 230 VAC RETURN NEUTRAL Table 4 19 J15 REFERENCE INPUT PIN ASSIGNMENTS PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A 115 230 VAC 115 230 VAC External synchro HOT HOT reference when B 115 230 VAC 115 230 VAC configured for 115V 400 RETURN RETURN Hz operation CAUTION VOLTAGE LEVELS DANGEROUS TO PERSONNEL EXIST ON THIS CONNECTOR DO NOT TOUCH CONNECTOR CONTACTS IF POWER IS APPLIED TO THE AL 4806 3C CONTROLLER Table 4 20 J20 SHELL UTILITY COM PIN ASSIGNMENTS PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME 1 TXD232 TXD232 2 RXD232 RXD232 3 CANH1 CANH1 4 CANL1 CANL1 CAN BUS standard 5 GND GND protocol 6 CANH2 CANH2 7 CANL2 CANL2 8 J48 8 J48 8 Doc No MAL 4806 3C doc 80 Rev B Information contained herein is the sole property of ORBIT FR and is not for publ
81. Open the Shell e All the ORBIT FR special functions are located under the Special Functions tab in the left side Outlook bar e Select the appropriate Communication method either COM or CAN Figure 5 12 illustrates a view of the user interface with the two Communication methods choices shown in the upper right part of the Screen 5t SCShell 7 00 SC Controller Shell Application Control amp Robotics Solutions Ltd File Communication Macro Commands DataRecording Tools n E QC OK KR BR Moors Product Version ee Driver Fault In Motion Motion Status Motor Fault None Velocity Eror SLL fa Driver Fault In Motion Motion Status Motor Fault None 3 Unit Se SC 4M Controller COM1 COM1 Baud 38400 Controller CAN CAN RX 2 Tx 1 Baud 1000 KBPS f FL n HL T r r r Ris Position Sup Driver Fault Ve L 1 In Motion Enor Motion Status aes Ee Motion Status Motor Fault None Motor Fault None T initialized Running X amp Y 2 8 8 E 6 F 6 5 6 6 0 6 V 6 Abort Input gt Echo Configurations 1 0 s Special Function Miscellaneous Custom Window Custom mands 1 Cas Cuz Custom Commands 3 TechInfo Ready DCOM Version Figure 5 18 Main Menu Selection of Communication Port 5 4 3 1 Guidelines for Setting New Communication In case it is
82. R Multi Axis Controller Table of Figures Figure 1 1 AL 4806 3C Front Panel View Opt 1 w Built In PCU 20 Figure 1 2 AL 4806 3C Rear Panel View Opt 1 w Built In PCU Shown 20 Figure 1 3 AL 4806 3C Front Panel View without 21 Figure 1 4 AL 4806 3C Rear Panel View without PCU 21 Figure 2 1 Elements of a Motion Control System sssssssseeeeeeene enne 27 Figure 2 2 Elements of an Amplifier in Velocity Mode sssen m 31 Figure 2 3 Typical Coarse Electrical Zero Markings 33 Figure 2 4 Output Signal of an Incremental 35 Figure 2 5 Functional Elements of a Motion 38 Figure 3 1 Shipping Contents nene 41 Figure 3 2 Ventilation Diagram nennen nennen ener ener nenne 47 Figure 4 1 Synchro Based System Six Axes Single Positioner Up to 4 HP 51 Figure 4 2 Synchro Based System Six Axes Two Positioners Up to 4 51 Figure 4 3 Encoder Base System Six Axes Two Positioners Up to 34 52 Figure 4 4 Synchro B
83. RBIT FR URHIT FR Multi Axis Controller Step 16 Begin Data Recording e Select miscellaneous data recording to bring up a new user interface for recording data e Within the data recording interface set the Recording Length RL to 3000 and the Recording Gap RG to 32 Make sure the Add Velocity to graphs selection is checked Also the first two Recording Variable RV selections shall be the following Auxiliary position Position e Once all these selections are verified click the Start Recording button This will record data for a short period of time and then open another window showing a plot of results Move the axis using the front panel potentiometer e Within the plot window open up the statistics dialog box via the following commands Analyze pull down menu Statistics selection All X Vector X axis range e Within the statistics window select X Auxiliary position under Vectors tachometer analog voltage Make a note of the Average value under the Common Statistics section Change the vector selection to XVeldtt actual velocity and again note the average value e Compute the ratio of the average values of XVeldtt to X Auxiliary position This ratio is the Tach Gain value e Setthe Tach Gain to the ratio that was calculated above e Repeat this entire procedure to verify the tacho gain setting Verify that the average value of the Auxiliary position and XVeldtt are about the same Doc No
84. Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 4 5 Operational Features 4 5 1 Audible Alarm AL 4806 3C series controllers contain an audio indicator which will sound a half second audible alarm tone if either the forward or reverse limit of the operating axis is reached The audible alarm tone is inhibited if both limits are encountered simultaneously indicating disconnected signals for the selected axis The tone will also sound once for each continued attempt to move the positioner in the direction of the encountered limit The alarm may be enabled via the SHELL software configuration utility 4 5 2 Position over Velocity Control Filter Modes The velocity servo loop in the controller is based on various possible velocity feedback signals which can be received from one of the following 1 Tachometer sensors mounted on the positioner motor shaft 2 Velocity output from the internal synchro to digital S D module 3 An additional encoder mounted on the positioner motor shaft Velocity feedback voltage polarity depends on the direction of motion Doc No MAL 4806 3C doc 58 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written auth
85. TER 4 HARDWARE CONFIGURATION amp INSTALLATION 4 1 4 2 Introduction This chapter provides preparation for use procedures connector pin out information connector interfaces equipment interconnection diagrams and setup utility information System Interconnections Figures 4 1 thru 4 4 illustrate some typical interconnections between the AL 4806 3C and other system components with which it is designed to operate The illustrations are not representative of all possible applications Consult your local ORBIT FR representative to review your specific application The AL 4806 3C may be operated in one of several ways Control may be via a host computer or any similar computer containing a qualified IEEE 488 interface For manual only control of the AL 4806 3C via the use of its front panel controls no host computer is required The AL 4806 3C without Opt 1 PCU will interface directly with ORBIT FR standard power control units PCU s Qualified PCU s include the ORBIT FR models AL 4146 2 and AL 4106 2 6A Position and velocity information from up to 6 positioner axes via either synchro outputs encoders inductosyns inclinometers and tachometer outputs may be communicated from the positioner to the AL 4806 3C Although the figures in this section show all 6 axes connected a specific installation may have less axes connected possibly eliminating the need for one of the cables and or the need to interconnect all signals in eit
86. TERNAL 1 0 EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME h E_A E A _ j E Bt E B k E B E B m SHILDED SHILDED n E E p E l E I q E GND E GND r E 5V E 5V S _ F A t F_A F A u F Bt F B V F B F B w Fh F 1 X F I F l y F_GND F GND 2 5V 5V D CLK 1 D CLK BB D CLK 2 D CLK CC D DATA 1 D DATA DD D DATA 2 D DATA EE GND COM GND FF 5V 5V GG E CLK_1 E CLK HH E CLK 2 E CLK JJ E DATA 1 E DATA KK E DATA 2 E DATA LL F CLK 1 F CLK MM F CLK 2 F CLK NN F DATA 1 F DATA PP F DATA 2 F DATA Doc No MAL 4806 3C doc 84 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller Table 4 25 J24 ENCODER PART 1 PIN ASSIGNMENTS PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A A HOME A HOME B B HOME HOME C C HOME C HOME D HOME GND HOME GND E SHIELD 1 SHIELD 1 F SHIELD 2 SHIELD 2 G 15V 15V H 15V 15V J REF_HI REF HI K REF_LO REF LO L A SIN LO A SIN LO M A SIN HI A SIN HI N A COS HI A COS HI P A COS LO A COS LO R B SIN LO B SIN LO S B SIN HI B SIN HI T B COS HI B COS HI U B COS LO B COS LO V C SIN LO C SIN LO W C SIN HI C SIN HI X C COS HI C COS HI Y C COS LO C COS LO Z A
87. The positioner is then moved backwards to the starting point in a similar manner but without issuing data acquisition increments This cycle then repeats itself until the predetermined number of scans is completed the driven axis is then stopped RVRS When the scan begins the positioner starts moving in the reverse direction between the predetermined limits while data acquisition increments sync Signals are issued along the path in the backward direction The positioner is then moved forward to the starting point in a similar manner but without issuing data acquisition increments This cycle then repeats itself until the predetermined number of scans is completed the driven axis is then stopped 6 5 1 4 2 Sector B Mode FRWD and RVRS FRWD The positioner is brought to the Scan Start position When the scan begins the positioner moves forward while data acquisition increments sync Signals are issued The positioner is then moved backwards to the starting point as in Mode A FRWD however data acquisition increments are now issued also while the axis returns to the starting point When the predetermined number of scans is completed the motion stops RVRS The positioner is brought to the Scan Start position When the scan begins the positioner moves backwards while data acquisition increments sync Signals are issued The positioner is then moved Doc No MAL 4806 3C doc 175 Rev B Information contained herein is th
88. Win Time 10000 Res 360 Reading V Fac 500 Phase Offset oll i Decimal Point ABS Enc P Fac 1 A Pos Gain i j 1 Position Format 0 360 deg Acc Dec 5 En Dat Mask Home 1 li Error Mapping Lim Dec 100 Gain i Open Loop Motor Set Home Parameters T Error Mapping 2 Panel Acc 5 Aux Enc Rat MoOfAtEOM v Zero Pos Mapping Axis 0 4 Figure 5 2 Active Axis Configuration Folder Axes 1 thru 6 Active Axis Configuration Parameter Definitions e Axis Name This Edit Box enables the user to set the axis dedicated name This name is saved in the controller as part of the axis characteristics Doc No MAL 4806 3C doc 90 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e Active Axis Toggle this button to set this axis as active An active axis is an axis that a motor is connected to A non active axis is an axis that no motor is connected to it or an axis that is disabled by S W e SW Low Lim Entry field of the Software Low Position Limit This value is monitored during all motions by the controller Whenever the actual encoder position PS is smaller then the low position limit value and the velocity VL is negative encoder position PS is smaller then the low position lim
89. a The Data Viewer can import and export data in other format then its dedicated SDV format The Data Viewer supports Matlab and Text formats as described below When a file is imported initially all the imported data vectors are displayed on a single Graphic Window A 2 6 1 Importing Exporting From Matlab Files Use the menu items File Import Data and File Export Data to import data from a Matlab data file mat and to export the numeric data to a Matlab data file Select the Matlab data files mat option at the Files of type input box When data is imported from a Matlab file the vectors names are also imported Similar operation is done when exporting data to Matlab All other Graphic Properties are not available and the defaults are used The Data Viewer automatically converts raw and columns vectors to Data Viewer vectors and has no difficulty to handle vectors of different length although not recommended to avoid confusing A 2 6 2 Importing Exporting From Text Files Use the menu items File Import Data and File Export Data to import data from a text data file txt and to export the numeric data to a text data file Select the Text only data files txt option at the Files of type input box A text file should be organized as columns of numbers The numbers at the same raw should be separated by The number of numbers at each raw Doc No MAL 4806 3C doc 197 Rev B Information
90. al months use the following procedure as a pre operational checklist This procedure will provide confidence that the unit has been received in working order and will help to familiarize the user with the front panel It will also establish a reference for what is to be expected when other system components are connected Make sure that all packing material has been removed and that all cables are clear of any moving parts All positioner limit switches should be checked before operating the positioner controller in an unattended condition To do this energize the positioner control unit and run the positioner slowly in both directions Note that limit switches operate properly by providing a remote indication at a correct setting Follow the directions given in Section 3 3 of this Manual regarding the selection of line voltage With the front panel LINE switch set to the 0 OFF position connect the power cable supplied with the unit to the three prong Line receptacle at the lower right of the rear panel Connect the power cable to an appropriate source of power Set the front panel Line switch to the 1 OFF position Almost immediately soft click should be heard as a relay corresponding to the selected operating axis is energized The rear panel fan should also be heard At the time the LINE switch is set to 1 the switch will illuminate The controller will then execute a self test and will momentarily indicate it has passed t
91. an be used with one of the parameters defined in section 5 2 5 The index search is done at the end of the homing sequence described in section 5 2 5 The direction of searching the index depends on the type of the home sequence that was performed before the search for Index In case that such routine was performed In case that HOME ON RLS HOME ON FLS sequence was performed earlier the direction of searching the index will be opposite to the direction of the last home sequence motion Opposite to the Limit direction In case that HOME ON INPUT RLS DIR HOME ON INPUT FLS DIR sequence was performed earlier the direction of searching the index will be opposite to the direction of the last home sequence motion In case HOME ON INPUT RLS DIR sequence was done the direction of searching the index will be the RLS direction In case HOME ON INPUT FLS DIR sequence was done the direction of searching the index will be the FLS direction In case no sequence is selected and homing is done only on index the direction is defined by the sign of the home search distance parameter see section 5 2 5 9 Home Fast Speed This parameter defines the homing fast speed Homing fast speed is the initial speed to search input or limit Doc No MAL 4806 3C doc 111 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authori
92. and cables Consult your ORBIT FR representative for assistance in cable and connector selection e Protect external range cables against lightning by enclosing the cables in a grounded metal conduit Additional lightning protection may be required for certain installations particularly when employing remote configuration using the optional communications interfaces e Tampering with or making unauthorized modifications to the circuitry will void the warranty Request only factory authorized parts for repair Doc No MAL 4806 3C doc 43 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR 3 4 3 4 1 3 4 2 3 4 3 Preparing For Use Power Requirements Multi Axis Controller The AL 4806 3C requires a power source of either 115 VAC 10 or 230 VAC 10 single phase 47 to 63 Hz Power consumption is approximately 1 3 KVA watts Line Voltage Selection CAUTION BEFORE SWITCHING POWER ON MAKE SURE THE INSTRUMENT IS PROPERLY SET TO ACCEPT THE VOLTAGE OF THE SOURCE The voltage source selection switch will be found at the upper right corner of the rear panel Power Cord amp Fusing In accordance with international safety standards this instrument is equipped with a three wire power cord When connected to an appropriate power line outlet this
93. and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR FR Multi Axis Controller 5 2 5 5 Home ON Input To FLS Direction There are 3 states to consider 1 Input is on from beginning of the sequence 2 FLS was reached before home input was found 3 Home input was found before reaching Limit FLS On case 1 the routine jumps to the code block that handles the Event Find Input ON On case 2 the routine starts fast motion on the FLS direction until it reaches the Limit FLS Then it starts fast motion on the opposite direction seeking the Home Input On When the Home input is ON the routine jumps to the code block that handles the Event Find Input ON On case 3 the routine start fast motion on the FLS direction until we find Input ON Then it jumps to the code block that handles the Event Find Input ON Home on input to FLS direction performs the following steps when find Input ON 1 Start fast motion to FLS limit direction until home input is OFF 2 Move Relative Distance away from INPUT on FLS Dir to ensure fixed speed on the next step 3 Go back into Input slowly on RLS Dir until Input is on Note If search index option is selected after the sequence above the first index is searched see section 5 2 5 6 Home Input N Figure 5 9 Home ON Input FLS Direction Doc No MAL
94. anges in motor command direction and or encoder direction must be downloaded to the 4806 3C Before doing this it may be convenient to determine the maximum speed as described in the next section e f any changes have been made in either the motor command direction or encoder direction then repeat this procedure to verify that the axis direction is now correct CG Dialog Configure Axis as SIN commutated Jv Use PID Control Scheme for This Axis Invert Auxilary Motor Command Direction Aux DAC Only Enable Encoder Error Detection and Report as Driver Fault Invert Driver Fault DRV FLT Logic Figure 5 25 CG Menu Inversing Direction Doc No MAL 4806 3C doc 148 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Step 13 Verify Angle Repeatabilit e Switch between axes Verify the axis being 9m c verified indicates the original position angle Tacho Offset 2040 readout after returning to the axis Mech Offset 0 Offset 0 Set To T 7 7 7 7 7 Decimal Point 13 e If the position angle readout is a 360 degree Position Format 0 360 deg compliment to the previous readout the 360 Eror Mapping Reading may need to be selected Error Mapping 71 Mapping Axis D n Figure 5 26 Posi
95. arse marking of a typical synchro Incremental Optical Encoders Incremental encoders generate pulses that represent the shaft position The encoder output includes two signals commonly called channel A and channel B which generate N pulses per revolution The two signals are shifted by a quarter of a cycle as shown in figure 4 The shift between the two signals enables the controller to determine the direction of rotation according to whether channel A leads B or vice versa The shift of the two signals also increases the sensor resolution as each encoder cycle is divided into four quarters each called a quadrature count Thus an encoder with N cycles per revolution produces 4N quadrature counts per revolution Doc No MAL 4806 3C doc 94 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Channel A Channel B Position Figure 2 4 Output Signal of an Incremental Encoder Most encoders produce square wave signals with TTL levels Other forms include sinusoidal signals or square wave signals at higher voltages Industrial systems often use encoders with differential signals i e channels A and B and their complements These devices reduce the system sensitivity to noise Incremental encoders may also produce a third signal knows as the
