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LB0044-05GB

1. 3 6 1 General The SON Servo ON Input is used for protection and safety reasons The default settings in the Controller make it impossible for the motor to move unless an external voltage is applied to this input During normal operation an external voltage must be applied to the SON Input otherwise no current is supplied to the motor and the Controller will stay in Mode 0 no operation The SON Input can however be disabled by setting the control bit CB9 See CB9 Ignore Servo On Signal page 94 Important The SON Input is only intended as an extra safety function and a certified safety relay must still be inserted in the power supply as described in 3 Phase power supply of AMC20 AMC21 and AMC22 page 25 The Input is optically isolated from other Controller circuitry with the exceptions of IN IN6 NL and PL End of travel Limit Inputs and the HM Home Input All these inputs have a common ground denoted IN The SON Input can operate with voltages in the range 5 to 30VDC Note that the Input is designed to receive a signal from a PNP output since a positive current must be applied for the Input to be activated The SON input can also be used as a standard input like INI IN2 etc i e in a program To do this use the control bit CB9 to disable the input as a Servo ON input The SON input can also reset the controller if desired See 3 6 2 Connection of NPN Output To connect the Input to an NPN output a P
2. Error status register 2 ES2 These errors are related to internal faults Error status Error System cleared by send at must be Error Explanation reading RS232 E65 Motor controller Communication error E66 Power processor Timeout E67 Unknown error from Power processor E68 Average current cannot be measured correctly E69 FLASHPROM Checksum error E70 RS232 RS485 Output buffer error 1 RS232 RS485 Input buffer error E72 DSP Busy timeout E73 DSP Busy executing answer timeout E74 94 Reserved for future use E32 Check Other Status Register o joj oOc1 o m oO JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 107 4 11 Command Description Usage Example Error status register 3 ES3 These errors are related to motion errors Error status Error cleared by send at reading RS232 No System Explanation must be reset 0 No E97 Negative Limit Switch active 1 No No No No E98 Positive Limit Switch active 2 E99 Negative Limit Switch has been active 3 Yes No No No E100 Positive Limit Switch has been active 4 Yes No No No E101 Position counter overflow 5 No Yes Yes Yes se td error or position error limit ex 6 No Yes Yes No E103 Servo On Signal is not active
3. Current ratio versus time CU CA 12 TT0577GB 11 10 9 8 7 6 5 4 3 2 1 Continuous duty 0 4 0 1 1 10 100 Seconds Usage CL Show percentage load on motor See also Setting the Motor Currents page 195 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 99 4 11 Command Description 4 11 47 Description Format Example Example 2 Clear Flag in External Module CO Only AMC2xP e er Exec Com Time mand Description msec RA Address 0 Address 31 x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The Clear command is used to clear a flag in an external module The number of flags which that can be cleared in different external modules varies but each module has at least flag For the KDMIO module Keyboard Display Module for example the Clear command can be used to clear the LCD display in the IOMI module I O module the Clear command can be used to deactivate one of the Module s outputs etc 1 lt lt 31 lt 0 lt 255 The Controller and a KDMIO module are connected in a system via the JVL Bus inter face The address of the Controller is and the 10 module address is 3 The Cursor on the KDMIO s LCD display is to be switched off If the cursor is active while text is be ing printed using the PRINT command the display may flicker This is avoided by
4. is used in IF statements when several command lines must be grouped in a block ENDIF can be used in IF statements only See IF Statement page 70 IF AC 500 AC 500 VM 1000 ELSE AC 600 VM 900 ENDIF Execute Program Flag EP Only AMC2xP me Exec Com Time mand Description msec ume erpe ee Ee x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect 0 Do not start program when the Controller is switched on Start program when the Controller is switched on A user program which is stored in the Controller memory can be automatically loaded and executed at power up If EP is set to 1 the program is retrieved from non volatile memory at power up loaded and executed If EP is set to 0 the Controller starts up nor mally without executing a user program the MRI and GO commands can then be used to start a program The EP command can only be used with the AMC2xP Controller EP x Set Execute Program flag EP Show current set up JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 105 4 11 Command Description 4 11 59 Description Read out of Error Status ES Mode Com mand Description Max 415 ks des feel l 3 x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect
5. Terminator Computer PLC Connect to A if Controller is the last or similar Unit on the interface bus TT0526GB 46 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 3 17 JVL Bus Interface in the AMC2xP Controller AMC2xP Controller Address 0 Use twisted pair to avoid noise problems Module Interface Tootherunits Max 31 units Hot Surface Vad 8 2 0527GB KDM10 Address2 KDM10 Address 1 Term switch ON 3 17 1 JVL Bus Interface The Controller can be connected to different external modules such as a keyboard dis play module or input output modules etc Connection to external modules is made via the Controller s serial JVL Bus interface us ing the two terminals marked A and B All external module functions are controlled via this interface Up to 31 modules and at least motor controller can be connected to the interface bus The JVL Bus interface offers several advantages in that the interface op erates with a balanced output and has low impedance In addition the Controller s JVL Bus interface is optically isolated from other Controller circuitry The JVL Bus interface is protected against transients on the cable connecting the Con troller to external modules These factors enable commu
6. 4 Zero Search _ r Accelerating Motor is accelerating Only used in mode 2 4 Program Mode L Running Motor is running with constant velocity Only used in mode 2 4 Motor is decelerating Decelerating Only used in mode 2 4 Halted Motor has been halted Only used in mode 2 3 and 4 This message is given if the controller is set in mode 0 1 or 5 A fatal error has occurred motor is disabled Used in all modes Not supported j L Fatal Error j Zero search function is not selected r Inactive This message is given in all modes except when zero search is in progress in mode 2 or 3 Zero search function is in progress Active Only used in mode 2 and 3 Standby Only AMC2xP 267568 Program not active L Running Only AMC2xP Program is executed JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 149 4 11 Command Description 4 11 115 Description Usage Example 4 11 116 Description Usage Example System Default SD Mode Com mand Description Min Max so femen fs x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The SD command is used to recall the Controller s factory default set up Note however that after recalling the factor
7. Max velocity 4500 Peak current ARMS Sample time o o test torque 100 r Prefilter Use Prefilter 50 10 Fastest r Direction Negative Positive Bidrec Optimize Current Filter Press Tune Advanced To start the filter adjustment EE EI The following window will appear after tuning is completed Before tuning please make sure that the parameters in the center Max velocity etc is set to the right value since they are vital Save Save and Reset Continue Send Setup parameters x Vital parameters have been changed The controller must be restarted for the changes to take effect The setup can be saved in PROM for permanent use Save Save and Reset This will save the new filter parameters permanently This will save the new filter parameters permanently and perform a re start reset of the Controller This will not save the new filter parameters The Controller will remain in the same mode as before the filter was tuned The new filter param eters will be used but they will be lost if the power is switched off The filter parameters can be saved subsequently by keying MS enter in the on line editor 20 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 2 4 Adjustment of Servo Regulation The following curve shows a typical profile after tuning has been done without Pref
8. oe ne os fefdefefefefel T fet les Ve orrser _ o s es 7 c ore forme Tos felefele T ir ___ os rF samen eraro gt fos Le in meros fo fs Jes 1 Te orn 5 2 fo fr 2 os les le elle e B meme fee Le TIT T o fee I fe VII D Te P3 cond for fr Te b penses zs ___ fo 9 es ra O Passive 1 Gear 2 Position Sd on following page pulses 5 samples ES rp qr sam us 3 Register 4 Velocity 52 Torque M fos os e jos z Jos no os fos fos m ps EN CE EN 181 pe 133 28 136 Lee pe La pe 140 v E m m d Changing this register will first have effect when mode 0 has been selected Depending on the VFACTOR and PR register setting Consult the detailed command description 178 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 13 Alphabetical Overview of Commands mans NM ZZ E Page POL
9. 2 5 zeoan oraraa eu ew x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect These commands are used to calibrate the analogue input s zero point voltage To cali brate the Controller the zero point voltage should be applied to one of the analogue in puts Al AI2 and the command sent to the Controller The Controller will then reset the input In the majority of cases the zero point voltage will be 0 Volt but this is not a requirement however The zero point voltage must lie within the range from the maxi mum negative voltage to the maximum positive voltage See Adjustment of Analogue In put page 78 for further information about the use of this command AIOI Zero point voltage at input is calibrated AlO2 Zero point voltage at input 2 is calibrated Sent to Controller AIO1 Calibrate the zero point voltage for analogue in put I Received from Controller Y The calibration is done JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 11 Command Description 4 11 10 Description Usage Example Analogue Input Maximum Positive 10V Value AIU1 AIU2 Mode Com mand Description Min __ b afa as ror rose votgetoranaogue rores oov row fos PLT he aoe sen x Can be set verified but no effect Has effect can be set verified