96. ased System Six Axes Both 5 HP and Up to 4 52 Figure 4 5 Current Limit Select Setup sssssssessseeene ener 55 Figure 4 6 DIP Switches Setup oreet ride cer dn xo pac E dap eR be Eneas 55 Figure 4 7 SW3 GPIB Address amp Mode Switch 57 Figure 4 8 AL 4806 3C Opt 1 w Built In PCU Rear 61 Figure 4 9 AL 4806 3C without PCU Rear Panel sse emere 63 Figure 5 1 Mail SHELL Setup Utility Menu ssseenenn nennen 88 Figure 5 2 Active Axis Configuration Folder Axes 1 thru 6 90 Figure 5 3 Filter Dialog Mer rrt ated derer dix gal rr dae der yan Ode xc gals 98 Figure 5 4 CG Dialog Men 22 certc caras dae EL aene R 102 Figure 5 5 Home Dialog Window ener nme nennen 105 Figure 5 6 Home ON FS itii 106 Figure 5 7 Home ON tacere Leia eee ieee iii A Ln DR dA 107 Figure 5 8 Home ON Input RLS Direction ssessseene eee 108 Figure 5 9 Home ON Input FLS Direction ssssse nennen 109 Figure 5 10 Secondary File Menu eeeeessieeesesiseeeeeseeen nensi tenent nnne 116 Fig
97. ata outside this range will be truncated The Zoom In XY mode is enabled disabled by one of The menu selection Zoom In XY gt The toolbar s Zoom In XY button The menu selection Zoom In XY at the pop up menu Doc No MAL 4806 3C doc 187 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller A 2 3 4 Zoom Out Zoom Out centered by a factor of 3 The Zoom Out is done by one of The menu selection Zoom Out The toolbar s Zoom Out button The menu selection Zoom Out at the pop up menu A 2 3 5 UnZoom Resets the zoom in mode back to view the complete vectors The UnZoom is done by one of The menu selection Zoom UnZoom The toolbar s UnZoom button The menu selection UnZoom at the pop up menu A 2 3 6 Zoom Undo Undo the last zooming operation The data Viewer supports 5 unzooming operations The Zoom Undo is done by one of gt The menu selection Zoom Undo gt The toolbar s Zoom Undo button The menu selection Zoom Undo at the pop up menu Doc No MAL 4806 3C doc 188 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis
98. ation duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Table 6 1 Front Panel Controls Specification CONTROL is not in its detent position and any of the following conditions exist e The controller has just been powered up e A change in the position of the AXIS SELECT has just been made e A limit condition on the operating axis has just occurred Ref Des Display Axis Select A thru F via 6 position rotary switch knob In PANEL mode this 6 position rotary switch allows manual selection of the display axis Velocity Monitor Select When set to the 7 position the display axis select switch activates Actual velocity Velocity is displayed in user selected units 7 Position Zero Sets the operating axis position display to 0 0000 Saved in non volatile memory Set Offset Activates Offset Position Entry Offset Position 8 position Thumbwheel Switch applies offset to position positive and negative Resolution of 0 0001 user units E STOP Emergency Latching Emergency Stop Panic Switch Stop Opens motor Armature Common circuit on Option 1 units eo Doc No MAL 4806 3C doc 169 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Table 6 2 Front
99. ation duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller speed and the acceleration and deceleration rates It then remains up to the motion controller to construct the continuous trajectory of the reference position R The second major task is to follow the reference function It starts with decoding the position signal C and the closing of the loop The motor position C is determined from feedback signal and compared with reference position R E the difference R C is known as the position error The objective of the controller is to reduce the value of the position error E to a minimum without causing system oscillations Doc No MAL 4806 3C doc 39 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 3 3 1 3 2 CHAPTER 3 UNPACKING amp INITIAL CHECKOUT Introduction This chapter describes the unpacking of the AL 4806 3C and its initial inspection Unpacking amp lnitial Inspection Inspect the shipping container for damage If the shipping container or the packing material used to protect the instrument within the container exhibits signs of damage these should be kept until the contents have been checked for completeness and the ins
100. axis Obtain max speed figure from the positioner manufacturer e Define Fine This will be depending on the device used to measure the axis position For example if an encoder is used then Incremental is selected If dual synchro feedback is used then Synchro is selected e Define Coarse This will be depending on the device used to measure the axis position For example if a single or dual synchro feedback is used then Synchro is selected e Define Velocity This will depend on whether a separate device is used to measure velocity For example if a tachometer is used then select Tach e After these parameters are set they must be downloaded to the 4806 3C This is accomplished by selecting the download interface D button at the lower right of the window and selecting Download Data To Controller See the lower right corner of Figure 5 17 for a view of this interface Doc No MAL 4806 3C doc 135 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller Step 5 Configure Axis Angle Sensor Type amp Velocity Input Set the following parameters for each axis prior to calibrating tuning an axis e Select the correct COARSE and FINE parameter for the selected active axis C None i Gone Ta
101. blication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller 6 5 Remote Control 6 5 1 Modes Of Motion 6 5 1 1 Overview In addition its easy to use front panel manual mode the AL 4806 3C accepts commands and translates them into a sequence of positioning instructions which are subsequently delivered to the controller s drive stages The AL 4806 3C contains four 4 positioning algorithms programmed into the controller which cover a set of motion modes frequently encountered in day to day applications of measurement systems incorporating complex positioning SLEW The simplest mode of motion is an indefinite movement of the selected positioner axis at a given speed and direction This mode of motion called SLEW is employed whenever the operator wishes to ascertain that the prescribed speed is indeed the actual speed of movement TRACK TO POSITION For tracking purposes the controller employs the TRACK TO POSITION mode This mode moves the selected positioner axis from its present position to a user defined target position SECTOR For antenna pattern measurement purposes it is frequently necessary to scan a given section in a predetermined manner At regular intervals during the scanning motion measurements of the antenna RF parameters are collected and the resulting data is then processed and recorded This type of motion is called SECTOR DIRECT F
102. blication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller IEEE 488 ENCODER BASED 4 RS 232 C MOTOR amp LIMITS ABC POSITIONER Dc our 47 70 7 OUP TO THREE AXES ENCODER ABO UP TO 3 4 HP EACH BCD OUT INCREMENT AL 4806 3C OPT 1 SIX AXIS POSITIONER CONTROLLER WITH BUILT IN PCU ENCODER BASED POSITIONER UP TO THREE AXES aq MOTOR amp LIMITS DEF UP TO 3 4 HP EACH AC POWER in q ENCODERDEF y or 230V 50 Hz AL 4146 2L LCU OPTIONAL LOCAL CONTROL UNIT e a OPTIONAL HANDHELD Figure 4 3 Encoder Base System Six Axes Two Positioners Up to 3 4 HP 3 Phase 220V 60 Hz or 3 Phase AL 4106 2 6A POWER 380V 50 Hz DC POWER SUPPLY 85222 J5 LCU AL 4146 2L LOCAL CONTROL UNIT OPTIONAL HANDHELD BCDOUT J7 ENCODER BASED INCREMENT 4 POSITIONER MOTOR amp LIMITS A UP TO THREE AXES lt gt y UP TO 3 4 HP EACH MOTOR amp LIMITS B MOTOR amp LIMITS C AL 4806 3C _ SIX AXIS LIMITS BRAKES ABC SYNCHRO BASED POSITIONER 9 2 POSITIONER CONTROLLER COR A LIMITSDEF UP TO SIX AXES AXES A B C 5 HP AC POWER 44 SYNCHRO ABC AXES DEF 3 4 HP SYNCHRO DEF r M TACH A F Figure 4 4 Synchro Based System Six Axes Both 5 HP and Up to HP Doc No MAL
103. by case basis later in this document There are also a number of pull down menus at the top of the user interface File Communication Macro Commands Data Recording Doc No MAL 4806 3C doc 89 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller and Tools The pull down menus are similar to other Window applications in that they spawn another user interface window These will be discussed in a case by case if pertinent to this procedure All the special menus for the AL 4806 3C are located under the Special Functions tab in the Outlook bar left side of the Configuration utility application The following sections describe the AL 4806 3C dedicated menus 5 2 2 Active Axis Configuration Folder The AL 4806 3C controller supports six 6 axes Each axis owns a designated folder that includes its relevant parameters The folder names are Axis 1 6 under the Special Functions tab I Position Active Axis Enc Fine Coarse seers 1 Tacho Gain 104836 SW Low Lim 0 Max Err 1000 I el s None I I Tacho Offset 2048 en ynchro Tacho Sw Hi Lim 0 Torque Lim 32767 1 NR C Inclinometer Encoder I Mech Offset 5 11 Incremental i Max Speed 1 6 Lock win 0 05 T C Absolute Offset SetTo0 P Fac 500 Lock
104. c ED Ott UO educi ee 167 6 4 1 Front Panel Controls amp Indicators esses 167 6 5 REMOTE CONTROL cincta eun nud tetendit ned nee UR EE peer 171 6 5 1 Modes Of MOTION act erect teet tee er ende 171 7 CHAPTER 7 MAINTENANCE amp SERVICE eese esee eene tenen etn tn seta tune ta sns tn e toss etn etna tns tns tn 178 7 INFRODUGTI N n itr RR RERO ERE TIE HERR e FUR 178 7 2 PREVENTIVE MAINTENANCE 5 erint stretto tt orte hot etin Fete orit ine tnn 178 7 3 FUSE REPEACEMENT io no IRE RR HERR THE OUI ERR I EUER 178 7 3 1 Main Power Fuse Fl ee oir sies ote stole ea tans NUR 179 7 3 2 Brake Fuse F2 Opt 1 Built In PCU Units Only sse 179 7 3 3 Armature Fuse Opt 1 Built In PCU Units Only sse 180 7 3 4 Field Fuse F4 Opt 1 Built In PCU Units 180 APPENDIX A DATA VIEW ER etin n ietedecdsesvensesssncvcscoussvesuceaseesuaecasesesoesesssdedssoisdapisesssentssone 181 A 1 teure beste ses Fx use teure Posee see Fur Vote do re 181 AD DESORPTION M 182 A21 Graphie PUGS mm 182 4 2 2 Graphic Windows 183 4 2 3 Controlling The Graphic Window Properties eese 184 4 23 LOOMING is iso Cumple it ptis debeo 186 4 2 4 Performing Graphic Measurements ee
105. cas term gain in PID control mode and Velocity Compute 2nd Ord Filter Parameters HZ Freq Damping loop integral term gain in PIV control 300 or mode Compte Cancel Figure 5 3 Filter Dialog Menu The first element KI 1 or see note below set the normal filter gains while the second element KI 2 set the gain for the Gain Scheduling algorithm e KD Control Filter Diff Term Gain Entry Field The KD parameter is used to set the control filter algorithm position loop Differential term gain in PID control mode and Velocity loop overall gain in PIV control mode The first element KD 1 or KD see note Doc No MAL 4806 3C doc 98 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller below set the normal filter gains while the second element KD 2 set the gain for the Gain Scheduling algorithm e Set Pid1 Pid2 Sets the PID PIV filter control loop to be similar during motion and at end of motion The controller is capable of replacing the control parameters at end of motion before entering the target position e 2 PID Filter Duration Entry field that defines the time frame in which the second set of control parameters will be active Each unit is one controller clock time 61 micr
106. ck or fire hazard do not expose the equipment to rain or condensing moisture If the AL 4806 3C will be used in a remote outdoor application an appropriate outdoor weatherproof enclosure with proper ventilation for the internal cooling fan should be employed Your ORBIT FR representative can recommend equipment specifically designed for this purpose e To prevent shock lightening and or fire hazards the entire positioner controller system must be grounded Metal parts accessible to the operator are grounded to the ac power and cord ground third wire to prevent shock or fire hazard from lightening strikes or internal ground faults Note the following warning A WARNING The ac power cord ground third wire must not be removed or defeated Make an appropriate power system ground to ensure the enclosure is at ground potential Doc No MAL 4806 3C doc 42 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e Always operate the equipment within the specified power input voltage and frequently tolerances Before replacing a fuse be sure that the power switch is in the OFF position Also try to ascertain the nature of the fault and correct it before reapplying power to the unit e Connecting this equipment requires the use of high quality connectors
107. contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller must be identical As a result the length of all imported vectors is the same When data is imported from a text file all the Graphic Properties are not available including vectors names and the defaults are used Text files can be used to transfer data to from Windows Excel MathCad and almost any other analysis software A 2 6 3 Data Organizer Features The Data Organizer is opened by selecting the menu File Organizer If few files are opened the Organizer relates to the file associated with the active window The following figure presents the Organizer window Close Index double 3920 0 9919 Time double 3920 0 3 99835 X Pos mm double 9920 0 035 0 0025 X Vel mm s double 3320 0 0 Y Pos mm double 3920 0 017 600 018 Add Time Y_Vel mm s double 3920 2014 69 2232 56 Import t l Delete Figure A 6 The Organizer Window Doc No MAL 4806 3C doc 198 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller The Organizer displays all the data vectors which are stored in this file their length
108. ct markers location but will be slightly larger This is because the Data Viewer automatically adjust the X and the Y ranges to improve the axes scaling After performing the zoom in operation the markers will be re located at the 1 3 and the 2 3 of the display area Zoom In To markers is done by one of The menu selection Zoom To markers The toolbar s Zoom To Markers button The menu selection Zoom To Markers at the pop up menu Tip Double click a vector at one of the lists to move it to the second list Doc No MAL 4806 3C doc 186 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller A 2 3 2 Zoom In X This mode is very similar to the Zoom In To Markers mode in all aspects except that gt The X range is defined by clicking and dragging a rectangle on the screen The Y size of the rectangle is ignored Y is automatically scaled gt This is a toggled mode It will remain active until turned off The Zoom In X mode is enabled disabled by one of The menu selection Zoom In X The toolbar s Zoom In X button The menu selection Zoom In X at the pop up menu A 2 3 3 Zoom In XY This mode is similar to the Zoom In X mode in all aspects except that The dragged rectangle defines also the Y axis range D
109. currently the FFT is calculated to a part of the vector which starts at the location of the left most marker and ends at the maximum power of 2 points which does not exceed the location of the right most marker Doc No MAL 4806 3C doc 194 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Future versions of the software will use DFT algorithm which does not require the vector length to be a power of 2 It will also provide windowing features for better frequency spectrum calculation A 2 5 6 Statistics The Statistics window performs some frequently required calculations on a selected vector Calculations are done only to vectors which are displayed at the active Graphic Window Calculation are done only to the range between the markers The following figure shows a typical Statistics results for a constant velocity recording Analyze Statistics LX Time range is 4 3969 to 4 85755 Markers range Shows the properties of a selected vector RMS and Tolerance percents relate to the Average value Vectors Average 500 62 RMS 751 538 1 521 Minimum 488 549 Maximum 513 369 Tolerance 248194 4 958 Figure A 5 Analyze Statistics Window Doc No MAL 4806 3C doc 195 Rev B Information contained herein i
110. d by ORBIT FR The AL 4806 3C series controller can be purchased in two configurations Either including a built in servo stage Opt 1 w PCU or excluding the servo stage This manual covers both versions of the controller The AL 4806 3C provides manual front panel remote and handheld control Opt 1 only of rotary and linear positioners manufactured by ORBIT FR or equivalent gn party positioners that incorporate shunt wound or permanent magnet brush DC motors 50 60 400 Hz synchros or incremental encoders Optional interfaces are also available for position transducers such as Inductosyn absolute encoders and inclinometers The unit s intended main application is the motion automation of antenna test positioners for use in antenna measurement stations AL 4806 3C can receive commands from a remote computer which feeds back measurements and status data to the automated data acquisition system providing control and the transfer of position and velocity data while maintaining a simple human interface for manual operation Angle transducers for various axes may be mixed and individually configured The unit is capable of driving a total of 6 axes sequentially one axis at a time The product provides a highly reliable easy to use easy to service unit that is functionally similar to ORBIT FR s previous AL 4806 3A series controllers and is compatible with ORBIT FR AL 4146 2 and AL4106 2 6A power control units PCU s The AL 4806 3C i
111. d is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e f the axis starts oscillating even before motion is initiated then the KD parameter is too large Decrease KD to 100 Download the parameters to the controller e lf it is still oscillating then keep lowering KD until the axis becomes stable NOTE select Filter menu X to get back to the user interface for changing tuning parameters e Gradually inverse the KD parameter and move the positioner in both CW and CCW direction after each change e Once a stable back and forth motion is achieved select Miscellaneous Data Recording to bring up the user interface for recording data Within the data recording interface set the Recording Length RL to 3000 and the Recording Gap RG to 16 Set the first Recording Variable RV to Position and the second variable to Desired Position and the third to Auxiliary Position e Click the Start Recording button and move the axis in one of the directions wait for the plot window to open A plot similar to that shown in Figure 5 32 should appear The plot shown in Figure 5 32 is on the edge of instability This may not be representative of the actual data the actual plot may be more stable or more unstable The previous steps should be repeated for various values of KD until a value for KD has been determined in which the system i