10. ADDR x Setaddress to x ADDR Show address Sent to Controller ADDR Ask the controller to read back the actual ad dress Received from Controller ADDR 0 This value indicates that the controller is setup for address 0 no address If the controller is setup with an address higher than O it will not respond since a reply is only made if an address number equal to the actual controller address is added before the ADDR command Sent to Controller 5ADDR Ask the controller to read back the actual ad dress Received from Controller ADDR 5 This value indicates that the controller is setup for address 5 In case only the ADDR command was send and not 5ADDR the controller would not have answered the request If the address is unknown use the command Sent to Controller Received from Controller AMC20 24 See also Controller Type page 79 82 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 6 Description Usage Example 4 11 7 Description Usage Example Read Analogue Input Al2 Exec Com Time mand pe msec SERA eren e e e E e x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect This command is used to read the Controller s analogue inputs directly The returned value is given in analog to digital converter steps The A D conv
11. C00 o 10x 5mm SK No low o 4 OM Sam f B L le DIETE 132 5 gt NA AMC20 Servo Motor Controller ien 261 0 3 265 0 43 0 5 2 1 Physical Dimensions of AMC2x and AMC2xP The illustration above shows the mechanical dimensions of the AMC2x AMC2xP Consult Controller Mounting Drill drawing page 184 for mounting details JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 183 5 2 Physical Dimensions 5 2 2 Controller Mounting Drill drawing Dimensions in mm Tolerances 0 2 mm TT0520GB Total width 105 0 lt gt Hole distance 95 0 gt 9 6x M4 WARNING The area behind the Controller must be able to withstand o temperatures up to 100 degrees 1825 celsius since the integrated powerdump resistor can generate considerable heat depending on the application o Q ae 259 0 265 0 184 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 9 3 Power Dissipation 5 3 1 Power Dissipation The controller is optimized for lowest possible losses since losses means heat dissipation The total power disipation can be calculated after following formular Total power dissipation 40 Motor Power 0 1 The formular covers worst case which is mains supply 3 x 400 VAC If only x 230 VAC single phase supply is used the dissipat
12. Has effect can be set verified o Can be verified but not changed has effect Description As described in Checksum page 44 a checksum can be used for communication via the interface Usage CHS x 0 do not use checksum use checksum CHS Show checksum status 4 11 46 Current Level in CL e Exec Mode Com Time mand Description msec 5 Show motor current re CA fe pem fe x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Description The CL command can be used to monitor the average motor load If the CL command is sent to the Controller the Controller will respond to display the actual average motor current expressed as a percentage of the motor s maximum allowable average current specified using the CA command If CL exceeds 99 996 the Controller is set in Mode 0 and the motor is set currentless In addition the error message E23 Average current limit exceeded is sent by the serial interface and stored in the error register Note that CL is based on a integrating algorithm and the value is averaged over a long period This enables the short term current to be much higher than the value specified by CA Use CP to specify the absolute maximum current This curve below shows the relationship between current and time
13. PRINT1 0 R23 Prints the contents of register R23 to the module whose interface address is Since transmission via the JVL Bus interface is balanced it is possible to locate external modules up to 500 metres from the Controller PRINT255 0 TEST Prints the text TEST to a PC via the RS232 interface Address 255 is reserved as the address for PCs Note that the Print command can be used to print out register contents at run time It is especially well suited for debugging a program If JVL s MotoWare pro gram is used once the Controller program has been transferred the online feature can be used to display when a Print command is executed at run time JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 143 4 11 Command Description Example 3 Example 4 Example 5 Example 6 Print to External Module PRINT Cont Only AMC2xP PRINT3 41 Key in Value When a Keyboard Display Module KDM 10 is incorporated in a system it is often desir able to display information to the user The above example illustrates how text can be written to the module s LCD display In the example the address of the module is 3 The second parameter value is cursor position 41 which is the first character on line 2 of the display R1 5555 ASSIGN A VALUE OF 5555 TO REGISTER R1 R30 333 ASSIGN A VALUE OF 333 TO REGISTER R30 PRINT5 41 R1 PRINT THE CONTENTS OF REGISTER R1 TO CURSOR POSITION 41
14. Te ar ___ T oes fe los Te Notes Depending on the VFACTOR and PR register setting Consult the detailed command description JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 179 180 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 Appendix JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 181 5 1 Technical Data Description min Typical Max Supply Voltage AMC20 single phase 175 450 Supply Voltage AMC2O 21 22 three phase 100 Supply frequency 50 12 Power Consumption unloaded Output Voltage dependent on supply Continuous Motor Current AMC20 AMC20P Continuous Motor Current AMC21 AMC21P Continuous Motor Current AMC22 AMC22P Instantaneous Max Current AMC20 AMC20P Instantaneous Max Current AMC21 AMC21P Instantaneous Max Current AMC22 AMC22P PWM Frequency depends on the CB2 control bit oom Encoder Hall Input Feedback connector Supply to encoder pin 1 9 5VO 4 8 Allowable load on encoder supply pin 1 9 5VO Encoder Frequency 5096 duty cycle 0 Allowable Input Frequency 5096 duty cycle Positive pulse width Negative pulse width Logic 0 Logic 1 User Inputs IN1 IN8 PL NL HM User Inputs con Input Impedance Logic 0 Logic 1 Logic 0 Logic 1 User Outputs O1 O8
15. 4 11 30 4 11 31 4 11 32 CB10 Invert Movement Direction The definition of positive and negative directions can be changed by the flag CB10 In some applications the zero point is placed in the positive direction which can be a dis advantage since all movements then must be done in negative direction CB10 0 Motor turning Normal direction counter clockwise clockwise Range AP lt 0 mr Range AP gt 0 Normal operation range CB10 1 Motor turning Inverted direction clockwise counter clockwise e C Range AP lt 0 gt Range AP gt 0 Normal operation range Motor turning Motor turning TTO580GB 0 0 Do not invert direction default 0 1 Invert direction CB11 Invert encoder signal If it is desired to reset the controller by a hardware signal from outside this can be done by using the SON input By enabling this feature the controller will be reset every time the SON input changes state from passive to active 0 tol 1 0 Do not reset when SON changes state default CBI I Reset when SON goe CB12 Invert Hall signal If it is desired to reset the controller by a hardware signal from outside this can be done by using the SON input By enabling this feature the controller will be reset every time the SON input changes state from passive to active 0 tol CBI2 0 Do not reset when SON changes state default CBI2 1 Reset when SO
16. 7 0 3 3 2 CP is assigned the value 3 8 R4 AC VM CP R4 is assigned the value 7 CP AC VM CP CP is assigned the value 7 5 R4 IN1 35 CP AC R4 is assigned the value 785 R4 IN1 35 RI AC 2 2 7 3 VM 50 R4 is assigned the value 647 Operator Precedence and Order of Evaluation The following table gives the rules of operator precedence and order of evaluation for operators that can be used in arithmetic and or logical expressions Operators on the same line of the table have the same rank i e multiplication and division are ranked equally and an expression is evaluated from left to right For example 2 35 3 results in a value of 23 and 35 3 2 gives a value of 22 note integer arithmetic is used here The table is listed in order of precedence Thus and have a higher rank than addition and subtraction This means that multiplication and division are calculated first For ex ample 35 3 2 gives the result 41 Parentheses can be used to change the order of evaluation of arithmetic operators For example the expression 35 3 2 results a value of 76 66 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 8 Program Execution in the AMC2xP Operator precedence from higest to lowest tetageinsirig Binay Ti Rett against right Fon tetageinstrig Binay
17. JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 89 Description 4 11 90 Description Recall Set up me Exec Com Time mand Description msec ERA ser Eo x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Controller set up data can be permanently stored in non volatile FLASHPROM memory i e without the need for current to retain the data The Memory Recall command MR is used to recall data from the FLASHPROM memory and set up the Controller and system using these values MR Restore all For AMC20 22 this command will restore set up data For AMC20P AMC22P this command will restore set up data program and user registers MRO Restore controller set up including X registers for use in Mode 3 MRI Restore program only AMC2xP MR2 Restore user registers only AMC2xP Save Set up MS e Exec Com Time mand Description msec ERA tag criar NE er c x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The Controller set up data can be permanently stored in non volatile FLASHPROM memory i e without the need for current to retain the data The Memory Save MS command is used to store the Controller set up in permanent memory MSO MSI and MS2 can be used with