112. define a set of default properties by clicking the menu selection File Default Properties The default properties are used whenever the Data Viewer requires one of these properties and it is not found or is not available The following figure presents the Default Properties window Default Properties LX Colors Background Window Title Deteut Title Iv Show Grid Grid Subject Matlab Analysis Results Black Vectors User Sapir Eyal Red Objects Company Wafers StartUp Bleck M Project 2 Axis Analysis cont Figure A 010 File Properties PMA Folder The default properties are used at the following events Adding A Vector When the user uses the Windows Properties to add a vector to a Graphic Window its suggested color which of course can be modified by the user is the Vectors color as appeared at the Default Properties Doc No MAL 4806 3C doc 204 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Opening A New Graphic Window When the user opens a new graphic window using the menu selection Window New or the New Window button its background color grid color title and grid status are affected by the setting of the Background Grid Window Title and Show Grid items at the D
113. der to properly tune a positioning system you must follow several guidelines and steps There are three major steps in tuning a positioner axis e Sensor Verification The position sensors synchro encoder inductosyn inclinometer must operating correctly and must output the correct polarity in order to begin e Performance Criteria You should first establish the tuning criteria or performance goals of the positioner axis so that you will know when you have achieved acceptable performance e Tune The Positioner The type of servo performance requirements and other affecting factors will determine whether you use a PIV or PID algorithm to tune the positioner Doc No MAL 4806 3C doc 143 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 4 7 Tuning An Axis PIV Mode Once you have configured each axis and have saved to flash memory follow the tuning procedures in this section for each axis This procedure is applicable for each of up to 6 axes that are connected to the 4806 3C controller Each axis must be TUNED separately one axis at a time There are TEN 10 basic steps for configuring an axis NOTE Before tuning an axis set the controller s front panel to Panel mode 9 Basic Steps For Tuning An Axis Ve
114. ding Gain e Velocity PI controller with limited integrator programmable saturation value e Software programmable 2 order low pass filter e Programmable Command saturation Limit e Acceleration and Velocity feed forward gains The standard software version of the AL 4806 3C is designed to provide the velocity feedback for the inner velocity loop which is derived from the main position feedback device usually a synchro or encoder using a simple numeric derivative The controller also supports other velocity feedback devices such as auxiliary encoders or tach feedback In these cases special scaling is required see specific definitions hereafter The PIV algorithm consists of an inner velocity loop and an outer position loop Before you can tune the velocity loop you must first tune the position loop The diagram below outlines the main steps of PIV tuning There are two basic steps 1 Tune the Velocity Loop 2 Apply the Position Loop Doc No MAL 4806 3C doc 124 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 10 V 16 Bits Analog Voltage Command nterfaces Acceleration Feed elocity Feed Forward Open Loop Open Loop Operation Electro Command TC Mode Switch NC Mechanical System Driver Analog DC Brush
115. e passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e Table active flag e Table axis e Table start position e Table end position e Table mapping delta e Table length e Table maximum error e List of all the correction values every value in a new line 5 2 14 Vector File Format The vector file is a list of the entire correction table values each value is fed in a new line Doc No MAL 4806 3C doc 123 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 3 AL 4806 3C Digital Filter Modes PIV amp PID The AL 4806 3C supports both PIV and PID control algorithms e The PIV control algorithm based on velocity error for its inner loop and position error for its outer loop e The PID control algorithm is based on position error 5 3 1 PIV Filter Mode This section describes the AL 4806 3C series controller s real time control loop in PIV Position over Velocity operation mode The following block diagram schematic illustrates servo loop algorithm of the AL 4806 3C series controller The servo loop algorithm is implemented in a cascaded configuration with an inner velocity loop and an outer position loop The standard control loop algorithm includes e Position loop inclu
116. e property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller Table 4 13 J10 SYNCHRO ABC CONNECTOR PIN ASSIGNMENTS PIN INTERNAL I O EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A A S3FN 53 36 1 AXIS 1 B A S1FN 1 36 1 AXIS 1 C A S1CR 1 1 1 AXIS 1 D A S3CR S3 1 1 AXIS 1 E C 53 36 1 AXIS 3 F C S1FN 1 36 1 AXIS3 These signals are the G SPARE SPARE outputs of 3 sets of dual H C S1CR 1 1 1 AXIS 3 speed synchros 53 53 1 1 53 J REF HI REF HIGH representing the K REF LO O REF LOW positions of 3 axes L S2 CR 52 1 1 The S2 line of the M 52 FN S2 36 1 TE synchros are tied in N SPARE SPARE P SPARE SPARE common at S2 COM R SPARE SPARE S SHIELD SHIELD A reference sine wave 1 SPARE SPARE is applied by the AL U S3FN 3 36 1 AXIS 2 V B S1FN S1 36 1 AXIS 2 4806 3 across R1 and W 51 1 1 1 2 R2 X B S3CR S3 1 1 AXIS2 90 V rms signals maximum 47 to 63 Hz between S1 S2 and S3 in each set A CAUTION VOLTAGE LEVELS DANGEROUS TO PERSONNEL EXIST ON THIS CONNECTOR DO NOT TOUCH CONNECTOR CONTACTS IF POWER IS APPLIED TO THE AL 4806 3C CONTROLLER Doc No MAL 4806
117. e property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller Main Vectors Available Vectors Displayed Vectors Add gt gt Add All Delete Delete All Figure 5 35 Dialog For Changing Display e Delete all Displayed Vectors except for the Drive Command Click on OK and now only the Drive Command will be displayed e A plot similar to that shown in Figure 5 35 should appear This may not be representative of the actual data the actual plot may be more stable or more unstable e The previous steps should be repeated for various values of KP until a value for KP has been determined in which the system is unstable Once this value has been determined reduce the value of KP by 30 precent e Record one more set of motions with the final KP value and display the Drive Command vector The result should a more stable motion as shown in Figure 16 Change the displayed vectors to plot only Desired Position and Position A plot similar to that shown in Figure 5 37 should now appear The waveforms should almost overlay perfectly Doc No MAL 4806 3C doc 161 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Cont
118. e readout on front panel display place of decimal points e Position Format Define the axis scale type The choices are o 180 to 180 deg o Oto 360 deg o Linear Axis linear scales o Overlap Defines whether the axis can travel more than 360 degrees This parameter only applies to rotational axes The axis MUST contain a dedicated limit stating the correct circle it resides in Step 7 Configure Homing Function This feature only applies to axes containing Incremental Encoders Set the following parameters for each axis prior to calibrating tuning an axis This section describes the homing routine input parameters These parameters must be set before calling the home routine Depending on the homing type some parameters initialization can be skipped The following table lists the input parameters used by the home routine Orbit Home Dialog Home Type Home With Index Home Fast Speed Home Slow Speed Limit To Index search Distance Home Position Home Move To ABS Position Slow Limit Search Distance Cancel User User User User User User Figure 5 23 Home Dialog Window Doc No MAL 4806 3C doc 137 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller Home type paramet
119. e sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller forward to the starting point as in Mode A RVRS however data acquisition increments are now issued also while the axis returns to the starting point When the predetermined number of scans is completed the motion stops See Figures 9 for sector movement examples To summarize Sector mode motion is defined by the following parameters e Scan direction FRWD or RVRS e Motion mode Sector A Sector B e Start and End positions of the scan axis e Scan speed e Return speed same as speed to starting point e Number of scans e Position increments of sync Pulses In addition movement to the starting point will take place at the shortest possible way talking into consideration the limits specified in software Doc No MAL 4806 3C doc 176 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR Type 0 FRDW Start 30 Degrees End 330 Degrees Type 1 RVRS Start 30 Degrees End 330 Degrees Type 0 FRDW Start 330 Degrees End 30 Degrees Type 1 RVRS Start 330 Degrees End 30 Degrees End 330 End 330 Start 330 Start 330 Multi Axis
120. efault Properties Importing A File Text or Matlab An imported file has only numeric values with vector names for the Matlab case The File Properties of the newly created file are set according to the Subject User Company and project items at the Default Properties The Default Properties are saved as a part of the Data Viewer application and are not a part of a specific Graphic file They remain unchanged independent of opening closing Graphic Files and exiting starting the Data Viewer A 2 7 3 Exporting Properties The Graphic Properties of a file can be exported to a SDP Solutions Data Properties file This file can be used by the Motion Recorder for the Import Properties feature refer to section Error Reference source not found The advantage of using this file is that it is much smaller than the SDV file since it does not include the numeric data It will also be useful in future versions in which the File Import Properties will be supported However it is imported to note that the Motion recorder and in the future also the Data Viewer can import properties directly from the SDV file so the only advantage is the file size Doc No MAL 4806 3C doc 205 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller A 2 8 Synchronizing C
121. ein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e 2 Order Filter B1 2 order Filter Parameter automatically calculated 2 Order Filter B2 2 order Filter Parameter automatically calculated e Compute 2 Ord Filter Parameters HZ Freq Entry field used to define the different Freq in HZ Damping Entry field used to define the dumping ratio e Compute This toggle button computes the 2 order filter AO B1 B2 parameters given Frequency and dumping values Pressing this button will compute the above values and insert them into the parameters but will not download them to the controller The inverse computation is done at upload parameters operation so one can see the frequency and dumping values of the parameters currently configured in the controller are not downloaded to the controller e OK This toggle button sets the Filter Dialog Values e Cancel This toggle button does not apply any of the values Doc No MAL 4806 3C doc 101 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 2 4 CG Dialog Menu The CG Config menu enables the user to edit the axis Config
122. ent active window belongs to The new window becomes the active window The user is prompted to define the Graphic Window properties and must correctly and completely define them to enable proper display of the window refer to the next section Switching between the windows selecting a new active window is done by clicking the mouse on a window or by selecting from the windows list at the bottom of the Window menu Closing the last window that belongs to a specified file is considered as a File Close command since an opened file must have at least one Graphic Window You may minimize maximize tile and cascade the Graphic Windows using the standard Windows methods Doc No MAL 4806 3C doc 183 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller A 2 3 Controlling The Graphic Window Properties A Graphic Window is an encapsulated unit which displays numeric data according to its own graphic properties The graphic properties of a window can be set by the Window Properties dialog window This window is opened using the Window Properties menu selection or by clicking the right mouse button over the desired Graphic Window and selecting Properties from the pop up menu The following figures show the folders of the Window Properties dialog w
123. er party without written authorization from URHIT FR Multi Axis Controller APPENDIX A DATA VIEWER A 1 General The following figure presents the Motion recorder main screen and its components Menu Toolbar Graphic Windows EZ Solutions Data Viewer y_max1 sdv File View Window Zoom Objects Analyze Help salsy ASA EAE ES ER SE e My Title i 1 i 1 1 1 1 1 1 1 1 1 1 1 KE i 1 1 D 1 1 1 1 1 1 1 1 ae ees oer Serer TETTEI 2100 0 0 7 1 4 24 2 8 3 5 42 49 5 6 Time 2 Status Line Figure A 1 Data Viewer Main Screen With Example Data File Doc No MAL 4806 3C doc 181 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller The following sections describe the details of the Motion Recorder operation A 2 Description A 2 1 Graphic Files A graphic file has the extension SDV Solutions Data Viewer You may save a graphic display including both the raw numeric data and the graphic properties of its current views using the Windows standard File Save and File Save As menu selections The Data Viewer is an MDI Multi Document Interface application enabling simultaneous operation with multiple opened graphic files However the user must take care to properly track the file that each gra
124. er defines the homing type to be performed HOME DLE no specific home type used if home on index only HOME ON RLS perform home on RLS HOME ON FLS perform home on FLS HOME ON INPUT RLS DIR perform home on input on the RLS side HOME ON INPUT FLS DIR perform home on input on the FLS side 5 4 3 2 Home With Index 5 4 3 3 This parameter defines if to perform homing on index The parameter can be used with one of the home type parameters The index search is done at the end of the homing sequence In case that HOME ON INPUT RLS DIR HOME ON INPUT FLS DIR sequence was performed earlier the direction of searching the index will be opposite to the direction of the last home sequence motion In case HOME ON INPUT RLS DIR sequence was done the direction of searching the index will be the RLS direction In case HOME ON INPUT FLS DIR sequence was done the direction of searching the index will be the FLS direction In case no sequence is selected and homing is done only on index the direction is defined by the sign of the home search distance parameter see section 5 2 5 9 Home Fast Speed This parameter defines the homing fast speed Homing fast speed is the initial speed to search input or limit Doc No MAL 4806 3C doc 138 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorizati
125. er site preparation or maintenance ORBIT FR shall not be liable for any indirect special or consequential damages even if notice has been given of the possibility of such damages WARRANTY LIMITATIONS The foregoing warranty shall not apply to defects resulting from improper or inadequate maintenance by buyer Unauthorized modification misuse or operation not in compliance with the environmental specifications for the product may void the product warranty The material contained in this document is supplied as is and is subject to change in future editions without notice ORBIT FR shall not be liable for errors or for incidental or consequential damages in connection with the furnishing use or performance of this product and or any information contained herein Should ORBIT FR and the user have a separate written agreement with warranty terms covering the material in this document that conflict with these terms the warranty terms in the separate agreement shall control ORBIT FR Doc No MAL 4806 3C doc 4 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR Multi Axis Controller SERVICE AND SUPPORT Any adjustment maintenance or repair of this product should be performed by qualified personnel Contact your local ORBIT FR Service Center A list of Service Ce
126. ess LEU Potentiometer Parameters Potentiometer Offset 2070 Potentiometer 0 Pulse Polarity Inverted Neg Pulse Potentiometer Dead Zone 60 Calculate Offset Pulse Width 248 usec v Fine Ratio 18 2 Download Upload Table 5 3 General Dialog Menu The General menu contains configuration parameters that are generic and not axis dependent General Menu Parameter Definitions e Speed Control Area o Coarse Fine Display that shows if Coarse or Fine speed is selected through the front panel selector e Operating Axis Area o FLS Display Signed if active axis is in FLS limit o RLS Display Signed if active axis is in RLS limit o Operating Axis Display of Active axis number e Display Axis Area o Position Display axis position o Display Axis Display axis number 1 Doc No MAL 4806 3C doc 113 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e Panel Bus LED Displays the current controller state BUS Panel Read Coarse amp Fine This menu uses for software alignment between the 2 synchro motors in case the system is configured to work with a dual speed synchro In order to align between the 2 synchro motors we must first find the zero reading of the coarse synchro In order to read
127. ete Button Deletes the current selected table from the table list Factor Table factor to be used this box allows to convert from user units to controller units counts Active Flag to indicate if the table will be shown in the table list or not in the Error Mapping main dialog Start Pos The table start position in user units Doc No MAL 4806 3C doc 120 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e Delta Pos Delta between positions in the table in user units e Calculate Nearest Delta Since the delta values are in power of 2 values this option help the user to calculate the nearest delta value Length Table number of entries e Units User units text e Max Error Maximum value of error correction value e Exit Close this dialog 5 2 11 Set Table Contents Dialog This dialog box enables the user to fill the correction value for a section in the table The correction value will be set from Range From till the To index with the value of Correction Value The Correction value is in user units Range From Correction Value Ta 0 0 caus Figure 5 14 Table Contents Dialog Table Parameter Definitions e Range From The start index to set val
128. ewer will enable a box like measurement without the need to use the zooming functions Doc No MAL 4806 3C doc 191 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller A 2 5 Data Analysis The Data Viewer provides a set of useful analysis tools all accessed from the Analyze menu A 2 5 1 Subtract Multiply And Divide These are vectors operations The user selects vectors to add and subtract or to multiply and divide and define the name of the new vector to calculate The following figure presents the Add And Subtract window Analyze Add and Subtract LX Calculates a new vector by dding selected vectors none one ar multiple from the Add list and subtracting selected vectors from the Subtract list he Constant to Add is added to the resulted vector hose name is defined by New Vector Name Subtract New Vector Name New Result Add resultto the current window Display result at a new window Cancel Figure A 4 Analyze Add And Subtract Window The user can select multiple vectors at each list using the Ctrl key The Constant To Add can be used to add an offset to a vector Doc No MAL 4806 3C doc 192 Rev B Information contained herein is the sole property of