18. The actual input levels can be monitored here Note that the levels shown are shown after the active level compensation INAL EZI E TT9022GB JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 121 4 11 Command Description 4 11 78 Index Pulse On Off INDEX Com mand Description Max INDEX oor row _ los x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description If an encoder with index channel is used the Controller s Index Input must be set active Otherwise it is recommended that the index input is set inactive to avoid spurious elec trical noise interfering with Controller operation Please note that index must be set be fore initialization of the motor i e before power up of the Controller or execution of a reset command Usage INDEX Read actual index input setup INDEX n Setup index input to be active or passive Example INDEX 1 Activate index input 4 11 79 initialisation Type INITTYPE Com Time mand Description Max msec 2 3 45 Unit bere maswenwe ters Jo 1 x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Description The INITTYPE register defines what kind of motor initialisation the Controller must use after power
19. pezi farer z p fr fo p Jo pa pve pxeze nez s fo h fo p p ves xezs ees 4 Jo p fr Jo Jo Jo paa fxme 5 Jo fi fr Jo Jo pas v xezs fxr 6 Jo fi Ji Jo Jr Jo pas fxv 6 26 ar ph fi fo i fr per poa pezz fare zs fo h h i fo Jo ve xezs nes zs fo fr fr fr To fr pes ees Zero point search function is started when XO is selected Zero search will occur according to the standard zero search parameters See Mechanical Reset page 75 54 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 5 Register 3 70 sot TNE TRS TRE TIR accolto 30 o Ji fr fi 1 Jo xeo ____ xno i p Ji T Tr oe pa pea farer e h Jo fo Jo 0 fo pas va xese xna h Jo fo Jo Jo 1 pass xess __ h Jo o Jo h o pasa vsa __ h Jo fo Jo 1 1 pas o xess xnss h Jo fo h o Jo xvae xese xnse 7 h Jo fo Ji 0 fi ear are Jo o T h fo Jxess xna ph Jo fo T 1 xese xnss 40 h Jo h Jo Jo o pao xeao __ ai fi Jo fr Jo Jo p x pen pan aa h Jo fr Jo 1 fo pae pee fre as h Jo fr Jo 1 xs pea Jar h Jo fr h o o paa pea __
20. x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The Controller has 8 inputs The status of these inputs can be read using the IN com mand The Inputs have certain pre defined functions depending on the Controller s mode of operation Inputs can be read individually using the INx command where x specifies the input to be read All inputs can be read simultaneously using the IN command ne IN Read inputs INx Read input x Sent to Controller IN4 Received from Controller IN4 0 Sent to Controller IN Received from Controller IN 00010100 Note that INB is the leftmost digit MSB Input Active Level INAL me Com mand Description 255 Decimal x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect 0 255 decimal or 00000000 11111111 binary all inputs are active high The active level of the digital inputs can be independently programmed to be active high 1 or active low 0 Active high 1 means that the input is activated when a positive volt age is applied at the input with reference to the input common terminal IN Active low 0 means that the actual input terminal is left open no voltage applied with reference to the terminal IN All inputs must be active high therefore INAL I I I I I I I is set All inputs must b
21. 4 Amp for a long duration Note that the average current can be adjusted with a resolution of 00mA Step 2 Adjustment of Peak Current CP Consult the data sheet for the actual motor in question to determine the specified allow able peak current This value may be specified as Peak Current Instantaneous max Current or Stall Current Most motor types can withstand a peak current that is 3 4 greater than the average current value The peak current is set using the Controller command CP Example To set the peak current to 4 0 Amp key CP 4 0 enter The Controller will then under no circumstances allow the motor to draw a peak current greater than 4 0 Amp Note that the peak current can be adjusted with a resolution of 00 Step 3 Current filter tuning TUNEI Enter the command in the on line editor The tuning can be done even if the mo tor is blocked After 4 5 seconds the current loop is tuned and a Y is returned from the controller Save all the settings permanent in the controller by typing MS in the on line editor The complete current loop is now adjusted for the actual motor Important Note that the tuning must be done once more if the CP parameter has been changed The tuning must also be repeated if the parameters MAXFREQ or CB2 has been changed If the motor sounds noisy it is propably caused by the high bandwith and PWM frequency in the current loop If the noise is inconvenient the pa
22. 5 Set the Controller to Positioning Mode by sending the command MO 2 enter The Controller should respond Y indicating that Positioning Mode has been selected 6 The Controller is now set to Positioning Mode As a test the motor can be moved to absolute position 1000 by sending the command SP 1000 enter The motor should move to the specified position By sending the command SP 1000 enter the motor will move in the opposite direc tion to position 1000 If this does not occur or if the motor runs for a very long time it may be due to the fact that the position counter either was at position 1000 or that the previous position was far from 1000 See Positioning Mode MO 2 page 53 and Command Description page 79 for details of other commands 6 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 1 6 Getting Started Register IVlode Mode 3 Minimum configuration c when using Mode 3 Running Error Current Incremental encoder AC Servo Motor Encoder Input Motor Output User Inputs Position pointer Start signal Pause signal Ground User Outputs In Position signal Error signal User Inputs n 1 7 5 5 mm eo oo 00000 24VDC Out Position reached User Outputs lt RS232 RS485 Power Supply MotoWare install
23. AMC20 AMC20P AMC2I AMC2IP AMC22 AMC22P TT0528GB Types AMC20 AMC2 I and AMC22 comprise a se ries of compact programmable AC servo motor controllers The Controllers are characterised by an ability for control via either the built in RS232 RS485 interface or an analogue input 10 In addition the Controllers can be controlled as in a step motor system via pulse inputs The Controllers can be configured for absolute relative positioning via 6 digital inputs The Controllers accept a balanced or unbalanced signal from a standard 2 channel incremental en coder All user inputs and outputs are optically isolated and protected against voltage overloads The Controllers are equipped with 8 general pur pose outputs These can be configured for example to give a ready signal when the motor has reached its desired position or an error signal if an obstruction occurs that prevents motor operation The Controllers can be wall mounted Main Features Digital servo regulation Z transformation Extremely precise positioning Small physical dimensions AMC20 IkW AMC21 2kW AMC22 3kW Complete auto tuning of filter parameters Short circuit and thermal overload protection Absolute Relative positioning EMC compliant construction CE approved User interface based at Windows program Following input facilities Analogue 10V Step pulse and direction Pulse up pulse
24. Motor Output Current 360 Electrical Degrees lt 90 Electrical degrees POFFSET must be set to 90 Example TT0576GB Index POFFSET x Set the phase offset angle POFFSET Show phase offset angle setting Number of Motor Poles POL Com mand Description or fe fe Ts x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect In order for the motor to be commutated correctly it is vital that the POL register is set up for the precise number of motor poles A typical step motor with 200 steps per rev olution has 100 poles 50 pole sets and a typical AC servo motor has 2 or 4 poles If this parameter is set up incorrectly the Controller will produce an error Note how ever that the encoder resolution PR can also have the same effect POL x Set the number of motor poles POL Show current POL setting JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 141 4 11 Command Description 4 11 1086 Encoder Pulses PR Com pm serere roo les Jos x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Description To achieve correct velocity and commutation of the motor the number of encoder lines per revolution must be programmed The
25. Number of motor poies of motor Number of motor poles Poles 141 Pulses eee pe in re pee e e Pulses p OE zi gt e s HI roca fs Le penes neser feel Te ner meumronsesane __ 1 s runna satin moummersmns fof fe Te per ee dene 5 EE 1 beef Te sr eremo fos Te 5 Te o Jos 9 sa saranen ener eren o Jos ef ELLE re SRA Stave poston roar pes murem fo fos pe ner __ J Te ep oz o fr Jos Pelle 5 E mee Je ME p 9 5 3 Dea neenon fo m fos Peke Te semen esame o m 9 Jos 1 snow rnaro o 9 5 Te NERE or ACESS LEE Te vows ee gt 9 Jos TI __ ve seems anis I o Te 5 e Jos vor fo sem fos war fos TT Te eos _ Jos ee be rennes mere o Jos ll ppp mm bs memes em fo Tes jo b vesper fo fa o Jos xls Eo eese dos abe lfc Te am eese o de 5 Te Em ___ o fe 5
26. T T 1 j I a m Limit switch s away Pause in start m to new X Function Velocity profile 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 IN1 IN6 Register X1 Regist r 1 Start IN8 i i 4 J I 1 1 1 1 End of travel PL input i 1 Output O1 At position 1 1 1 1 Running LED 1 1 1 1 1 1 1 1 1 I 1 X T T E I 1 1 1 1 1 I 1 I 1 i Pause IN7 Front panel Position TT0546GB 4 5 3 Register Mode Timing The illustration above shows different situations when operating in Register Mode Situation Normal positioning Register is chosen via inputs 6 and by activating the start input IN8 the posi tioning is started and output is cleared set to OV After the final position is reached output is activated and the positioning sequence is finished Situation 2 Positioning with pause Same situation as situation but before the final position is reached the Pause input is activated and the motor decelerates to 0 RPM The motor resumes operation after the Pause input is deactivated The position output is activated when the final position is reached as in situation Situation 3 Limit switch handling Moving away from limit switch The positioning
27. The AMC Controller can be controlled via its 5232 interface Controller commands are sent as ASCII characters terminated by CR ASCII 13 decimal or See also 5232 Interface page 43 Some of the Controller commands have associated command parameters others do not For those commands which use parameters transmitting the command alone without specifying the parameter will provoke the Controller to respond with the command and the currently set value of the parameter If no addressing is used the Controller always responds when a command has been received If the purpose of the command is to dis play a value or set up the required information will be sent as a reply or a Y will be transmitted to indicate that the command has been received In the event that incorrect information has been sent to the Controller for example a command that does not exist or a value that is out of range the Controller will respond with an error message Error messages consist of an E followed by a number followed by an explanatory text See Error Messages page 167 Example Sent to Controller VM CR Received from Controller VM 500 lt CR gt Sent to Controller VM 600 lt CR gt Received from Controller Y lt CR gt Sent to Controller VM 5 lt CR gt Received from Controller E2 Out of range lt CR gt When addressing is used the Controller will not acknowledge receipt of a command Any errors in communication will b
28. mand Description Max oa 35 5 _ fo fe es x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Jump Sub routine statement The Jump statement causes an unconditional jump to a sub routine at the specified program line Program execution continues from there When the RET Return command is encountered the program returns to the main program at the line immediately after the JS command and continues from there You can make up to 16 nested sub routine calls JSx Where x is a line number 550 Jump to line 50 JS LABEL I Jump to LABELI Can be used while programming via MotoWare JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 125 4 11 Command Description 4 11 83 Usage Examples Velocity dependent Commutation Offset KPHASE e Exec Com Time mand msec STE x Can be set verified but no effect Has effect be set verified Can be verified but not changed has effect The KPHASE parameter is decisive for how far commutation of the motor is offset from the motor s actual position KPHASE is velocity dependent which means that it has in creasing significance as motor velocity increases The KPHASE parameter is automatical ly calculated when the current filter is tuned This means that KPHASE is set at a relative zero point of 1
29. statement expression AND expression expression value rel op value whererel opis lt gt lt gt or lt gt value register or equation IF AC gt 56 AND I 789 IF INI I IF IN2 OR IN3 0 AND IN4 IN5 I IF INS IN6 IF AC gt 6 VM IN 3 9 1 7 118 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 75 Description Usage Examples Verify Flag in External Module Only AMC2xP Com mand Description Max _ iren I I ps x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Execute next line if flag in external module connected to the Bus is equal to the spec ified logic level The function can be used to verify a flag or a certain input If the specified condition is true the next line in the program is executed This function can be useful to control the program flow in the AMC2xP since the only alternative function is the INPUT command Read Data from External Module INPUT Only AMC2xP page 124 This command however reads a complete register in the exter nal module and not a single input or flag The INPUT command therefore requires a fol lowing mask routine to extract a specific input or flag IF I a f I Command Format a Specifies the address of the external modul
30. 4 12 Error Messages E32 Check Other Status Register An error has been detected in one of the other status registers Read register ESO ESI ES2 or ES3 This error message can appear while reading one of these registers E33 Current Overload Motor short circuited The Controller has been overloaded short circuited Correction Use another motor or insert an inductance of approximately mH in series with the motor leads The inductances must be placed in the FA FB FC leads This error can also appear if the current loop has been faultily tuned Try a new auto tuning Remember to tune using a realistic mains voltage E34 Power consumption too high The Controller motor has been drawing too much power from the supply This limit is set by the PM command Correction Decrease the motor speed load or increase the value of the PM register See also Power Management PM page 140 E35 Average Current limit exceeded The maximum allowable average current has been exceeded Example The velocity or load is very high or the CA average current register is not set cor rect for the actual motor Correction Reduce velocity or load until the error disappears Check that CA is set correctly W36 Bus Voltage exceeds 700 V Activating powerdump The power Bus voltage has exceeded 700V This is only a warning Under normal oper ation this can happen if the motor decelerates with a high inertia causing a lot of energy to flow b
31. 7 No Yes Yes Yes d E RM power supply error possibly 8 No Yes Yes No E105 Filter velocity error overflow 9 30 E106 E126 Reserved for future use E32 Check Other Status Register ESO Show the error status register 0 in binary format ESO Show the error status register 0 in decimal format Sent to Controller Received from Controller ES3 ES3 00000000000000000000000000010000 This indicates that the position counter is in overflow Note bit 0 is the rightmost bit The total length of the string is 32 bits The same in decimal Sent to Controller Received from Controller ES3 ES3 16 This indicates that the position counter is in overflow Note bit 0 is the rightmost bit The total length of the string is 32 bits 108 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 11 Command Description 4 11 60 Description Usage Error Status Text EST Mode Com mand Description Max za ls Jerorstausintet fo s x Can be set verified but no effect Has effect be set verified o be verified but not changed has effect The EST command has exactly the same function as the ES command described above with the exception that the error status is reported as plain text The EST command pro duces an English list of the error status If there are no errors the error resp
32. All motor operations are cancelled since the SON input is not active The SON input is a protective input to which a voltage must be applied under normal operation Correction Connect a voltage at the SON input Alternative CB9 can be set to This will disable the SON input See also CB9 Ig nore Servo On Signal page 94 E104 Encoder power supply error possibly short circuited The 5VO supply output for the encoder is normally guaranteed to be in the range 4 8V to 5 2V This error message is given if this voltage is outside this range Correction Please make sure that the 5VO output is not overloaded Make sure that the current is less than 200mA Check that the encoder is not damaged E105 Filter velocity error overflow The acceleration and velocity in combination with motor and inertia are set too high A sudden mechanical collision can also cause this error since the deceleration is done in an uncontrolled manner Correction Decrease the acceleration Make a new tuning of the prefilter adjusted to a lower level E106 E126 Reserved for future use JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 175 4 13 Alphabetical Overview of Commands 4 13 1 Explanation of Command Overview Table Default value from factory For further details consult or after using the SD this page set default command Command name The value is defined by this unit Min max limits Short function for the co
33. Cause electrical shock Consult manual EN ADW U I WC Industri Elektronik V AMC2x Servo Motor Controller Special I O including 2 analogue inputs 10V 2 High speed pulse outputs Feedback Hall inputs from motor Encoder inputs from motor Index input from motor Motor Motor output including terminal for motor cable Screen Dump Output for external power dump element Note that 20 22 has a 100W internal power dump as standard This output is only for special applications Mains Supply 3 Phase input ground terminal Applied voltage can be one of following 1x115VAC 1x230VAC 3x200VAC 3x400VAC 1 Phase input for control circuitry option The illustration above shows all the external connectors and LED indicators This illustration only serves as a general overview For a specific description of each item consult chapter 3 in this manual JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 1 3 Overview of Operating Modes 1 3 1 Basic Modes of Controller Operation The AMC series of Servo Controllers includes many individual features for use in a wide range of applications The Controllers are operated in one of five basic modes of oper ation which are selected using the Mode command MO The basic modes of operation are as follows Gear Mode In Gear Mode the Controller functions as in a step motor system The motor will