129. f 2VRMS 10 KHz to the Inductosyn and receives from two signal lines entitled Sin and Cos which are position indication of the axis The controller routes the Inductosyn lines to the I D modules and its coarse location is defined by the synchro to digital S D module Inductosyn position indication resolution is up to 0 0002 deg and readout is direct on the rotating load ENC IND ABS ABC Incremental Encoders position indication resolution from incremental encoders is up to 27 bits The supported absolute data format is En Dat Absolute Encoders position indication resolution from absolute encoders is up to 27 bits The AL 4806 3C supplies a reference voltage of 2VRMS 10 KHz to the Inductosyn and receives from two signal lines entitled Sin and Cos which are position indication of the axis The controller routes the Inductosyn lines to the I D modules and its Doc No MAL 4806 3C doc 67 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller coarse location is defined by the synchro to digital S D module Inductosyn position indication resolution is up to 0 0002 deg and readout is direct on the rotating load SW2 COM SELECT Slide Switch Selects RS 232 communication protocol for either SC4 Configuration Utility or older CommLink Utility AL 4806
130. ference designators amp mating connectors CHAPTER 2 TUTORIAL a brief tutorial describing the basics of motion control servos motors synchros encoders inclinometers inductosyns and other components commonly used in motion systems CHAPTER 3 UNPACKING amp INITIAL CHECKOUT describes unpacking and initial inspection procedures safety considerations preparation for use mounting considerations and pre operational check CHAPTER 4 HARDWARE CONFIGURATION amp INSTALLATION describes typical system interconnections detailed rear panel connector pin out and signal information internal switch settings tool lists materials and test equipment required but not supplied for the installation and operation of the instrument CHAPTER 5 SETUP CONFIGURATION UTILITY amp USE describes configuration and operation of the controller s software configuration utility getting started first time operation and step by step axis velocity loop calibration instructions Doc No MAL 4806 3C doc 18 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller CHAPTER 6 OPERATION describes the priority order of control hand held option front panel controls and indicators provides operating instructions and procedures local control and remote control operation
131. gain does not change the High Frequency response At high frequency the controller and as a result the full open loop gains are not affected by KI Another benefit in that form is that one can operate the close loop system with KP 0 no position feedback to tune the velocity loop performances only and then use the KP gain to control the position loop gain and resulted bandwidth Doc No MAL 4806 3C doc 126 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 4 5 4 1 5 4 2 Configuring amp Tuning Your System The Importance Of Saving amp Archiving Parameter Files Read and fully understand the following important notice below before proceeding Archiving your parameter files on backup computer media CD ROM DVD ROM tape hard disk is essential for maintaining the long term operation and stability of your positioning subsystem IMPORTANT NOTE This controller contains custom software parameter files that include motion profiles which are specific to the user s positioning equipment configuration and each positioner axis the controller is configured for The installer and or user should consider these files to be critical to the proper operation of the controller and its entire positioning subsystem Be sure to save and archi
132. gous to the muscle that moves the human arm The motor or actuator is the device that generates the motion the power amplifier generates the current required to drive the motor For example the driver takes a low current electrical signal and amplifies it to a higher level of 10 amps Doc No MAL 4806 3C doc 27 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller The Controller is the intelligent element that commands the motion as such it operates as the brain of the system It integrates a signal referred to as motion command which is applied to the driver The function of the position sensor is analogous to that of the human eyes It senses the position of the motor and reports the result to the controller by doing so it closes the loop A closed loop system receives its commands from an outside source often a host computer Continuing our human society analogy the command source may be seen as the Boss generating commands and often requesting status reports The commands may also be generated by other sources such as a programmable controller a terminal or just a set of switches The following paragraph briefly describes system elements The focus is on digital position systems controlling DC motors and utilizing incremental encoders
133. he AL 4806 3C is qualified with the Columbia Research Labs SI 701B Contact your local ORBIT FR representative before ordering this interface option Inductosyn Inductosyn are precision angle transducers which are pancake like devices typically only utilized in high accuracy applications High accuracy encoders are more widely used in today s modern systems Precision circuit patterns are etched in copper bonded to the surface of the Inductosyn elements The device contains a printed circuit pattern comprising precise radial turns which repeat on the flat surface of a disk Inductive coupling between the windings on the rotary pair of elements is used to measure displacement These elements are attached to fixed and moveable machined parts with the elements aligned so that their winding patterns are mutually parallel and separated by a small air gap Doc No MAL 4806 3C doc 96 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Inductosyn are sometimes utilized in applications requiring high angular accuracy unaffected by temperature They can be mounted directly to the axis of rotation and have no contacting elements eliminating wear because they can withstand the industrial environment especially shock and high temperature and cable d
134. he self test Doc No MAL 4806 3C doc 48 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e Ifthe above conditions are observed then the controller is operating properly and the operating procedures given later in this Chapter may be followed CAUTION The Safe Operate switch located on the positioner connector panel must N be in the Safe position when working on or near the positioner Otherwise hands or feet may be injured or clothing damaged if caught between moving parts The Safe Operate switch prevents remote control or unexpected motion of the positioner axis This switch does not remove hazardous voltages Before performing any work within the positioner remove internal voltages by disconnecting all external cables Always operate the positioner slowly throughout the entire operating sector of the axis prior to normal operation Using a slow speed provides more time to stop operation and prevent equipment damage if an undesired condition occurs Doc No MAL 4806 3C doc 49 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 4 CHAP
135. her cable Doc No MAL 4806 3C doc 50 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller MOTOR amp LIMITS ABC IEEE 488 4 5 232 DC OUT SYNCHRO BASED POSITIONER UP TO SIX AXES UP TO 3 4 HP EACH MOTOR amp LIMITS DEF SYNCHRO ABC BCD OUT SYNCHRO DEF INCREMENT AL 4806 3C OPT 1 SIX AXIS POSITIONER CONTROLLER WITH BUILT IN PCU AC POWER 115V 60 Hz or 230V 50 Hz AL 4146 2L LCU OPTIONAL LOCAL CONTROL UNIT OPTIONAL HANDHELD Figure 4 1 Synchro Based System Six Axes Single Positioner Up to 3 4 HP IEEE 488 4 RS 232 C gt DC OUT SYNCHRO BASED POSITIONER UP TO SIX AXES UP TO 3 4 HP EACH MOTOR amp LIMITS ABC SYNCHRO ABC BCD OUT INCREMENT TACH A F J9 AL 4806 3C OPT 1 SIX AXIS POSITIONER CONTROLLER WITH BUILT IN PCU SYNCHRO BASED POSITIONER UP TO SIX AXES MOTOR amp LIMITS DEF 4 p UP TO 3 4 HP EACH AC POWER 115V 60 Hz or 230V 50 Hz d SYNCHRO DEF p AL 4146 2L LOCAL CONTROL UNIT OPTIONAL HANDHELD LCU OPTIONAL Figure 4 2 Synchro Based System Six Axes Two Positioners Up to 7 HP Doc No MAL 4806 3C doc 51 Rev B Information contained herein is the sole property of ORBIT FR and is not for pu
136. i Axis Controller APPENDIX B INDUCTOSYN AND TACHOMETERS CALIBRATION Perform the next steps in order to adjust the inductosyn axis Note1 GND can be any known point in the CAGE Note2 All parts mentioned in this chapter are in the FEEDBACK card B 1 Measure the Maximum Sinus Input X Sinus input can be measured in the axis it self not recommended or in the TP56 in FEEDBACK card Extender can be used Y Measure the maximum sinus input to the controller by moving the axis slowly in fine mode till getting maximum value 4 Ensure minimum of 6Vp p X If not Adjust R252 to get 6Vp p Y Measure the maximum co sinus input to the controller by moving slowly the axis in fine mode till getting to maximum Ensure minimum of 6Vp p Co sinus input be measured in the axis it self or in TP55 in FEEDBACK card Extender can be used B 2 0 Adjustment Y Move the axis to 0 Y Sinus input in 0 must be below 100mVp p try to get 20mV can be measured in the positioner it self not recommended or in TP56 in the FEEDBACK card Extender can be used If not adjust the axis Doc No MAL 4806 3C doc 207 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller B 3 Adjust the synchro 1 1 4 Can be measured in the positioner it self not recommended or bet
137. ication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller Table 4 21 J21 INCLINOMETER amp ENCODER 7 8 PIN ASSIGNMENTS PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A INC1 INC 1 Inclinometer Input 1 B INC2 INC 2 Inclinometer Input 2 C INC3 INC 3 Inclinometer Input 3 D INC4 INC 4 Inclinometer Input 4 E INC5 INC 5 Inclinometer Input 5 a INC6 INC 6 Inclinometer Input 6 G SHIELD SHIELD H 7 A ENC7 J ENC 7 AN ENC7 N TN ane Dual Encoder Axis 7 M ENC 7 ENC7 1 ENC 7 ENC7 l P GND GND R P5V IN 5V S ENC 8 A ENC8 ENC 8 AN ENC8 A Dual Encoder Axis 8 W ENC 8 ENCS 1 X ENC 8 N ENCS l Y Z GND GND a GND GND b P15V IN 15V C N15V IN 15V Doc No MAL 4806 3C doc 81 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Table 4 22 J22 E STOP INTERLOCK PIN ASSIGNMENTS PIN INTERNAL y o EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A E STOP 1 E STOP 1 Contact Closure Emergency Stop Interlock
138. iction etc The trial amp error method has the advantage that no knowledge of the positioner parameters is necessary and no calculations are needed A large number of trial amp error parameters may be needed however to tune a system and some combinations of parameters may produce unstable motion An organized approach to searching for the best combination of tuning parameters helps shorten the tuning time while avoiding an unstable combination which may damage the positioning system The methods of tuning described in this section rely upon the knowledge of the SHELL setup utility described earlier in Chapter 5 Please be sure to review this section before tuning your system Doc No MAL 4806 3C doc 142 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 4 6 Tuning Guidelines The object of tuning is to tweak the various gains and motion parameters of a positioner axis so that the resulting motion is optimized A positioner is considered tuned if its performance meets its specification requirements Generally speaking some common signs that a positioner is tuned e Visibly smooth motion e Little to no audible noise produced during and after a commanded motion e Little to zero position error after the completion of a commanded motion In or
139. id any profile smoothing In that case the generated position velocity profile is pure trapezoidal or triangular If WW is set to 12 the smoothing is set to maximal value In that case the generated profile has full smoothing and the velocity trajectory is not pure trapezoidal The WW parameter is used by the controller as a power of 2 coefficient for the smoothing time value For example WW 6 means that smoothing is done over a period of time 2 6 sample time i e 4 msec The resulted profile will generate its full acceleration value in 4 msec e Integration Limit the Integration Limit Entry Field parameter limits the output value of the Integral Term only when working in Close Loop mode in PID or PIV control schemes The Integration Limit limits ONLY the integral term saturation and not the actual final control output which is limited by the TL parameter The purpose of Integration Limit is to allow different saturation limits to the Integral and control output This is needed in some cases to avoid overshoots e Voltage offset Command Entry field that defines an offset to the voltage command send to the axis Voltage offset can be used for unbalanced axes e Use 2 Filter Check box that defines whether to use second order filters as part of the control loop e 2 Order Filter AO 2 order Filter Parameter automatically calculated Doc No MAL 4806 3C doc 100 Rev B Information contained her
140. ider and a Slave marker When the Master marker is moved by clicking and dragging it with the left mouse button its X location and the value of all the displayed vectors at the same X value are continuously displayed in the Status Line In addition the distance in X units to the Slave marker is displayed When the Slave marker is moved using the same method only the distance between the markers is updated Using the markers the X distance between two points can be easily measured by locating the markers at these points A 2 4 2 Measuring While X Zooming The markers provides means to measure horizontal distance only The data Viewer currently does not include horizontal markers Alternatively when you perform one of the Zoom By Box operations refer to section B 2 3 the Status Line continuously shows the box size dX dY in X and Y units This provide a very convenient method for both X and Y measurements Doc No MAL 4806 3C doc 190 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller The only disadvantage of this method is that it causes zoom in operation You may try to avoid it by after finish the measurement dragging the mouse to get a very small zoom box which will avoid the zooming operation Future versions of the Data Vi
141. in is the sole property of ORBIT FR is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Table 4 16 J12 SYNCHRO DEF CONNECTOR PIN ASSIGNMENTS PIN INTERNAL EXTERNAL FUNCTION SIGNAL NAME SIGNAL NAME A D S3FN S3 36 1 AXIS 4 B S D S1FN S1 36 1 AXIS 4 C D S1CR 51 1 1 4 D S3CR 53 1 1 These signals are the AXIS 4 outputs of 3 sets of dual E F S3FN S3 36 1 speed synchros AXIS 6 representing the positions F S1FN S1 36 1 of 3 axes The S2 line of AXIS 6 the synchros are tied in G SPARE SPARE common at S2 COM H F S1CR 1 1 1 AXIS 6 A reference sine wave is F S3CR S3 1 1 AXIS applied by the AL 4806 3C 6 across R1 and R2 J REF HI O REF HIGH K REF LO REF LOW 90 V rms signals L S2 CR 2 1 1 maximum 47 to 63 Hz 2 S2 36 1 between S1 S2 and S3 in N SPARE SPARE each set P SPARE SPARE R SPARE SPARE S SHIELD O SHIELD T SPARE SPARE U E S3FN S3 36 1 AXIS 5 V S1FN 51 36 1 5 S1CR S1 1 1 AXIS 5 X E S3CR S3 1 1 AXIS 5 AN CAUTION VOLTAGE LEVELS DANGEROUS TO PERSONNEL EXIST ON THIS CONNECTOR DO NOT TOUCH CONNECTOR CONTACTS IF POWER IS APPLIED TO THE AL 4806 3C CONTROLLER Doc No
142. index or the marker This signal appears once per revolution and can be used for initialization Although such encoders are very common many control systems employ synchros as position sensors The operation of these devices is discussed hereafter 2 4 3 Absolute Optical Encoders Absolute encoders are non contacting optical rotary position sensors which report the shaft angle within a 360 range As opposed to incremental encoders the absolute encoder reports the absolute position rather than Doc No MAL 4806 3C doc 35 Rev Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 2 4 4 2 4 5 the change in position When powered up it does not require a home cycle even if the shaft was rotated while the power was off The AL 4806 3C can be ordered with Opt 005 which supports EnDat format absolute encoders Contact your local ORBIT FR representative before ordering this interface option Inclinometers Inclinometers are single axis gravity sensors typically used in tilt sensing of Elevation axes that measure angle relative to the earth s gravity Inclinometers are typically limited in use to RCS pylon rotators The AL 4806 3C can be ordered with Opt 004 which supports programmable output voltage ranges with specific inclinometer formats T
143. indow Window Properties LX Main Vectors Title Colors Grid Vector as X axis Black Time Background Xaxislogarithm White Y axis logarithm I Show List Hus ome Figure A 02 Graphic Window Properties Main Folder The Main folder contains the following selections The window title text gt The window background and grid colors independently defined for each window Doc No MAL 4806 3C doc 184 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller The vector to use as the X axis This is normally the Time or the automatically added index vector but can be any one the file vectors A monotonous X axis vector is required for proper zoom and markers operation gt The type of the X and the Y axes These may be linear default or logarithmic gt On Off for the grid display The Show List check box Enabling the Show List feature displays a text list of all the displayed vectors below the graphic window The list displays the same range that is displayed at the graphic window as selected by the zooming options see below It is not recommended to enable this feature when a large number of data points are displayed since it will cause a long delay time
144. ion from ORBIT FR URHIT Multi Axis Controller Step 15 Set Axis Position Feedback Tach Calibration e Three relevant parameters are required to be calibrated 1 Tach Gain Potentiometer In Controller Tori Ec Rt 2 Tach Offset WachoGan 004836 4 Rash Gain Tacho Offset 240 O e The procedure in this section is only required if MPSA EER Offset 0 Set To O 360 Reading Decimal Point 13 The first step is to adjust a gain potentiometer Position Format 0 380 deg v POT within the 4806 3C unit while the axis is Error Mapping running at maximum velocity open loop Error Mapping 1 e The top cover is removed and a pair of MaPringAals Dit voltmeter probes are placed across the Tach a tachometer is used pins for the axis tested details to be provided Figure 5 27 Position Menu Tach e Set Open Loop and Max speed 32767 P factor Set max error to 10000 Move the positioner at maximum velocity Observe the voltage on the voltmeter and adjust the gain POT details to be provided such that the voltage is about 9 5 Volts e Change the direction of rotation using the front panel potentiometer and again observe the voltage It will be negative instead of positive and it may be a little different in magnitude If the voltage is greater than 9 5 Volts in magnitude then adjust the POT again to bring the voltage down to 9 5 Volts e Within the axis configuration parameters in the lo