34. dit MainKeys View Window Applications Setup Help JERN Tess AC 50000 Set accelerationen til 50000 status Position error disabled START 12 Peak str m 12 Controller Positionsmode AMC2xx IF IN1 1 IN1 aktiv ker moment sekvens 1 RO 1 Chksum ELSE IF IN2 1 IN2 aktiv moment sekvens 2 RO 2 Address ELSE 0 J STARTUAIT Hop til STARTWAIT hvis hverken IN1 eller IN2 er aktiv OUT3 1 Bktiver OUT3 VM 1500 Set hastighed til 1500 SR 65536 Ker 8 omgange a 8192 pulser IF RS 0 Vent her til bevegelse er ferdig IF RO 1 Er RO lig med 1 udf r neste linie GET PROG CP 2 Moment 2 ELSE CP 3 Moment 3 Amp MO 5 Moment mode R3 6 Set R3 til 6 PULSEWAIT R3 R3 1 Tel R3 1 ned IF R3 gt 0 Vent her J PULSEWAIT ellers kan stop position ikke registreres ENDWAIT 7 Ready 14 AMChx 10 gt 4 Once the program is complete it can be saved to the hard disk am Motol File Edit Save program on hard disk ain Keys View Window Applications Setup Help 5 Once the program has been saved to hard disk it must be sent to the Controller Select SEND If an error occurs an error message will be displayed See Error Mes sages during Programming and Program Execution page 72 TCUTTITUTCT 4c 10000 MC m VH 1000 Checksum START OUT1 1 74 IF IN1 1 Address
35. i Assignment Operator descriptions Feat Int Arithmetical negation m int Binary negation _________ int Float m Flost Arithmetic subtraction pmFba Bo F amp m T fm int JSmayor FOR Bod tesearon Data types Can be tre 0701188210 82 Bit Integer with sign 32 Bit floating point with sir JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 67 4 8 Program Execution in the AMC2xP The datatype is automatically converted into the type which the operator can use If a floating point value is converted to an integer the nearest value is chosen If the operator is working with to different data types the data type with the lowest pri ority is converted into the same type as the data type with the highest priority Example A floating point value is added to an integer therefore the integer is before the addition converted into a floating point value Logical equations Logical equations are used to evaluate whether one of more conditions are fulfilled in connection with IF statements Formally the syntax is as follows Logical equation logical expression OR logical expression logical expression logical factor AND logical factor logical factor value rel op value w
36. page 42 170 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 12 Error Messages E38 Bus Voltage exceeds 850 V The Bus voltage has exceeded 850V Important This error message can be fatal since too high a voltage can damage the power circuitry inside the Controller Example The power supply voltage is too high or the motor is being decelerated too quickly Correction If the power supply voltage is too high it must be reduced During deceleration the motor can send current back to the Controller causing an increase in the bus voltage The deceleration AC must be reduced until the error disappears The problem can also be alleviated by using a Power Dump shunt re sistor See Power Dump Output page 42 E39 The motor is not mounted correctly The motor is not connected correctly Example The motor is moving in the wrong direction Correction Read the section dealing with motor connections see Motor Connection page 27 E40 The motor is not connected The motor is not connected Example The motor does not move Correction Check the motor connections E41 HALL element is not connected properly The Hall element s signals are not connected or are faulty Correction Check the Hall element connections and check that the Hall register and HL are ad justed correctly If operation without the use of a Hall element is required the Hall register is set to 0 normal See Hall
37. switched on JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 173 4 12 Error Messages E69 FLASHPROM Checksum error The checksum of the main memory FLASHPROM is faulty Some of the memory ad dresses may be faulty and it is not recommended to use the Controller in normal oper ation mode Correction Turn the Controller off and then on again If the error condition persists a hardware error has occurred Consult JVL E70 RS232 RS485 Output buffer error The output buffer for the serial interface is out of synchronisation Correction Consult JVL E71 RS232 RS485 Input buffer error The input buffer for the serial interface is out of synchronisation Correction Reduce speed amount of incoming data Please respect the software handshake protocol After sending an instruction to the Controller a Y must be returned before sending additional data E72 DSP Busy timeout Internal error The main processor is not able to communicate properly with the motor processor DSP that takes care of the motor and servo filter Correction Turn off power immediately and consult JVL E73 DSP Busy executing answer timeout Internal error The main processor is not able to communicate with the motor processor DSP that takes care of the motor and servo filter Correction Turn off power immediately and consult JVL E74 94 Reserved for future use E97 Negative Limit Switch active The negative
38. 1 This mode is primarily intended for use as an electronic gear The Pulse Input XI and YI are connected to an incremental encoder and the motor will chen follow this encoder The system can also be controlled as a step motor system via step pulse and direction signals The motor will move one step each time a voltage pulse is applied to the pulse input This feature means that in many applications the Controller can replace a classic step motor system without encoder The velocity and acceleration deceleration are de termined by the externally applied voltage pulses MO is set to for operation of the AMC Controller in Gear Mode See also Getting Start ed Gear Mode Mode 1 page 5 Example of the use of Gear Mode Adjust the servo loop if necessary see Adjustment of Servo Regulation page 18 and any other parameters required Select Gear Mode I Select the input format using the PIF command See Pulse Input Format PIF page 138 The motor can now be controlled via the Pulse Inputs XI and YI Commands of particular interest for operation in this mode are PIF POF ET PR PE PRM GEAR 52 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 4 Positioning Mode 2 In this mode of operation the AMC Controller will position the motor via commands transmitted over the RS232 interface Various operating parameters can be continuously adjusted via the interface while the mot
39. 10 significant digits The 32 bits for decimal numbers are used as follows bit sign 8 bit exponent and 23 bit mantissa Decimal numbers can thus be calculated with an accuracy of 23 bits which gives approximately 7 significant digits When calculations are made that involve large numbers integers should be used As a general rule all expressions are calculated as integers If a decimal number or register which is expressed as a decimal e g CP is included anywhere in an expression the en tire calculation is performed as a decimal The number 3 will be treated in an expression as an integer whereas 3 0 will result in the entire expression being calculated as a deci mal For integer calculations any decimal remainder is discarded also in intermediate calculations Calculation does not automatically occur as a decimal number even if the register represented by the left hand side of the expression is a decimal Conversion of the result of the right hand side of the equation occurs first when calculation is complete Calculations that involve only integer values are performed much faster then decimal cal culations Therefore use decimal numbers only when necessary The following examples illustrate calculations of expressions The following register values are assumed RI 22 AC 500 CP 1 5 and VM 100 R4 3 2 3 2 R4 is assigned the value 2 R4 3 0 2 3 2 is assigned the value 3 CP 7 3 3 2 CP is assigned the value 3 0
40. 136 137 Peak current 114 PID 95 96 PL 101 PLS 133 139 140 PM 140 PNP 32 35 POFFSET 141 Position output 96 Positioning Mode 53 Positive Limit Switch 133 139 140 Power Dump Output 42 Power Supply 25 PROGRAM 145 Programming amp Programs Command Description 135 PROM error 187 Pull Up resistor 32 35 Pulse input 37 38 Pulse Outputs 40 PWM 92 R R 146 Read Set Status of Outputs OUT command 135 Register Mode 7 54 RS232 176 RS232 Interface 43 45 RS232 RS485 Answer 91 RST 149 S Servo 186 Set Read Status of Outputs OUT command 135 Step pulse 52 Step pulse input 37 38 Supply terminals Ul 25 VI 25 WI 25 T Temperature problems 171 172 Torque Mode 9 78 U User Inputs 32 35 User Outputs 36 Read Set Status of Outputs OUT command 135 V Velocity 159 Velocity Mode 8 59 78 VM 59 159 VOL 157 160 Voltage Overload 25 26 VVL 84 x XAn 162 XPn 162 164 XRn 163 166 2 Zero point seek function 75 210 JVL Industri Elektronik A S User Manual AC servocontroller AMC20 21 22
41. 3 Poffset 0 F r Current Filter 3 Mean ARMS 40 r Hall Elements Active Level Low C High Peak ARMS 120 4 Halloffset 208 E r Encoding Encoder Type Pulse tev Initialization Index Fixed Field Mived Field Hall You are about to dhange Special vital motor parametbrs EIE EE NIE ETE NIN Q Encoder resolution set here 5 7 1 Set up of Encoder Resolution Select Basics here on index input HallElements Current Filter Gain 1 0 E Fade type set 3 To achieve correct velocity and commutation of the motor the number of encoder puls es per revolution the encoder resolution must be programmed Here the resolution specified for the encoder must be used Note that the Controller internally multiplies this resolution by a factor of 4 so that an encoder with a resolution of e g 500 pulses per rev olution in effect has a resolution of 2000 pulses per revolution If the motor is to rotate revolution the positioning command must be based on the resolution of 2000 pulses The encoder resolution cannot be set to a value less than the number of motor poles multiplied by 128 If the encoder resolution is set to a lower value the Controller will respond with an error message E2 Out of range JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 191 9 7 Connection of an Unknown Motor