145. is check box is not selected the controller will continue to control the axis after end of motion is determined End of motion is determined by the real time control loop according the following algorithm The real time control loop continuously check the position error PE and when ABS PE lt TR for at least TT Lock Win Time sample times a dedicated bit it SR is set to high logic 1 meaning end of motion e Config Button used to call a pop up window The menus in this window are used for the electromechanical configuration of the axis e Filter Button used to call a pop up window The menus in this window are used for the control filter configuration of the axis e Error Mapping Check box used to enable position error correction to this axis e Mapping Axis Entry Field 1 4 the error mapping table related axis e Tach Gain Entry field used to normalize the tachometer reading to the actual velocity of the positioner in case tachometer is used as the velocity feedback The tachometer voltage is in the range of 10V e Tach Offset Entry field used to compensate for offsets in the tachometer reading Tach offset sets tachometer reading to be 0 when the axis is stationary e Mechanical Offset Entry Field used to set a mechanical offset to the axis in user units This offset is used to set the zero of the axis at a desired Doc No MAL 4806 3C doc 96 Rev B Information contai
146. istances better than incremental encoders and other position transducers The AL 4806 3C can be ordered with Opt 003 to support this device and its unique format Contact your local ORBIT FR representative before ordering this interface option Doc No MAL 4806 3C doc 37 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 2 5 Motion Controllers Motion controllers perform the intelligent tasks of the system as shown in the block diagram of Figure 5 For the purpose of clarity the controller tasks can be divided into two generating the reference position R and following it The two tasks are performed independently and are both required for motion generation Communication Motion Profile Position Decoder Figure 2 5 Functional Elements of a Motion Controller The motion controller communicates with the host computer to receive the motion commands Such communication can be performed through a bus The host computer in terms of a few parameters often specifies the motion requirements Such parameters may include for example the distance the Doc No MAL 4806 3C doc 38 Rev B Information contained herein is the sole property of ORBIT FR and is not for public
147. it value and the velocity VL is negative moving towards lower position Motion is stopped immediately using the Limit deceleration parameter Limit deceleration should be normally set to a higher value then deceleration as during normal operation conditions Limit deceleration is for emergency cases only In panel and slew motion modes the value of Limit deceleration is not validated by the controller during motion start BG commands or during new Absolute Position AP assignments i e a motion beyond the software limits to an AP LL can be initiated SW Hi Lim Entry field of the Software High Position Limit This value is monitored during all motions by the controller Whenever the actual encoder position PS is higher then the SW Hi Lim value and the velocity VL is positive moving towards higher positions motion is stopped immediately using the stop deceleration parameter Limit deceleration Limit deceleration should be normally set to a higher value then Deceleration as during normal operation conditions Limit deceleration is for emergency cases stop only During Panel and slew motion modes the value of SW Hi Lim is not validated by the controller during motion start BG commands or during Doc No MAL 4806 3C doc 91 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party w
148. ith unequal length Doc No MAL 4806 3C doc 199 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Click the Import button KA Select the file name to import from this will be the only available file if only the above two files are opened Select the vector to import KS Modify the suggested vector name to avoid a duplicate vector name if this vector already exists in the file to import to Click the OK button The vector is imported copied and is now appearing at the Organizer list Doc No MAL 4806 3C doc 200 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller A 2 7 Advanced Graphic Properties Operations A 2 7 1 Viewing And Editing Graphic File Properties A Graphic File includes a raw numeric data and several type of properties which are saved and loaded with the file as listed below gt View Properties This is a set of properties which reflects the way the numeric data of the file is displayed number and location of Graphic Windows content and properties of each window etc This set of propertie
149. ithout written authorization from ORBIT FR URHIT FR Multi Axis Controller new Absolute Position AP assignments i e a motion beyond the software limits to an AP HL can be initiated e Max Speed Entry field for the speed of the profile in point to point motions and the Jogging speed in Jogging motions The Speed value is defined in user units The value of Max Speed is a physical feature of the positioner and must be set correctly for proper operation Setting a too high Max speed will cause large flowing error and a motion halt e P Fac Position Factor entry field is used to read and command position in user selectable units The position factor translates the encoder counts read by the controller to user units deg rad mm inch cm m The factor is a function of the feedback source resolution and the transmission that connects the feedback source to the load e V Fac Velocity Factor entry field is used to read and command velocities in user selectable units The velocity factor translates the feedback source counts read by the controller to user units deg sec rad sec mm sec inch sec cm sec m sec The factor is a function of the feedback source resolution and the transmission that connects the encoder to the load e ABS Enc P Fac Relevant only in case absolute encoders use as the axis feedback The Abs P Factor uses to enable to read the absolute encoder position in user selectable units The position fact
150. itten authorization from ORBIT FR URHIT FR Multi Axis Controller Step 17 Select Digital Filtering Mode PIV After fully configuring the system the filter method must be selected before determining the PIV tuning parameters Ensure the axis is not configured for PID control The following paragraph explains how to quickly check the parameter e Select Special Functions Axis 1 or whatever axis number is being configured then click the Config button to open up the dialog box shown in Figure 5 26 CG Dialog e Make sure the selection Use PID Invert Motor Command Direction Main DAC and PWM Output Control Scheme for This Axis is v Inverse Encoder Direction unchecked This will ensure that the Wo vo ss axis is configured for PIV control r Use PID Control Scheme for This Axis 1 Invert Auxilary Motor Command Direction Aux DAC Only Enable Encoder Error Detection and Report as Driver Fault Invert Driver Fault DRV FLT Logic Figure 5 30 CG Dialog e Verify that the Open loop check box is un checked and the max speed is the real mechanical maximum speed of the axis Doc No MAL 4806 3C doc 155 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Step 18 PIV Mode Tuning Procedure Multi Axis Controller Enter the Fil
151. ization from URHIT FR Multi Axis Controller 7 3 3 7 3 4 Armature Fuse F3 Opt 1 Built In PCU Units Only If the positioner fails to move and the front panel indicators are normal then a possible problem may be the armature fuse To remove the fuse for testing set the front panel LINE switch to the 0 position and remove the power cord from the controller CAUTION Wait a minimum of 15 seconds before attempting to remove the armature fuse There is a danger of high voltage Twist and pull the fuse holder from the fuse body Check the fuse with a standard ohmmeter If it has opened replace the fuse with an identical fuse Field Fuse F4 Opt 1 Built In PCU Units Only If the positioner fails to move and the front panel indicators are normal then a possible problem may be the field fuse To remove the fuse for testing set the front panel LINE switch to the 0 position and remove the power cord from the controller This fuse applies only to positioners with shunt wound field motors CAUTION Wait a minimum of 15 seconds before attempting to remove the field fuse There is a danger of high voltage Twist and pull the fuse holder from the fuse body Check the fuse with a standard ohmmeter If it has opened replace the fuse with an identical fuse Doc No MAL 4806 3C doc 180 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any oth
152. linquished by the LCU If control is relinquished then the AL 4806 3C Opt 1 front panel controls the functions of the unit AL 4806 3C Without PCU Priority Order The AL 4806 3C Opt 1 controller has an overall priority order of control This means that depending on the external units Such as an LCU or PCU attached to it and the front panel control settings the controllers functions change The control priority is in the following order LCU Hand Held Unit first PCU Power Control Unit front panel second and AL 4806 3C controller third This means that if the LCU is attached the PCU is Multi Axis Controller Doc No MAL 4806 3C doc 165 Information contained herein is the sole property of ORBIT FR Engineering Ltd and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Engineering Ltd Rev B URHIT FR Multi Axis Controller operated by the controls on the LCU unless control is relinquished by the LCU f control is relinquished by the LCU then the PCU front panel controls the functions If the PCU is set to REMOTE then it relinquishes control to the AL 4806 3C controller 6 3 Hand Held Control LCU Opt 1 Units Only An AL 4146 2L Local Control Unit Hand Held Unit is available as an option and attaches to J8 on the rear panel of the Opt 1 controller When it is attached it has control of the controllers functions unless the switch on the
153. lso be configured in the velocity mode Here the amplifier includes a voltage amplification stage which compares the applied voltage with the motor velocity and amplifies the difference before it is applied to the current loop Doc No MAL 4806 3C doc 30 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Current Command A Current Feedback Tachometer Figure 2 2 Elements of an Amplifier in Velocity Mode Amplifiers use one of two methods to generate the required voltage or current linear amplifiers produce constant output voltage pulse width modulated PWM amplifiers generate a voltage that switches between the high and low levels Most amplifiers today especially those with power ratings above 100 watts are switching amplifiers using the PMW method to minimize power losses Linear amplifiers are more common when low power is required Doc No MAL 4806 3C doc 31 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 2 4 Position Sensors 2 4 1 Synchros Synchros are electromagnetic devices commonly used for position sensing i
154. mation contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 2 5 1 Homing Input Parameters This section describes the homing routine input parameters These parameters must be set before calling the home routine Depending on the homing type some parameters initialization can be skipped The following table lists the input parameters used by the home routine Orbit Home Dialog Home Home With Index Home Fast Speed 5 User Home Slow Speed User Limit To Index search Distance User Home Position 0 000 User Home Move To ABS Position User Slow Limit Search Distance o User Figure 5 5 Home Dialog Window Home type parameter defines the homing type to be performed HOME IDLE no specific home type used if home on index only see section 5 2 5 6 HOME ON RLS perform home on RLS see 5 2 5 3 HOME ON FLS perform home on FLS see 5 2 5 2 HOME ON INPUT RLS DIR perform home on input on the RLS side see 5 2 5 4 HOME ON INPUT FLS DIR perform home on input on the FLS side see 5 2 5 5 Doc No MAL 4806 3C doc 105 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT
155. ms such as random backward and forward 10 degree angle skips etc ARROW STAMPED ON FRAME MARK ON SHAFT EXTENSION Figure 2 3 Typical Coarse Electrical Zero Markings Doc No MAL 4806 3C doc 33 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller 2 4 2 For a synchro based positioner to operate properly in a system it is essential that the synchros be aligned in respect to each other for each axis and to the axis in which the assembly is installed The electrical zero of an individual synchro is the reference point for alignment Typically the mechanical zero of the positioner s axis will be marked and scribed by the manufacturer The axis synchro assembly is typically then set to coincide with mechanical mark of the axis It is critical that both synchros inside the synchro assembly are aligned with respect to each other as prior stated There are a few different methods for aligning synchros One of the most common methods is using a voltmeter to separately measure the coarse and fine voltage levels of each individual synchro after the coarse markings on each synchro s body and shaft are lined up This procedure involves exposure to high AC voltages and should only be performed by a trained and skilled technician The figure above illustrates the co
156. n 000 uou EET 1 SW Hi Lim 0 32767 iesus m 1 Max Speed Lock Win 0 05 Offset l PFac 500 Lock Win Time 10000 360 Reading I I V Fac 500 Phase Offset 0 Decimal Point 3 l I ABS Enc P Fac A Pos Gain Position Format 0 360 deg v l Acc Dec 5 Mask Enor Mapping PusfomCommands1 um 100 1 Set Home Parameters Error Mapping 2 I jone emmmends m PanelAcc 5 Aux Ene Rat MoM AtEOM HomeZeroPos Mapping Axis Dit 1 pepe le ee Support Regdy DCOM Version 2 35 C Program Files CARS sc4mshell moses sdv Axis Configuration Special Functions Figure 5 22 Main Menu Special Functions amp Axis Configuration shown e Define P Fac Position Factor is the counts per unit of motion e g encoder counts per degree Obtain counts per unit from manufacturer s user manual Doc No MAL 4806 3C doc 134 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller e Define V Fac Velocity Factor Set this value to the same value as P Fac e Define Max Speed This is the maximum speed unit of motion per second e g degrees per second that the axis is capable of moving at Enter the value if you know the max speed of the
157. n Both Models Ref Des Featue Specification INCREMENT BNC connector pulse indicating that the primary axis angle has changed by an amount that exceeds a preset threshold The increment pulses main purpose is to trigger a measurement device to receive data at definite angular intervals The increments may be used in the Sector or Raster Modes to record data with an angular component The increments are available only within the Scan section there are no increments during the acceleration deceleration section The TTL pulse is selectable 1 96 to 248 microsecond The pulse logic is also selectable The pulse is issued at the pre assigned increment rate to the BNC INCR The pulses can also be initiated at discrete positions predefined using the enhanced communication protocol J4 IEEE 488 24 pin D type connector allows interconnection of the AL 4806 3C with a host computer or other controlling device via an IEEE 488 bus J5 25 pin D type connector used to connect a serial data link type RS 232C 422 DC OUT BNC connector outputs DC voltage proportional to the position of the operating axis J7 BIN BCD OUT 50 pin connector outputs the angular position of the MER RN operating axis in BCD or Binary format for use by a host computer or remote display J8 LCU AL 4806 3C without PCU units only 17 pin circular connector LCU Local Control Unit to connect an AL 4146 2L Local Contr
158. n antenna test rotators Synchros resemble small electric motors Electrically they are transformers whose primary to secondary coupling can be varied by physically rotating one winding inside the other Any deviation in the position of the movable winding rotor with respect to the fixed winding stator from a reference or zero position is called angular displacement To expand on the definition a synchro operates as a rotary transformer with one primary winding and two secondary windings The primary winding is energized with a sinusoidal signal In response the two secondary windings produce signals of the same frequency whose amplitude is dependent on the angular position of the shaft By processing the two output signals the shaft position is decoded It is very common for antenna test rotator manufactured in the past 30 years and today to contain two identical synchros geared for a 1 1 and 36 1 ratio dual speed in what is called a synchro assembly However there are a number of positioners configured with a single synchro single speed due to the designed speed of the axis or due to packaging constraints required for a particular axis The AL 4806 3C supports both single speed and dual speed applications on a per axis definition Synchros are utilized for a wide variety of applications because they can withstand the industrial environment especially shock and high temperature and cable distances better than incremental encoder
159. ned herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller position This parameter cannot be accessed from any other place except the configuration utility e Offset Entry Field used to set an offset to the axis This offset is used to set the zero of the axis at a desired position This parameter can be accessed from the front panel communication protocol or the configuration utility e 360 Reading This Check box is used to inverse the reading of the absolute feedback This way the controller enables flexibility in the absolute feedback mounting direction This feature is relevant for EnDat Synchro or Inductosyn type of feedbacks e Decimal Point Entry Field used to set the front panel display resolution The controller is capable of displaying 1 4 digits after the decimal point e Position Format Selector than enables to define the front panel position display format Axis display type o 180 180 deg o 0 360 deg o Linear 0 to infinite o Overlap A rotational absolute feedback axis that can do more than 360 deg although the feedback can only count 0 360 deg e Set to 0 Press Button uses to set the position to be zero The controller does this by updating the position offset value e Set Home Parameters Press Button when used opens a
160. nfigure and tune the velocity loop for one or more positioner axes connected to the AL 4806 3C The following sections will describe the configuration and operation of the controllers SHELL software configuration utility getting started first time operation and step by step axis velocity loop tuning instructions 5 2 Menu Descriptions amp Tuning Parameters Once the AL 4806 3C s hardware setup and connections described in Chapter 4 have been established and configured it is necessary for the installer to configure the controller s main functions and individual axes using the SHELL Setup Utility This utility is specifically designed to operate with the AL 4806 3C series controllers and is supplied with each controller The setup utility includes several generic configuration menus and ten 10 menus specially designed for the configuration and setup of the AL 4806 3C The following sections describe each menu in detail Doc No MAL 4806 3C doc er Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Active Axis Select Communication Sit data sd_ SCShell 7 00 SC Controller Shell Application Control amp Robotics Solutions Ltd File Communication Macro Commands DataRecording Tools