42. After start up the motor will be supplied with the current specified in the peak cur rent register CP 3 The current will be applied until the motor is stabilised 4 After this duration which is typically set to 10 1000 ms the motor is moved to a po sition of equilibrium in the generated magnetic field and the Controller locks its com mutation circuitry to the actual motor position Initialisation is then complete and the Controller is operational Set the parameters mentioned above and send the set up to the Controller by pressing Send To save the settings in the Controller s non volatile memory type MS in the on line editor window If the motor is required to remain completely stationary during start up the motor s Hall element must be used and the Hall register is set to I 2 or 3 See Setting the Hall Element page 196 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 199 5 8 Examples of Motor Connection This section illustrates examples of motor connection for 3 phase motors including the settings for vital Controller parameters For details of general set up and fine tuning see General Aspects of Installation page 12 5 8 1 Yaskawa series SGM SGME and SGMP If set up is performed with the MotoWare parameter set up select the correct motor in the motor library Follow this setup by running an auto tuning to optimise the filter pa rameters See also General Aspects of Installation p
43. BO produce 2 pulse signals which can be configured either to represent the motor encoder EA and EB or the signal connected to the pulse input XI and YI The Pulse Outputs are typically used in the following applications Master slave system in which the master controller s pulse outputs are connected to the slave controller s pulse inputs The slave controller thus follows the master con troller s movement 2 PC system Controller which is connected to a PC card via the analogue input or the pulse input and exclusively functions as a velocity controller The Pulse Output is connected to the PC card and ensures that information on the current velocity and position is sent to the PC card The Outputs are made as RS422 transmitters which means that they are balanced and withstand a certain common mode noise Each output can operate with frequencies up to I0MHz Note that Pulse Output configuration must be set using the POF command see Pulse Output Format POF page 140 40 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 3 13 Analogue Inputs TT0516GB 3 13 1 Analogue Input 1 used in velocity Special I O mode 4 and torque mode MO 5 AMC2xP the input can be verified from a user program by use of the command Al1 Analogue Input 2 Can be verified from the RS232 interface AMC2xP the input can be verified from a user program by use of the command A
44. Channel B YI encoder Channel B yl Mains Supply and ground Consult power supply chapter for details Mains Supply SI Industri Elektronik V MC2x Servo Motor Controller TT0550GB Follow the procedure below for operation of the Controller in Mode I Gear Mode I Connect the Controller as shown above For further details see Motor Connection page 27 En coder Input page 29 Power Supply page 25 Pulse Inputs page 37 2 Connect the PC via JVL s MotoWare if necessary following the description of the RS232 interface in RS232 Interface page 43 3 Switch on the Controller but ensure that all inputs are inactive Only the Power LED and possibly Out may be active If one or more of the red LEDs is active or blinks the Controller is most likely set up for the wrong motor type Follow the instructions in General Aspects of Installation page 12 4 Sendthe command enter to the Controller and wait until the Controller responds with a status overview If the status overview is displayed the RS232 interface and power supply are connected correctly 5 Set the Controller to Gear Mode by sending the command I enter The Controller should respond Y indicating that Gear Mode Mode has been selected 6 The Controller is now set to Gear Mode JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 5 1 5 Getting Started Positioning I
45. Controller has accepted the command 4 11 128 Firmware Version VE Mode ___ Com mani peseipion um ux Mp ve ronis x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Description The VE command provides information about the Controller firmware and hardware version and date Usage VE Show version and date of all internal firmware and hardware Example Sent to Controller VE Show the actual firmware version Received from Controller _ VE 3 06 MCV 6 4 PCV 1 6 HV 1 51 JBV 1 5 Mar 06 2003 VE 3 06 The main processor firmware version MCV 6 4 The motor processor DSP firmware version PCV 1 6 The power processor firmware version 1 51 processorboard hardware version JBV 1 5 JVL bus controller firmware version MAR 06 2003 is the release date for the main software Please notice that the main processor motor processor firmware can be updated by using a special firmware updating program Please contact JVL in this matter 158 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 129 Maximum Velocity VM e Exec Com Time mand Description msec SERA Description Usage Example co ee c foten DD c x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The VM command is used to set the maximum nomin
46. Display current setting for Hall type To save the setting in the Controller s permanent memory key MS enter Adjustment of Hall Type In order to achieve correct decoding of the motor Hall element if this is used it is vital that the Hall set up is correct Hall elements can either be PNP or NPN types In addi tion both a balanced and unbalanced signal can be accepted from the Hall element For connection of the Hall element see Hall Input page 31 If a Hall element with a balanced output is used the setting of the hall type can be omit ted If however an unbalanced NPN or PNP Hall element is used the setting must be made in the parameter window s Hall field For an NPN type Hall element the field is set to High For a PNP type Hall element the field is set to Low If a Yaskawa motor is used the setting of the Hall type is unnecessary since the Hall signal is encoded with the encoder signal and the Hall input is therefore not used Send the information to the Controller by pressing Send If required save the setting in the Controller s non volatile memory by pressing FLASHPROM To set the Hall type via the on line editor the HL command is used Example HL 0 enter Set Hall type to PNP HL 1 enter Set Hall type to NPN HL enter Display the current setting for Hall type To store the setting in the Controller s permanent memory key MS enter JVL Industri Elektronik A S User Manual AC Servo Co
47. During operation of a system various error conditions can arise Some errors can be at tributed to communication and set up error status register 0 and others attributed to hardware and motor control errors The error status can be read using the ES Error Sta tus command The command invokes the Controller to transmit a number in either bi nary format which means a series of zeroes 0 and ones 1 or as a decimal number A quick overview of error messages is thus obtained which can also be interpreted by other software programs Using the command EST an overview of text responses is obtained See also Error Status Text EST page 109 There are three error status registers ESO Communications errors Motor overload errors ES2 nternal errors ES3 Motion Errors Register O provides information about RS232 RS485 communication and set up errors This register accumulates and stores all errors that have occurred since the register was last read When the register is read the information is automatically erased Wo C 1 1 7 En 12 i 0 1 2 E12 3 5 6 30 E16 30 Reserved for future use ii 4 11 No Program available ii 106 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description Register provides information about Controller and motor errors Some erro
48. OF A KDM10 MODULE WITH ADDRESS 5 PRINT2 0 R30 PRINT THE CONTENTS OF REGISTER R30 TO THE DISPLAY OF A DIS10 MODULE WITH ADDRESS 2 When external modules 01510 or KDM 0 are used in a system it is often necessary to print out the contents of register on the displays of the modules As illustrated in the above example this is best accomplished using the PRINT command to print the con tents of a register either to a cursor position or directly to the LED display of the DISIO module PRINT3 41 ACT POSITION 1 AP I PRINT THE STRING ACT POSITION AND THE VALUE OF ACTUAL POSITION REGISTER TO CURSOR POSITION OF A KDM10 MODULE WITH ADDRESS 3 PRINT3 1 IN i i i i i 1 1 1 IN8 IN7 1IN6 IN5 INA4 ING3 IN2 INl PRINT INPUTS 8 1 IN8 IN1 The above example illustrates how a text string including conversion specifications can be written to the module s LCD display PRINTS41 CPSS l1f CP 1 5 The above example illustrates how a decimal value can be included in a text string 144 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 108 Description Usage 4 11 109 Description Usage Encoder Pulses for Master CE Com Time mand Description msec 5 Pulses ml pid x Can be
49. Online Tuning Control Bits Search Zero PID tuning Main Parameters Basic Parameters User Registers X Registers r Commutation Constants r Motor nee fio E Magnetic Poles jo Poffset 270 0 4 r Current Filter 3 mme Mean ARMS 40 E Active Level Low C High Peak ARMS 120 E Number o f Hall Elements Cunent Fiter Gain 1 0 4 Hall offset 208 i Bandwidth He z po les set here Encoding Freq KH 20 C 5 Encoder Type Line diver 3 Optimize Pulsetev ___ 8192 Inde Co 0 die uo Fined Field C Mixed Field C You are about to change Special ol vital motor parameters Warning Lom Setting the Number of Motor Poles The motor s number of poles must be specified for the Controller to function correctly If the number of poles is specified incorrectly the Controller will produce an error after start up or during the first motor operation and report the error message E102 Encod er error or position error limit exceeded page 175 Depending on the actual motor position etc other messages can also be reported The number of poles can be specified in the range 2 100 The majority of 3 phase servo motors have 2 4 6 or 8 poles The number of motor poles is most easily set using the parameter window Key in the number of poles in the Magnetic poles field and send the