161. nnector Identification AL 4806 3C sse 64 4 7 REAR PANEL CONNECTOR PIN OUTS eese eene nennen 69 5 CHAPTER 5 SETUP UTILITY CONFIGURATION amp 87 5 1 INTRODUCTION P X 87 5 2 MENU DESCRIPTIONS amp TUNING ee e een e een en een enne 87 5 2 1 Outlook Bar Menu Structure esses ener eren nnns 88 5 2 2 Active Axis Configuration Folder sese eee 90 5 2 3 Filter Dialog Men ete e RR EL tee tee EU eee bete etaed 98 5 2 4 CG Dialog nte nd eee Ee o Eana 102 3 2 5 Homing ROUTINE ct ee ote nid bie I e Lt ADT 104 5 2 6 Home POSTHOTI S tts Vote M IL S 112 5 2 7 General Dialog 113 5 2 8 Secondary File eoii 116 5 2 9 Service Dialog cioe eio ben ORO DO DING ERE 117 5 2 10 Table Configuration Dialog Menu cessere eene eene 120 5 2 11 Set Table Contents Dialog ode hip anevada amare 121 5 2 12 Set Linear Correction Dialog nee ot pea ane pp one dress 122 5 2 13 Table File Format sse ate ed de epo eher rec 122 5 2 14 Vector File F OPM Gt S 123 5 3 AL 4806 3C DIGITAL FILTER MODES PIV amp
162. not be passed to any other party without written authorization from ORBIT FR ORBIT FR Multi Axis Controller GENERAL SAFETY NOTES APPLYING POWER Verify that the product is set to match the line voltage and the correct fuse is installed in Fuse 1 SAFETY GROUND An earth ground connection should be provided from the main power source to the rear panel power cord and ground terminal RESUSCITATION Personnel working with or near hazardous chemical or voltages should be familiar with modern methods of resuscitation USE SAFETY APPROVED EQUIPMENT When cleaners are being applied approved explosion proof lights blowers and other equipment shall be used Ensure that firefighting equipment is readily available and in working order Keep cleaners in special polyethylene bottles or in safety cans and in minimum quantities Discard soiled cloths into safety cans MOVING EQUIPMENT This product controls moving equipment and instrumentation including turntables antenna positioners aircraft test models sharp amp heavy objects Personnel must take great care when operating this product and the controlled equipment Doc No MAL 4806 3C doc 7 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Cont
163. nters are shown and are also available on the web at http www orbitfr com If you do not have access to the Internet one of these ORBIT FR centers can direct you to your nearest ORBIT FR representative Worldwide Sales amp Service Centers UNITED STATES CANADA SOUTH AMERICA SALES Corporate Office ORBIT FR Inc 506 Prudential Rd Horsham PA 19044 USA Tel 215 674 5100 Fax 215 674 5108 Email sales orbitfr com www orbitfr com CUSTOMER SERVICE RESPONSE CENTER Please remember to direct all support questions to the following addresses and or toll free phone number This will help ensure receipt of the issue and allow us to log assign and resolve any support issues in a timely manner Toll Free 800 ORBIT 59 within the USA Main 215 674 5100 Hardware Support service orbitfr com Software Support softwaresupport orbitfr com Business Hours Mon thru Fri 8 00 AM 5 00 PM EST EUROPE SALES ORBIT FR EUROPE GmbH Johann Sebastian Bach Str 11 85591 Vaterstetten Germany Tel 49 8106 99606 0 Fax 49 8106 99606 77 Email info orbitfr de www orbitfr com CUSTOMER SERVICE RESPONSE CENTER Please remember to direct all support questions to the following addresses and or phone number This will help ensure receipt of the issue and allow us to log assign and resolve any support issues in a timely manner Main 49 8106 99606 0 Hardware Support info orbitfr de Software Support info
164. o noise Doc No MAL 4806 3C doc 193 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller A 2 5 5 FFT Fast Fourier Transform This operation calculates the frequency spectrum of a signal using the FFT algorithm In order to perform this operation follow the following steps Display the vector to which you want to calculate FFT at the active window Zoom to the area to which you would like to calculate FFT gt Turn the Window markers and locate them to define the start and end points for the FFT gt Click the menu selection Analyze FFT Select the name of the vector to which you would like to perform FFT and click OK Afrequency and an FFT vectors are calculated and displayed at a new Graphic Window The FFT peak values represents the signal amplitude not power Typical uses of the FFT are Vibrations of a constant speed Recording and FFT analysis at few speeds provides the answer whether the vibrations are caused by a system resonance same frequency independent of the speed or by some electro mechanical disturbance such as a torque cogging frequency changes as the speed changes gt Oscillations of Accelerometer recorded via the analog input to identify the mechanical resonance frequencies Note that
165. ode In the PANEL mode all front panel controls are operative All front panel indicators provide status as set by the controls In the BUS mode the controller is controlled by a host computer and the front panel controls are inactive Coarse Fine Speed Toggle Switch alternately selects either the COARSE speed mode or the FINE speed mode of operation for the controller This switch is active only in the PANEL mode Operating Axis Select A thru F via 6 position rotary switch knob In PANEL mode this 6 position rotary switch allows manual selection of the operating axis If the position of the AXIS SELECT switch is changed while the axis is in motion the motion is stopped immediately with maximum ramp At this point the SPEED CONTROL must first be returned to the O detent position in order to enable manual control of the currently selected axis Speed amp Direction Dual Function Knob Potentiometer with integrated Control mechanical zero detent Provides manual velocity control for both Reverse or Forward direction control The center position of the control is marked 0 and is detented At detented position no motion occurs The SPEED CONTROL is operative only when the controller is in PANEL mode and has no effect if the controller is in BUS mode or if the LCU is active motion will occur if the SPEED Doc No MAL 4806 3C doc 168 Rev B Information contained herein is the sole property of ORBIT FR and is not for public
166. ol Unit option TACH 11 pin circular connector allows the application of tachometer signals from up to 6 different axes to the AL 4806 3C J10 SYNCHRO ABC 22 pin circular connector allows the AL 4806 3C to accept the synchro signals for axes A B C The AL 4806 3C Opt 1 outputs a reference voltage of 115V 50 60Hz or optional 400Hz reference using en external reference source to the synchros The synchros then receive variable voltages 90V RMS 50 60Hz which indicate their position The angle position is then sent by the synchro to the controller via three signal lines entitled 51 52 93 Doc No MAL 4806 3C doc 65 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR CONTROL POWER LIMITS ABC SYNCHRO DEF POWER LIMITS DEF LINE IN Multi Axis Controller The analog synchro signals are then routed to the controller s S D module for digital conversion One speed synchro position indication from one synchro transducer coarse 1 1 The maximal resolution at single speed is 0 021 Dual speed synchro position indication from two synchro transducers coarse 1 1 and fine 36 1 The maximal resolution of a dual speed synchro is 0 0006 AL 4806 3C without PCU units only 26 pin circular connector provides Control connection between the controller and
167. on from ORBIT FR URHIT Multi Axis Controller 5 4 3 4 Home Slow Speed This parameter defines the homing slow speed Homing slow speed is the speed used for the rest of the homing sequence after finding the input or limit 5 4 3 5 Home Limit To Index Search Dist This parameter defines the distance to search for index Note This parameter is used only if home with index is chosen 5 4 4 Home Position This parameter defines the position to set at homing point 5 4 4 1 Home Move To ABS Pos This parameter defines the position to move to after home position is set Note To avoid motion after the home position is set set this parameter value equal to the homing position 5 4 4 2 Home Slow Limit Search Dist This parameter defines the distance to go out of limit before slow limit search is performed Doc No MAL 4806 3C doc 139 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Step 8 Configure Axis Motion Parameters I I Active Asis 6 jEnc SW Low Lim 0 Max En 1000 swHilim O Torquelim 32767 Max Speed 1 6 Lock win 0 05 PFac 500 Lock win Time 10000 Fac 500 Phase Offset 0 1 ABS 07 APosGan Acc Dec 5 EnDatMask
168. onnecting Multiple Graphic Windows Multiple Graphic Windows which belongs to the same Graphic File and uses the same X vector can be synchronized to display the same X axis range This is very useful if different vectors should be inspected and they can not be viewed at the same Graphic Window since they have significantly different values The best method is to use Window Tile Horizontal to zoom one of the windows to the desired location and than synchronize the windows by selecting the menu Window Connect or by clicking the right mouse button over this window and selecting Connect from the pop up menu Note that Connect is a momentary operation You should repeat it if you have changed the X range of one of the windows Printing A Graphic Window The Data Viewer can print or print preview the active Graphic Window Use the Windows standard File Print Window File Print Preview and File Printer Setup menu selections to control and perform these operations A 2 10 Pop Up Menu When clicking the right mouse button over a Graphic Window a pop up menu appears which includes all most frequently operations that are performed on a Graphic Window taken from the Window and the Zoom menus Doc No MAL 4806 3C doc 206 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Mult
169. or tracking a moving target DIRECT mode is used In this mode the Controller tracks consecutive position updates which are received via the panel or the Communication Link These four modes of motion are described in detail in the following sections Doc No MAL 4806 3C doc 171 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 6 5 1 2 SLEW Mode 6 5 1 3 The positioner moves indefinitely unless halted either by a halt command or by tripping of a limit switch at the set speed in the set direction During slew it is possible to reverse the direction of movement Once the positioner starts the slew motion the controller accelerates it to the required speed in the desired direction If the positioner is instructed to stop the controller decelerates it to a complete stop Similarly if the positioner is instructed to reverse its direction of movement the controller first decelerates the positioner until it stops momentarily and then accelerated it in the opposite direction until the required speed is reached To summarize the input parameters which define slew motion are e The speed of movement e The direction of movement TRACK TO POSITION Mode The positioner is moved from its current position to a user defined target po
170. or translates the absolute encoder counts read by the controller to user units deg rad mm inch cm m The factor is a function of the encoder resolution Acc Dec Acceleration Deceleration Entry Field The Acceleration value to cruise velocity in all motion modes This value is used to set the motion profile acceleration value in all motion modes The acceleration deceleration value is defined in the user selected units user units sec The AL 4806 3C servo controller supports different deceleration values for normal deceleration and limits H W or S W deceleration Doc No MAL 4806 3C doc 92 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Lim Dec Limit Deceleration Entry Field The Limit Deceleration value used by the controller whenever one of the software limits is detected to stop from any speed to 0 speed This value is used to set the motion profile Limit Deceleration value in all motion modes The Limit Deceleration value is defined in the user selectable units of user units sec e Panel Acc Acceleration when motion is initiated by the panel knob The controller uses the Panel Acceleration value whenever motion is initiated by the front panel potentiometer This value is used to set the maxim accelera
171. orbitfr de Business Hours Mon thru Fri 8 00 AM 5 00 PM Loca ASIA PACIFIC SALES ORBIT FR Engineering LTD P O Box 8657 Netanya 42504 Israel Tel 972 0 9 8922 705 Fax 972 0 9 8922 789 Email support orbitfr co il www orbitfr com CUSTOMER SERVICE RESPONSE CENTER Please remember to direct all support questions to the following addresses and or phone number This will help ensure receipt of the issue and allow us to log assign and resolve any support issues in a timely manner Main 972 98 922 705 or 777 Hardware Support support orbitfr co il Software Support support orbittfr co il Business Hours Mon thru Fri 8 00 AM 5 00 PM Local Doc No MAL 4806 3C doc 5 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller SAFETY CONSIDERATIONS This product and related documentation should be reviewed for familiarization with safety markings and instructions before installation and operation This product has been manufactured and tested with regard to commonly recognized safety standards SAFETY SYMBOLS Instruction manual symbol The equipment will be marked with this gt symbol when it is necessary for the user to refer to the instruction manual in order to protect the equipment against damage
172. orization from ORBIT FR URHIT FR Multi Axis Controller 4 5 3 BCD Binary Output The position velocity and increment sync pulses are output as digital parallel data TTL Binary True Logic The data format can be selected for either BCD or Binary by defining the BCD BIN select bit to either 0 or 1 Refer to Table 4 7 for the rear panel connector pin description The BCD Binary Output is designed to be compatible with standard antenna measurement systems and data recorders 4 5 3 1 BCD Format This format is selected by forcing BIN BCD pin to logic 0 The update rate is 61 usec 410 This format consists of e 22 bits of position resolution of 0 001 plus one bit of sign e 13 bits of velocity resolution of 0 01 sec one bit sign for direction and three bits of factor The actual velocity can be calculated by using the following formula Velocity 2 9 Actual Velocity When factor FV1 2 FVs 4 FV4 4 5 3 2 BINARY Format This format is the default BIN BCD 1 The update rate is 80 usec 10 This format consists of 19 bits of position resolution of 0 001 plus one bit of sign Doc No MAL 4806 3C doc 59 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller 10 bits of velocity resolution of 0 01 sec
173. oseconds The second set of parameters is automatically activated at end of motion and used for better positioning in the lock window e Velocity FF the Command Velocity Field Forward Entry Field is currently supported in PID close loop control mode only The Velocity Feed Forward gain is controlled by the FF parameter FF 1 0 means no acceleration feed forward is used The Velocity Feed Forward Gain FF is working on the profile velocity in counts sample time units e Acc FF Command Acceleration Feed Forward Acc FF Entry Field is supported in both PID and PIV close loop modes The Acceleration Feed Forward gain is controlled by the FF 2 parameter FF 2 0 means no acceleration feed forward is used The Acceleration Feed Forward Gain FF 2 is working on the profile acceleration in counts sec 2 units NOTE In both Velocity FF and Acc FF the resulted Feed Forward value is added to the filter command output in DAC LSB units Doc No MAL 4806 3C doc 99 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller S Curve Profiler Smooth Factor entry field The AL 4806 3C supports an advanced symmetric S curve like profile smoothing algorithm The smoothing is controlled by the WW parameter WW can be set to 0 to avo
174. ot for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller Analyze Step Analysis Time range is 3 16 to 3 35 Markers range Assumes 2nd order system positive step and X axis is time in sec Assumes that the left marker is located at the response starting point and the right marker at the response s steady state Vectors Damping 0 377333 Bandwidth 7 5588 Peak Value E 5851 Peak Time 0 0704956 sec Close Figure 5 34 Step Analysis e Once KD and are determined and downloaded the next step is to determine KP e Change the value of KP to 1 and download the data to the controller e Move the axis in both directions If the axis starts oscillating before or after the motion has started reduce the KP value e Assuming that the motion is stable select Miscellaneous Data Recording change the first three Recording Variable RV signals to the following Auxiliary Position Desired Position and Position e Click the Start Recording button and wait for the plot window to open After the window appears change the displayed signals via the following commands Window pull down menu Properties selection When a new dialog box appears select the Vectors tab This will bring the dialog box shown in Figure 5 33 Doc No MAL 4806 3C doc 160 Rev B Information contained herein is the sol
175. ough J14 in the rear panel and travels through a Fuse F1 115V 10A 230V 5A and voltage selector that selects Doc No MAL 4806 3C doc 66 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller between 115 VAC or 230 VAC input poe J15 REFERENCE IN Connector J15 AC IN reference in when using option 7 115V 400Hz Synchro transmitter and receiver are measured relative to a common 115 VAC 50 60Hz reference voltage that is supplied to all connected devices Hence angle information provided to and from the servo units is the same throughout the entire system The Reference In Connector voltage is used for connecting an external reference source enabling operation of synchros that require 400 Hz Reference SHELL COM CAN Bus and RS 232 communication J21 ADD ENC INC Supplementary Input for Incremental Encoders Axes 7 amp 8 used in applications requiring dual encoder feedback Inclinometer Input INTERLOCK Interlock Uses the external Emergency Stop ENC IND ABS DEF Incremental Encoders position indication resolution from incremental encoders is up to 27 bits The supported absolute data format is En Dat Absolute Encoders position indication resolution from absolute encoders is up to 27 bits The AL 4806 3C supplies a reference voltage o
176. phic window belongs to A common recommendation for new users is to avoid opening multiple graphic files simultaneously When graphic window see definition below is selected called active the name of the file it is belonging to is displayed at the Data Viewer title bar Note that you can not display vectors from different graphic files in the same graphic window unless you have imported them see below Whenever the Data Viewer application is closed the user is asked whether to save the currently open Graphic Files if they have been modified numeric data or graphic display Doc No MAL 4806 3C doc 182 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller A 2 2 Graphic Windows The Data Viewer can display unlimited number of windows Each window contains a graph that displays a set of vectors from the graphic file Each window is naturally called a Graphic Window The user can close a Graphic Window or open a new Graphic Window Notes Closing a Graphic Window is done by the menu selection Window Close or by the Close button at the upper right corner of the window Opening a new window is done by the menu selection Window New or by the toolbar s button New Window A new window belongs to the same file to which the curr