50. Received from Controller Y The Controller has accepted the command and is about to carry out deceleration according to the AC parameter 150 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 117 Description Usage Examples 4 11 118 Description Example Servo ON Input Status SON Mu Com mand Description ee ee e x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Shows the actual level of the Servo ON input high 1 or low 0 Note that the SON command does not show whether the Servo ON function is active or not but whether the input is high 1 or low 0 The definition high means that a voltage is applied to the SON input The Servo ON input is basically intended to be used for energizing the motor for safety reasons but the SON command can also verify the Servo ON input in general For a hardware description of the Servo ON input see Servo On Input SON page 32 SON Show current level at the SON input Sent to Controller SON Show the actual level at the Servo ON input Received from Controller SON 1 The actual level at the Servo ON input is which means that a voltage is applied to the in put Set New Position SP M Exec Com Time mand Description msec ERA NE x Can be set verified but no effect Has effect c
51. User Outputs connector Supply Voltage Load Current per Output Analogue Input Special connector Input Voltage nominal or Al2 Input Impedance Power Dump Output Dump connector Voltage Shunt Resistor Diverse O OOO OTO o Operating Temperature Range Weight AMC20 and AMC20P Weight AMC21 and AMC21P Weight AMC22 and AMC22P Values valid for AMC2x Units V AC V AC Hz Ww 182 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 5 2 Physical Dimensions e ee e sel Dimensions in mm Tolerances 0 2 mm 9 TT0519GB c t S 5 E S 5 5 S t 5 5 5 marit occa H C Ga 2 II omr met mm ma maa ccc IC IL J IL IC IC IC IC IC JC 1 J IC JC iC IC JC 1 1 1 1 1 1 1 1 1 1 000000000 UUU 9 POP Ill DOE DEDE
52. after powering up the system JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 123 4 11 Command Description 4 11 80 Read Data from External Module INPUT Only AMC2xP Com mand Description Min Max _ input Read data fromextemalmeavie f os ____ x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description The INPUT command is used to read in data from external modules connected to the JVL Bus interface It can be used to read in data from modules such a Keyboard Display thumbwheel BCD data from PLC equipment printer extra inputs digital to analogue modules etc All of the above mentioned external modules are intelligent and will there fore contain registers whose contents can be read into the Controller s registers using the INPUT command The size and number of registers in external modules may vary but each module has at least register Usage INPUTx y Command Format X Specifies the address of the external module from which input is required The ad dress parameter must be specified as a value between 0 and 31 The JVL Bus inter face enables up to 32 modules to be connected to the interface The address of each module must be set via DIP switches on the individual module y Specifies the register in the external module from which input is to be read n2 must be specified in the range 0
53. com mand the system must be reset before motor control is possible again The Reset com mand has the same effect as turning the Controller off and then on again The Controller s set up values can be stored using the MS command before the Reset com mand is used Warning When using the Reset command always maintain a minimum delay of sec ond before sending additional commands RESET Reset Controller Terminate Sub routine RET Only AMC2xP me Exec Mode _ Com Time mand Description msec 5 er um tonsa pa pe e x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect RET Return is used to terminate a sub routine See Call of Sub routine page 73 RETReturn to main program Report Motor Status RS e T Exec Com Time mand msec 234 5 x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect During operation the system can report information about the status of the motor sta tionary running etc using the RS command RS is also influenced by PE and PES see Maximum Pulse Error PE page 136 or Pulse Error Samples PES page 137 although this is only when using mode 2 or mode 3 RS Motor Status RS 0 Stationary RS Accelerating RS 2 Max velocity RS 3 Decelerating RS 4 Position theoretically reached bu
54. command JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 159 4 11 Command Description 4 111 130 Description Usage 4 11 131 Description Usage Example Bus Voltage VOL Com mand Description Min Max _ vor srona eo om Sec fos x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The VOL command is used to check the internal DC bus voltage in the Controller Note that 3 different warning error messages are given if the bus voltage exceeds 700VDC Normally the bus voltage is not higher than 570VDC The following messages will be given if the voltage exceeds 700VDC W36 Bus Voltage exceeds 700 V Activating powerdump I E37 Bus Voltage exceeds 800 V Controller can be damaged E38 Bus Voltage exceeds 850 V VOL Show voltage in DC Volts Wait for condition WAIT Only AMC2xP Mode Com mand Description Max 0235 war JWatrendin fes EE x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Using this command is it possible to wait at a specific program line until a condition is ful filled It is possible to use all user registers predefined registers and control bits The WAIT command functions in the way that the condition is checked first time and thereafter th
55. command string cannot be understood Example asdfaelkj enter Results in error El Correction Carefully check the command sent to Controller and compare with the description of the command given in this manual E2 Out of range The parameter value specified with the command is out of the allowable range Example 100 The above command attempts to set the peak current to 100 Amps which is outside the allowable range The Controller therefore reports an E2 error Correction Specify a parameter value within the allowable range for the actual command E3 Number of parameters is wrong The number of parameters specified with the command is incorrect Example 100 or ESO 9 Both of the above command examples will produce an E3 error Correction The VM command has only register associated with it and can therefore only be called by specifying VM Correction send the command 100 The ESO command is only used to show information and therefore specifying a pa rameter has no meaning E4 Instruction does not exist The command does not exist Example ABCDEF Correction Use a valid Controller command See the description of the command for details of the required command syntax JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 167 4 12 Error Messages ES It is not an instruction The Controller has not received a proper command Example 4R If the Controller is not usin
56. converted The following formulae give the conversion between RPM and m s or vice versa Parameters involved POLEPITCH The pole pitch in m Example certain motor has 50mm between the poles which means that an electrical cycle is 50mm long ENCRES The encoder resolution in m If the encoder has a resolution of micron ENCRES is set to 0 000001 Note that most of the linear encoders are defined in terms of total resolution total transitions at the A and B chan nels In contrast rotary encoders are always defined as the number of pulses which is 4 times lower than the number of transitions POL Physical register in the AMC2x The selected number of poles according to the POL register Always use POL 2 VM Physical register in the AMC2x The selected top speed in RPM AC Physical register in the AMC2x The selected acceleration in 5 Speed related parameters can be converted using the following formulae Velocity VM PR ENCRES VM Velocity 15 15 ENCRES Acceleration C PR ENCRES AC Acceleration 15 15 ENCRES VM The speed in RPM AC The acceleration in RPM s Velocity The speed in m s Acceleration The acceleration in m s JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 205 Typical Applications 5 10 puewwos 3d 34 Aq payioeds anjen ay uey aosesoLL 10410 UONISOd e seu 2 Y 40 34
57. down Incremental encoder Digital selection of position Program controlled motion AMC2xP Graphic monitoring of velocity torque position etc End of travel limit inputs RS232 R485 Interface Set up stored in FLASHPROM no batteries Can handle motors up to 3kW 10kW peak Pre programmed velocity profiles Programming via simple language Flexible with more than 100 commands Any synchronous AC motor can be used Integrated mains supply filter 2 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 1 2 Controller Front Panel Indicates power switched on Power e Brackets for wall mounting Indicates motor is running Running M Indicates error Indicates motor overloaded Indicates temperature exceeded User Inputs 8 User inputs 1 Home input 2 Limit inputs All opto coupler isolated 8 30V input range User Outputs 8 User outputs 24V 700mA per output opto coupler isolated 8 30V output range Gear bus JVL bus 2 wire for extension modules High speed pulse inputs Interface RS232 for standard communication RS485 for long distance communication Future options Field bus interface Counter modules Extra I O s Customised 1 2 1 Front Panel Error Current T gt 75 C Special i oooo 00000 0000000 00000000 User Inputs Feedback B