177. r Linear Representation selectable per axis Angular selectable scaling for 180 or 0 360 Velocity Display Displays Commanded or Actual velocity for the operating axis when the display axis selector right side is set to position 7 Displayed in user selected units Speed Indicator LED indication when Operating Axis velocity is shown in the display axis window Display Axis Scale Indicator LED indication for 180 0 360 or Linear scales for the Display Axis Doc No MAL 4806 3C doc 26 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller 2 CHAPTER 2 TUTORIAL 2 4 Elements Of A Positioning Subsystem The close loop control systems also known as servo systems sense the motor positions and feed back the position signal to the controller A typical servo system is shown in Figure 2 1 Motion Controller Position Command el 55 I V 5 Amplifier Host Computer Position Feedback Position Position Sensor Figure 2 1 Elements of a Motion Control System The operation of various system elements may be described by comparing the servo system with the human body The combination of the motor and driver is analo
178. r short periods of time without causing mechanical damage or demagnetization The peak torque is several times the continuous torque The motor can generate any level of torque below the peak torque as long as the root mean square RMS value of the torque is within the continuous torque level A power amplifier generates the current that drives the motor The operation of such amplifiers is described below Doc No MAL 4806 3C doc 29 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 2 3 Servo Amplifiers Servo amplifiers receive a command signal typically an analog signal within the range of 10 and amplify it to the required level of current Such amplifiers can be configured in the current mode or in the velocity mode The velocity mode is preferred when velocity feedback is utilized otherwise a power amplifier is typically configured in the current mode In the current mode the amplifier produces a current that is directly proportional to the input voltage This is achieved by a current feedback loop which monitors the current and assures that it is proportional to the command signal Current amplifiers are characterized by the current gain Ka which indicates the amplifier output current for IV command signal Amplifiers may a
179. ration Folder and its parameters Select amp Enable The Axis To Be Configured Define amp Label The Axis Configure Angle Sensor Type amp Velocity Input Device Configure Position amp Velocity Configure Homing if applicable i e incremental encoders Configure Motion Parameters PS Dr de I9 Define Axis Mapping if applicable 10 Save amp Download Parameters to the Controller s Flash Memory 5 4 3 Getting Started First Time SHELL Operation Once you have reviewed the first half of Chapter 5 and fully understand the SHELL setup utility s menu structure and each parameter discussed move forward to the actual configuration of a controller using the following steps In order to enable the dedicated AL 4806 3C configuration menus follow the steps e Install the shell application supplied with the AL 4806 3C Configuration amp User Manual CD pack e Open SCAMSHELL INI file located in the default Windows directory e Inthe Customer section set the CustomerView value to 1 Doc No MAL 4806 3C doc 128 Rev C Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller e Inthe MainGUIText section Set axis X name to Active e Set axis Y name to Display e Set axis Z W names to None e Save the file and close it e
180. required to setup a new communication please follow these guidelines 129 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Doc No MAL 4806 3C doc URHIT Multi Axis Controller This section gives a step by step description for defining a new communication connection in order to connect to a controller as fast as possible To define a new connection please follow the following steps e Define a new communication type Under the Communication menu select Setup Communication This will show the Setup Communication dialog This dialog enables the user to define the type of connection RS232 or CAN and the communication parameters e Connect to the servo controller After defining and setting a communication setup select the defined connection from the Connection combo box on the upper right of the main screen e After selecting a connection the shell tries to communicate with the servo controller The following may happen o All went OK and the main view will start updating automatically o An Error occurred an error message will appear and the main view will not be updated For troubleshooting information see Troubles and Solutions Doc No MAL 4806 3C doc 130 Rev B Information contained herein is the sole property of OR
181. rify Angle Sensor Polarity Correct Angle Sensor Polarity if applicable Verify Angle Repeatability Determine amp Set Maximum Speed Adjust Tach Offset and Gain if applicable Begin Data Recording Set Digital Filtering Mode Determine PIV Tuning Parameters og IS Gm OE Ge Se qe Save amp Download Parameters to the Controllers Flash Memory Doc No MAL 4806 3C doc 144 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller The flow chart process below illustrates of the major steps that should be used to tune the servo PIV Tuning Process Check Safety Zone again Verify angle sensor s polarity Correct angle sensor s polarity if applicable Verify angle sensor s repeatability Determine amp Set Maximum Speed Adjust Tach Offset amp Gain if applicable Begin Data Recording Y Set Digital Filtering Mode Determine PIV Tuning Process i 3 Save amp Download a Figure 5 24 Axis Tuning Doc No MAL 4806 3C doc 145 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT
182. roller ES Solutions Data Viewer data sd_ DATA SD_ Untitled d File view Window Zoom Objects Analyze Help aani 1 7926025390625 0 1 7 XDrvCom 6419 Figure 5 36 Step Analysis e Make a note of the KD KI and KP tuning parameters they will need to be downloaded to the 4806 3C after the macro is running e Once all the values are set click OK then download the data to the controller Doc No MAL 4806 3C doc 162 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller ET Solutions Data Viewer data sd_ DATA SD_ Untitled d File View Window Zoom Objects Analyze Help sus Ld a l ER Les is 0 0 675 1 35 2 025 i 4 05 1 7926025390625 d 1 7t XDrvCom 5674 Eile View Window Zoom Objects Analyze Help 4 fa S e en Bes zer ke os mus 1 7926025390625 0 1 7 0 5 794651 794654 Figure 5 38 Desired Position amp Actual Position Overlay Doc No MAL 4806 3C doc 163 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller Step 19 Save The Configuration e Once the axis is config
183. roller Table of Contents 1 CHAPTER 1 GENERAL OVERVIEW 15 1 1 PRODUCT OVERVIEW e Er RH I er RE ER ERE OE Ce Pepe here RUPES 15 1 2 GENERAL DESCRIPTION 7 AEEA SEERE EE EE EEES 17 1 3 MANUAL ORGANIZATION e RE Ie OE PU EUR EH RR HE 18 1 4 PRODUCT EAMILY trn tte rte rre er OI Ce EURO RE E EROR REVENU ERAT ERES 20 1 5 SUPPLIED EQUIPMENT amp ACCESSORIES nennen rennen 22 1 6 AVATLABLE OPTIONS PER EVO RENI EE EYES Eod 22 1 7 e 23 1 7 1 Electrical Characteristics nois o ren E e eo reb e degere iet 23 1 7 2 Physical Mechanical Specifications eese 25 1 7 3 Front Panel Specifications Deo ue HELD d stie e EU Bb Untere abet 25 2 CHAPTER 2 TUTORTAL errore enar o eroe nuu tvs iucodenstustecetucctssestdesesuuecedvancsessossivesuseessestuensvsss 27 2 1 ELEMENTS OF A POSITIONING SUBSYSTEM ee nennen trennen nenne 27 2 2 Ies ouo 29 2 3 SERVO AMPLIPIERS E 30 2 4 POSITION SENSORS nei ertet eter re I SE epo b bios un e Ieri Ho RE POE eH REI SEES UEM oa 32 2 4 1 Aude
184. s unstable e Once this value has been determined reduce the value of KD by a factor of 3 and enter it into the filter tuning parameters user interface e n some systems you may need to increase the values of KP and KI to 1 3 in order to be able to initiate motion and tune KD e Change the value of KI to 3 and download the data to the controller Doc No MAL 4806 3C doc 157 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller e Again repeat the above motion using the potentiometer and record the signals The resulting motion should be stable e Repeat for increasing values of Kl until the step response begins to have significant overshoot if the system becomes unstable then KI is too large and needs to be lowered FZ Solutions Data Viewer data sd_ DATA SD_ Untitled DER d File View Window Zoom Objects Analyze Help oF x oth Sle aaja REE 16000 UNTERE E ee 28000 0 0 675 1 35 2 025 2 3375 4 05 4 725 1 7926025390625 d 1 7t XDrvCom 4860 Figure 5 32 GUI for Recording Point to Point Motion KI should be set such that the overshoot damping is about 0 4 or slightly less This is measured by using the Step Analysis function within the plot window
185. s and other position transducers Synchros are absolute angle devices meaning they retain the angle information after their associated control system or display indicator is powered off and therefore enable the positioner controller to determine the rotator position upon power up without an Doc No MAL 4806 3C doc 32 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller initialization routine A synchro to digital S to D converter typically decodes the position of the synchro and presents it as a binary number with 10 to 14 bits The position feedback signal is applied to the controller who closes the loop 2 4 1 1 The Importance Of Zeroing Aligning Dual Speed Synchros The AL 4806 3C positioner controller possesses a unique feature which is revolutionary in position control applications The AL 4806 3C is capable of automatically aligning and compensating for misaligned synchros without the need for the user or installer to enter the positioner and physically align the synchro assemblies To appreciate this feature it is first important for one to understand the need of ensuring that a dual speed synchro assembly be properly aligned prior to commission A misalignment of a synchro assembly can cause a control system to exhibit well established sympto
186. s both the fine and coarse synchro reading should be read simultaneously The positioner should be rotated until the coarse synchro readout is zero The value of the fine synchro when coarse reads zero is the phase offset Reading the synchros can be done in Orbit General menu Prior to each reading the axis should be re selected as the active axis e A Pos Gain Entry Field for the Analog position Gain Currently not implemented Doc No MAL 4806 3C doc 94 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller e En Dat Mask Entry field for the mask case of absolute Endat encoder is used The mask resembles the number of bits of the encoder e Gain This parameter affects the closed loop response in PID mode It is calibrated per system and should not be changed by unauthorized personnel Permissible values 1 255 e Aux Enc Rat Entry field for the ratio between the main Position feedback encoder and the secondary Velocity feedback encoder in case the velocity feedback is an additional incremental encoder e Fine Defines feedback and analog readout resolution for fine position feedback Fine resolution feedback can be synchro Inductosyn Incremental encoder or Absolute encoder In case of the two former ones no coarse feedback i
187. s can not be directly accessed by the user They can only be indirectly modified by modifying the appearance of the graphic windows General Properties This is a set of strings which describe the source of the numeric data modification date project user name company etc Most of these properties can be edited by the user These properties are first created by the Motion Recorder as defined by the user at the Setup Folder General User Data folder and than updated by the Data Viewer such as the Last Modified By property or edited by the user using the menu selection File Properties Use these properties to record the file history and recording environment gt PMA This is a set of non editable properties which are created by the Motion Recorder and describe the recording setup such as the trigger mode The General Properties and the PMA Properties can be viewed and partially edited by clicking the menu selection File Properties The following figures present the File Properties folders Doc No MAL 4806 3C doc 201 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller File Properties Figure A 7 File Properties General Folder File Properties Recording of PTP motions to test maximum performance ofthe X Y axes
188. s qualified for indoor and indirect outdoor use enclosed in an outdoor environmentally controlled cabinet Doc No MAL 4806 3C doc 15 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller For remote control the communication protocols are either via the GPIB interface bus or RS 232C serial communication Several modes of motion have been pre programmed into the controller The modes enable the controller upon receiving a single command to issue a sequence of motion instructions to the positioner In addition the AL 4806 3C carries out motion functions which are transparent to both the user and the computer For example to move a positioner axis from a given initial target position to a final target position using a prescribed cruising speed it is first necessary to accelerate the positioner to the required speed then to cruise towards the final target and finally to decelerate the positioner so as to land accurately at zero speed on the desired target position This procedure is automatically carried out by the controller which utilizes an algorithm specially designed for this purpose Doc No MAL 4806 3C doc 16 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it
189. s required The synchro fine resolution is 36 times better than synchro coarse Inductosyn fine resolution is 256 times better than synchro coarse using the same readout resolution Readout resolution for synchro can be selected to either 12 or 14 bit In case of 12 bit readout resolution is 0 0025 deg In case of 14 bit read out resolution is 0 0006 deg e Coarse Defines feedback and analog readout resolution for coarse position feedback Coarse resolution feedback can be synchro or inclinometer e Velocity Defines feedback type used for velocity control loop in case PIV control loop is used Velocity feedback can be either tachometer or an incremental encoder In case PIV control loop is defined but no velocity feedback is available the controller will use the derivative of the position for the velocity control loop e Open Loop Check box used to enable operating the axis in open loop mode with no feedback in case this check box is selected max speed Doc No MAL 4806 3C doc 95 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller should be set to 32767 P factor Max Speed The axis can only be operated from the front panel or LCU while in open loop e Mo Off At EOM The Check Box is used for Servo off at end of motion In case th
190. s the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller A 2 5 7 Step Analysis The Step Analysis can be used to calculate the equivalent bandwidth and damping of a recorded step response The user should record the system step response assuming that he can inject a step or can cause a step with the system s Motion Controller In order to perform this operation follow the following steps Display the step response on the screen and zoom in to display it clearly Turn on the Window markers and locate them to define the step response start point and final steady state where the step has reached its final value gt Click the menu selection Analyze Step Analysis Select the name of the vector to which you would like to perform Step Analysis and Step Analysis results are automatically calculated and displayed The Step Analysis assumes second order system of the form In many cases this is a satisfactory assumption The results however should be considered as rough estimations Doc No MAL 4806 3C doc 196 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller A 2 6 Importing And Exporting Dat
191. se eene ener eren 190 AUD Data IER E E EEES 192 4 2 6 Importing And Exporting nre 197 4 2 7 Advanced Graphic Properties Operations esee ener 201 4 2 8 Synchronizing Connecting Multiple Graphic Windows sese 206 4 2 9 Printing A Graphic Window tenente netten trennen enne 206 AD TU Pop Up Mentis edo EG ao BRI 206 APPENDIX B INDUCTOSYN AND TACHOMETERS CALIBRATION eere tnn 207 1 MEASURE THE MAXIMUM SINUS INPUT n een en een en nennen rnnt 207 Doc No MAL 4806 3C doc 10 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 2 0 ADJUSTMENT esset tete 207 ADJUST THE SYNCHRO 1 1 esee emere 208 B 4 PHASE ADJUSTMENT cccccccccsessssscecececseseecesececseseneaecececeeseseaeseeeceeseseasececececsessaaeeececeesesesaeaeeeeeeeenea 208 11 Rev B Doc No MAL 4806 3C doc Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT F
192. sition where it comes to a stop The operator is required to define the direction of movement or choose a command that determines the direction according to the shortest path to the final position To stop the positioner axis the controller verifies that the target position has indeed been reached However as a result of measurement errors position not always determined with perfect accuracy Therefore a predetermined locking window around the target position is used The positioner is stopped when its measured option relative to the target is within the boundaries of the locking window This window is centered at Doc No MAL 4806 3C doc 172 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 6 5 1 4 the target position and extends to both sides of the target The width of the locking window is user defined Once the target position is reached within the limits of the window and the positioner has stopped the controller can issues a shutdown command to the PCU and also a corresponding message to the computer Note that this technique causes the positioner to try and reach the target with as much accuracy as possible A shutdown command may also be issued when there is not enough gain for the positioner to reach the target with
193. sition Thumbwheel Switch applies offset to position positive and negative Resolution of 0 0001 Doc No MAL 4806 3C doc 25 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR Multi Axis Controller Table 1 5 Front Panel Controls Feature Specification user units E STOP Emergency Stop Latching Emergency Stop Panic Switch Opens motor Armature Common circuit in Opt 1 units Opens command voltage in units without Opt 1 Limit Switch Indicator LED indication when the active axis reaches the limit of the corresponding direction CW forward or CCW reverse Operating Axis Scale Indicator LED indication for 180 0 360 or Linear scales for the Operating Axis LCU Remote Indicator LED indication whether the positioner is controlled by the Local Control Unit LCU or by the Controller Remote Operating Axis Position Window 7 segment digital LED display Selectable resolution 0 1 to 0 0001 Angular or Linear Representation selectable per axis Angular selectable scaling for 180 or 0 360 Operating Axis Number 7 segment digital LED display Display Axis Number 2 segment digital LED display Display Axis Position Window 7 segment digital LED display Selectable resolution 0 1 to 0 0001 Angular o
194. sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from OREIT FR Multi Axis Controller The AL 4806 3C enclosure contains integrated mounting brackets ears to allow it to be mounted in a standard EIA 19 equipment rack Mount the unit at a convenient level for observing and operating the front panel controls in a 19 rack using the four 10 32 x 7 inch Phillips Washer Head Ornamental screws A CAUTION CHECK TO MAKE SURE THE INSTRUMENT RACK IS NOT TOP HEAVY THE VENTILATION HOLES FOR THE AL 4806 3C ARE LOCATED UNDERNEATH THE CONTROLLER ON THE BOTTOM PANEL TOWARDS THE FRONT OF THE UNIT TO ENSURE PROPER VENTILATION INSTALL 1U FILLER PANEL 1 75 44 5mm HEIGHT BETWEEN THE AL 4806 3C AND THE INSTRUMENT BELOW IT SEE ILLUSTRATION BELOW Instrument Rack AL 4806 3C Positioner Controller 1U 1 75 Ventillation Space Instrument 2 Instrument 3 Instrument 4 Figure 3 2 Ventilation Diagram Doc No MAL 4806 3C doc 47 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller 3 5 Initial Pre Operational Checkout Before applying operating voltage to a positioner controller that has been in storage or otherwise inactive for sever
195. ter C Encoder Mech Offset z l onfi urati on Incremental d 1 Max Speed 1 8 Lock Win 005 e Absolute Offset Set To 1 g PFac 500 Lock Win Time 10000 360Readng Menu W Fac 500 Phase Offset 0 Decimal Point l l 1 ABS Enc P Fac 10 Pos Gain 1 d Position Format 0 360 deg Ef l Acc Dec 5 En Dat Mask r Hone Error Mapping Lim Dec 100 Gain 1 Open Loop Motor Set Home Parameters Error Mapping l Panel Acc 5 Aux Enc Rat f MoOffAtEOM V Home Zero Pos Mapping Axis 1 D 4 I s um DCOM Version 2 35 C Program Files CARS sc4mshell moses sdv Axis Menu Figure 5 1 Mail SHELL Setup Utility Menu 5 2 1 Outlook Bar Menu Structure There are TEN 10 top level menu selections on the left side of the main menu They are listed below and can be seen in Figure 5 1 When one of the top level menus is selected a listing of second level menu selections will appear Motions Configurations 0 s Special Function eode NE Miscellaneous Doc No MAL 4806 3C doc 88 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Custom
196. ter menu by pressing the button in the lower center of the Active Axis Filter Menu Set the following parameters for each axis prior to calibrating tuning an axis e Select Filter to get to the user interface for adjusting the tuning parameters Figure 8 shows the user interface for configuring the filter tuning parameters e Enter the following values within the user interface KP Proportional Gain 0 Main KI 0 Main KD 1000 2 PID Filter Duration 0 Velocity FF 0 Acc FF 0 S Curve 3 Integration Limit 32767 Voltage Command Offset 0 e Within the Compute 2 Order Filter Parameters section enter 300 for Hz Freq and 0 7 for Damping Check the Use 2 order filter checkbox Orbit Filter Dialog Main 2nd KP 20 20 KI 200 200 Kp 1000000 1000000 Set Pid Pid2 2nd PID Filter Duration 10000 CA4 Velocity FF D mM Acc FF jo FF 5 Curve Integration Limit 32767 Voltage Command Offset p Use 2nd Order Filter 2nd Order Filter AO 13112251 2nd Order Filter B1 120522 2nd Order Filter B2 55786 Compute 2nd Ord Filter Parameters HZ Freq Damping 300 7 Compute Cancel i Figure 5 31 Filter Dialog Menu e Click the Compute button to update the filter coefficient terms above CA7 CA8 CA9 e Download the data to the controller Doc No MAL 4806 3C doc 156 Rev B Information contained herein is the sole property of ORBIT FR an
197. tion Menu Format Step 14 Determine amp Set Maximum Speed As in the previous section the system must be operating in Open Loop in order to determine maximum speed The controller must be in panel mode e Use either the front panel potentiometer or an LCU in order to initiate motion at full speed e Use the data recording utility in order to record the X Position vector Check the add velocity to graph check box e Set recording length to 3000 recording gap 32 press Start Recording e The viewer will present the recorder data Use the markers to define an average of the Ved dt vector e Use the statistic function in order to get the average Vel dt value in the selected region Doc No MAL 4806 3C doc 149 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller e Divide the received value by the P factor value a ME Pfactor e Use a stopwatch to verify the received figures e f the maximum speeds are different for forward and reverse directions then choose the lower value for the Max Speed parameter Doc No MAL 4806 3C doc 150 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorizat
198. tion while motion is initiated by the front panel potentiometer The Panel Acceleration value is defined in the user selectable units of user units sec e Max Err Max Position Error Limit Entry Field The Max Err parameter defines the Max allowed Positioning Error while the servo loop is enabled The Positioning Error is defined as the current desired position minus the actual position PE DP PS The servo controller real time loop monitors the value of PE and compares it to the Max allowed error ER When ABS PE gt ER the servo controller automatically disables the servo loop e Torque Lim Torque Limit Analog Command Saturation Entry Field The Torque Limit parameter limits the value of the analog output command to the servo amplifier In applications where a current loop driver is used most cases the Torque Limit limit actually limits the motor current The range of Torque Limit is 0 32 767 TL 0 disables the analog command output to 0 volts TL 32 767 is full range 100 command i e 10 volts e Lock Window Target Radius in user units Entry Field The Lock Window parameter defines the Target Radius in Encoder counts for the In Target Doc No MAL 4806 3C doc 93 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis
199. tional Inductosyn Optional Inclinometer Optional Data Take Off Accuracy Data Take Off Accuracy Dual Speed Synchro 1 1 amp 36 1 Single Speed Synchro 1 1 Incremental Encoder EnDat Absolute Encoder Optional Inductosyn Optional Inclinometer Optional 0 0025 12 bit 0 0006 14 bit 0 087 12 bit 0 02 14 bit up to 27 bit resolution up to 27 bit resolution 2 8 x 10 4 deg Selectable Range Communication Links IEEE 488 2 RS 232 CAN Bus setup amp configuration utility only Supported Power Control Units AL 4146 2 AL 4106 2 6A Motor Driver Method Filtered Pulse Width Modulated 20 KHz Nominal Switching Rate above audible range Load Inductance No output choke required Maximum Motor Size Axes A F 1 2 HP 2 HP Optional Motor Armature Supply Axes A F 110 to 110 VDC up to 10 Amps Optional up to 15 Amps Motor Armature Current Limiting 2 5 to 15 amps Each Axis Selectable Via Internal Dip Switch Motor Field Supply 110 VDC 2 Amps Max Continuous Motor Direction Bi directional Dynamic Braking Supply 24VDC 2 Amps Max Doc No MAL 4806 3C doc 24 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR Multi Axis
200. to accelerate the positioner to the required speed then to cruise towards the final target and finally to decelerate the positioner so as to land accurately at zero speed on the desired target position This procedure is automatically carried out by the Controller which utilizes an algorithm specially designed for this purpose The measured position of the active axis and a user selected additional axis position are numerically displayed by 7 segment display on the front panel of the AL 4806 3C LED s and indicators on the front panel display indicate other status data such as limit condition and motion status Doc No MAL 4806 3C doc 17 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 1 3 Manual Organization This User s Manual presents the information necessary for the preparation for use configuration installation programming operation and adjustment of the ORBIT FR AL 4806 3C series Positioner Controller This manual is divided into six sections which provide the following information CHAPTER 1 GENERAL INFORMATION contains this introduction a table of equipment specifications safety symbology describes supplied equipment available options product specifications front panel controls and indicators rear panel connector re
201. trument has been checked mechanically and electrically If subsequent inspection and or testing indicate improper operation or if there is mechanical damage or defect or if the shipment contents are incomplete see Table 3 1 please notify ORBIT FR If the shipping container is damaged or if the packing material shows signs of stress notify the freight carrier as well as ORBIT FR and take digital photographs of the damage Keep the shipping material for the carrier s inspection Please do not return the unit to ORBIT FR without receiving specific return shipment instructions It is good practice to retain the shipping carton and packing material in case these are needed in the future for purposes of storing transporting or returning the equipment for servicing Once the AL 4806 3C is unpacked mechanically inspect it for any signs of damage such as scratches dents loose hardware etc Please report immediately any such mechanical damage to the carrier for adjustment SAVE THE ORIGINAL SHIPPING CARTON IT IS CUSTOM DESIGNED AND CONSTRUCTED FOR TRANSPORT OF THE AL 4806 3C Doc No MAL 4806 3C doc 40 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT FR Multi Axis Controller Table 3 1 Supplied Equipment amp Accessories Item Qty Description
202. ue from To The end index to set value to e Correction Value The correction value to set in the range the value is in user units e Sets the correction value e Cancel Does not apply any of the values Doc No MAL 4806 3C doc 121 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 2 12 Set Linear Correction Dialog This dialog box enables the user to set the correction values linearly Set Correction x Correction Value Range From fi 0 fi 0 d Figure 5 15 Linear Correction Correction Parameter Definitions e Range From Start index to set correction value e To End index to set correction value e Correction Value From Correction start value Correction Value To Correction End value Note The correction value is the value of Correction value To Correction value From Range To Range From 5 2 13 Table File Format The table file format as saved by the Configuration utility is every number is in a new line e Table name e Table units e Table factor Doc No MAL 4806 3C doc 122 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not b
203. uration data visually CG Dialog Invert Motor Command Direction Main DAC and PWM Output Inverse Encoder Direction Configure Axis as SIN commutated Use PID Control Scheme for This Axis Invert Ausilary Motor Command Direction Aux DAC Only Enable Encoder Error Detection and Report as Driver Fault Invert Driver Fault DRV FLT Logic Cancel Figure 5 4 CG Dialog Menu CG Menu Parameter Definitions Invert Motor Command Direction Main DAC and PWM Output This check box controls the MAIN DAC polarity command main servo driver analog command output TC When set to 0 the default polarity is invert i e TC 32767 will result in an analog command voltage of 10V When set to 1 the default polarity is non invert i e TC 32767 will result in an analog command voltage of 10V Inverse Encoder Direction This check box controls the encoder polarity Users can set or clear this bit to change the encoder reading direction When set to 0 the default polarity is non invert When set to 1 the default polarity is invert Configure Axis as SIN Commutated This check box configures the axis to operate in SIN communication brush less mode Doc No MAL 4806 3C doc 102 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT
204. ure 5 11 Service Dialog Menu sess ener nennen nennen 117 Figure 5 12 Error Mapping Correction Table Dialog Menu 118 Figure 5 13 Table Configuration ici toii rota idc ita iade tid a c eiit 120 Figure 5 14 Table Contents Dialog cota da aat itai da atat eade asd 121 Figure 5 15 Linear COFTeCtlOD cota eia ida edat ned acd 122 Figure 5 16 AL 4806 3C Servo PIV Algorithm Block Diagram 125 Figure 5 17 AL 4806 3C Velocity Control Loop Algorithm 126 Figure 5 18 Main Menu Selection of Communication Port sss 129 Doc No MAL 4806 3C doc 12 Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Figure 5 19 Axis Configuration enn 131 Figure 5 20 Safety Zone Illustration 2eeeseieeesieeeseseseee eese anaa nnn nnne 132 Figure 5 21 Active Axis Configuration Folder Sections Axes 1 thru 6 133 Figure 5 22 Main Menu Special Functions amp Axis Configuration
205. ured the configuration must be saved to the 4806 3C controller flash memory This will allow the controller to remember the configuration even if the unit power is turned off e Near the top of the SC Shell user interface window there are selections of buttons just below the pull down menus Click on the SV button this will save the configuration to flash memory Doc No MAL 4806 3C doc 164 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR ORBIT FR 6 2 6 2 1 6 2 2 CHAPTER 6 OPERATION Introduction This chapter contains information for manual and remote operation of the AL 4806 3C series positioner controller and provides descriptions of front panel controls and indicators It provides an initial operating check operating instructions and procedures Priority Order of Control AL 4806 3C Opt 1 Built In PCU Priority Order The AL 4806 3C Opt 1 controller has an overall priority order of control This means that depending on the LCU attached to it and the front panel control settings the control of the controller s functions change The control priority is in the following order LCU Hand Held Unit first AL 4806 3C Opt 1 front panel second This means that if the LCU is attached the controller is operated by the controls on the LCU unless control is re
206. ve all ORB files and INI files once the following step by step procedures in the remainder of this chapter are completed Failure to save these files could prevent the user from operating the controller in the event of file corruption or repair of the product Do not proceed unless this step is fully understood Contact your local ORBIT FR service center listed in the front of this manual with any questions or inquiries Configuring An Axis Once you have opened the SHELL utility for the first time prepare each axis for the velocity loop tuning procedures described in this section This procedure is applicable for each of up to 6 axes that are connected to the 4806 3C controller Doc No MAL 4806 3C doc 127 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller Each axis must be CONFIGURED separately one axis at a time There are TEN 10 basic steps for configuring an axis NOTE Before configuring an axis set the controller s front panel operating axis knob to the axis that is about to be configured Also make sure that the front panel speed control knob is at the determined zero position centered 10 Basic Steps For Configuring An Axis Define and clear a safety zone around your positioning system Review the Active Axis Configu
207. version 2 03 and on the Driver Fault Logic Polarity is defined by CG bit 6 This checkbox controls the Driver Fault polarity in both standard and MD driver s configurations e Cancel Button Discard current CG word and return to last value e OK Button Set the new CG value Doc No MAL 4806 3C doc 103 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from URHIT Multi Axis Controller 5 2 5 Homing Routine This paragraph describes the general homing routines incorporated in the AL 4806 3C motion controller The homing routine supports the following homing types e Home on RLS limit with or without Index search after limit was found e Home on FLS limit with or without Index search after limit was found e Home on input direction RLS the homing is done on the RLS side of the input With or without Index search after input was found e Home on input direction FLS the homing is done on the FLS side of the input With or without Index search after input was found e Home on index e Idle Selecting the different homing types and homing parameters is done via the AL 4806 3C dedicated home configuration menus This chapter describes each of the homing types and the specific parameters that are to be set per type of homing Doc No MAL 4806 3C doc 104 Rev B Infor
208. ween 51 S1 TP52 S3 Extender can be used Y Voltage between synchro S1 and synchro S3 must be below 700mV when measured with AC DVM y If not adjust the synchro 1 1 in the positioner B 4 Phase adjustment X Connect 2 channel scope one channel in TP66 in FEEDBACK card and another in Co sinus input in the axis itself or in TP55 in FEEDBACK card Extender can be used Y Move the axis to get phase similarity between the 2 signals X Adjust R251 if needed in order to get phase similarity between the 2 channels Doc No MAL 4806 3C doc 208 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from
209. wer 1 3 of the window there are Tach parameters on the right side of the window Set the Tach Gain parameter to 1 and the Tacho Offset parameter to 0 Doc No MAL 4806 3C doc 151 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT Multi Axis Controller NOTE If for some reason the axis configuration parameters are no longer available then select Special Functions Axis 1 or whatever axis number is being configured to get back to this window e Download the configuration and read the Velocity within the active axis section This value will be the tachometer offset Set the Tach Offset to this value and download the configuration again The Velocity reading in the active axis window should now read zero e The next step is to determine the Tach Gain This is done by running the system in open loop at a constant speed and recording the tachometer voltage and comparing it to the recorded derivative of position VelDt actual velocity The ratio of these values will be the Tach gain setting The following describes how this is done Doc No MAL 4806 3C doc 152 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from O
210. zation from URHIT FR Multi Axis Controller 5 2 5 8 Home Slow Speed This parameter defines the homing slow speed Homing slow speed is the speed used for the rest of the homing sequence after finding the input or limit 5 2 5 9 Home Limit To Index Search Dist This parameter defines the distance to search for index Note This parameter is used only if home with index is chosen 5 2 6 Home Position This parameter defines the position to set at homing point 5 2 6 1 Home Move To ABS Pos This parameter defines the position to move to after home position is set Note To avoid motion after the home position is set set this parameter value equal to the homing position 5 2 6 2 Home Slow Limit Search Dist This parameter defines the distance to go out of limit before slow limit search is performed Doc No MAL 4806 3C doc 112 Rev B Information contained herein is the sole property of ORBIT FR and is not for publication duplication and it may not be passed to any other party without written authorization from ORBIT FR URHIT FR Multi Axis Controller 5 2 7 General Dialog Menu Orbit General Dialog General Settings Speed Control Operating Axis Display Axis Een 63 Baars FLS RIS Pos 2 42 Pos 0 Fine perating Axis Display Axis Num 1 Panel Bus Read Coarse amp Fine s GPIB Software Adderss a BUS Extended Orbit Protocol Fine Inforce CR LF Read Wirl

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