58. e driver z Optimize 2 The motor output carrier frequence Pulse zl TESE is specified here default 20KHz TT0588GB r Hall Elements Use Optimize after setting the parameters above to prober values When all the 5 parameters are setup start the optimize by selecting the Optimize but ton In advance be sure that the controller is in passive mode 0 Now it will take a few seconds where the controller tests the actual motor connected to determine how the current filter must be calculated Following progress bars will show Optimizing Current Filter ptimizing Filter fam Sending New Filter TT0589GB When the progress bars dissapears the filter is optimized and ready to test Remember to save the result permanent in the controller by typing MS memory save in the online editor Please notice that if the basic motor setup is NOT done on basis of a motor parameter file from the motor libary it is important to tune the mainfilter velocity position filter Follow the next couple of pages to do this JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 17 2 4 Adjustment of Servo Regulation 2 4 1 Selection of Tuning Method Before tuning is carried out it should be noted that 2 different methods of tuning are available I Manual tuning using a PID filter For simple and non critical applications the PID filter 15 order filter can be
59. effect The zero search direction is defined by the ZD register The zero search direction is neg ative if ZD is set to 1 The direction is positive if ZD is set to I See also Mechanical Reset page 75 for a detailed description of the complete zero search function including related parameters ZD n Set zero search direction to direction n ZD Show actual zero search direction Sent to Controller ZD 1 Set zero search direction to negative Received from Controller Y The Controller has accepted the command Sent to Controller ZD Show current zero search direction Received from Controller 2 1 The current zero search direction is negative 164 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 139 Description Usage Examples Zero Search 2 Com mand Description Min Max _ fe es fk x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The zero search can be executed in different modes Short mode description 2 0 Default Zero searching is in progress until the HM Home input is activated ZM Zero searching is in progress until the motor index signal is level shifted Please refer to Mechanical Reset page 75 for details of the zero search modes Related commands are also described in this chapter ZM Set z
60. element Type HALL page 114 W42 Temperature exceeded 75 C This is only a warning The temperature inside the Controller has exceeded 75 C The Controller will continue to function normally but if the temperature exceeds 85 C the Controller s thermal overload protection will prevent damage by setting the power section to standby which means that the motor will be current less The T gt 75 C LED on the front of the Controller will be lit Correction Reduce the ambient temperature or reduce load at the motor Consider to decrease the PWM frequency to 5KHz see CB2 Set low PWM out put frequency page 92 If the W36 Bus Voltage exceeds 700 V Activating powerdump is often shown it indicates that the internal power dump resistor is often used Consider to mount an external power dump in order to decrease the internal heat in the controller JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 171 4 12 Error Messages E43 Temperature exceeded 85 C The temperature inside the Controller has exceeded 85 C The Controller will prevent internal damage by setting the power section to standby which means that the motor will be current less Correction Reduce the ambient temperature or reduce load at the motor Consider to decrease the PWM frequency to 5KHz see CB2 Set low PWM output frequency page 92 If the W36 Bus Voltage exceeds 700 V Activating powerdump is often shown it
61. encoder 1 1 1 Encoder connections 2 Encoder 5VO P9 G EA1 P10 Motor connections 2 P11 B 1 12 AMC2x Motor I EB2 P13 D u2 A B EZ1 P14 E v2 B c EZ2 P15 w2 c Earth D ECM P8 H Motor 1 5 Terminate screen Screen terminated at earth terminal MTO5SeOB l See also Accessories page 207 for a list of standard cables 202 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 5 8 Examples of Motor Connection 5 8 4 Yaskawa SGMGH SGMSH series If set up is performed with the MotoWare parameter set up select the correct motor in the motor library Follow this setup by running an auto tuning to optimise the filter pa rameters See also General Aspects of Installation page 12 Motortype SGMGH or SGMSH Female at cable Male at AMC2x Feedback connector at AMC2x The screen must be terminated inside the encoder connector It is recommended that screened cable is used to the encoder Motor connections Encoder connections AMC2x Encoder ED1 P2 ED2 P3 ECM P8 5VO P9 IOUO cr Screen terminated at earth terminal TT0590G
62. encoder AC Servo Motor Encoder Input Motor Output Power Supply User Inputs fe Feedback User Outputs lt RS232 RS485 MotoWare installed on a PC for setting up the AMC2x with torque data etc only during installation Mains Supply and ground Consult power supply chapter for details Mains Supply A UND I A I Industri Elektronik V Servo Motor Controller TT0554GB Follow the procedure below for operation of the Controller in Mode 5 Torque Mode Connect the Controller as shown above For further details see also Motor Connection page 27 Power Supply page 25 Analogue Inputs page 41 Connect the PC via a terminal program e g JVL s MotoWare or Windows Terminal if necessary following the description of the RS232 interface in RS232 Interface page 43 Switch on the Controller but ensure that the Analogue Input is 0 volt Only the Power LED and pos sibly Out may be active If one or more of the red LEDs is active or blinks the Controller is most likely set up for the wrong motor type Follow the instructions in General Aspects of Installation page 12 Send the command enter to the Controller and wait until the Controller responds with a status overview If the status overview is displayed the RS232
63. end of travel limit NL input is active Motor movement in the negative di rection is stopped Only positive movement is now possible E98 Positive Limit Switch active The positive end of travel limit PL input is active Motor movement in the positive di rection is stopped Only negative movement is now possible E99 Negative Limit Switch has been active The negative end of travel limit NL input has been active but is released again E100 Positive Limit Switch has been active The positive end of travel limit PL input has been active but is released again 174 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 12 Error Messages E101 Position counter overflow The position counter has exceeded its maximum range from 1073741824 to 1073741823 Correction Avoid repeated use of the SR command or perform frequent system resets Possibly use SP absolute positioning instead of SR E102 Encoder error or position error limit exceeded The encoder is not connected or the motor is jammed Example The motor is blocked by a brake when the Controller is switched on The encoder can therefore not be checked The encoder may also be connected incorrectly or not connected at all Correction Ensure that the motor is free to move when the Controller is switched on Also check the encoder connections Note that this is irrelevant if using Hall sensor E103 Servo On Signal is not active
64. in degrees Celsius Maximum Torque TG mode Com mand Description Max 0112345 ra fsetmaxmumaltowabletorgue fo o os 0 x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect This command is used to specify the maximum torque at the motor output shaft TQ xxx Set maximum torque TQ Show actual TQ setting 156 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 126 Description Usage Example I Example2 Actual Torque TGOUT Exec Com Time mand Description msec SERA e eee x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The TQOUT command is used to check the actual torque 100 means peak torque which is the absolute maximum torque the motor can produce with the setup value in the peak current register CP see Peak Current CP page 101 The torque register TOOUT can be used to verify the actual torque produced from the motor see also Maximum Torque TQ page 156 TQOUT Show actual torque in 96 Sent to the Controller TOOUT Show the actual motor torque Received from Controller TOOUT 17 The actual motor torque level is returned which is 17 of full scale The maximum torque TQ is set at 5096 which means that full scale is only 50 of th
65. indicates that the internal power dump resistor is often used Consider to mount an external power dump in order to decrease the internal heat in the controller E44 Bus current exceeds plus 10A The current at the internal DC bus has exceed 10A RMS which means that the energy flowing is too high This can be caused by too high an inertial load on the motor or too high deceleration Correction The deceleration AC can be reduced until the error disappears The load inertia at the motor must be decreased E45 Bus current exceeds minus 10A The current at the internal DC bus has exceed 10A RMS which means that the energy flowing is too high This can be caused by too high an inertial on the motor or too high acceleration Correction The acceleration AC can be reduced until the error disappears The load inertia at the motor must be decreased E46 Overload on output ports The user outputs Ol O8 have been overloaded The overload can be caused by an overload on one or more of the outputs An overload occurs if an output is short circuited or too high a current is drawn gt 700m4A Correction Check that no short circuit exists between an output and ground O Check that the current at each of the 8 outputs O 1 08 does not exceed 700mA at any time also during an activation if the load is capacitive E47 Bus voltage too low The voltage at the internal DC bus is too low This may be caused by too low a voltage at the s
66. interface and power supply are connected correctly Set the Controller to Torque Mode by sending the command MO 5 enter The Controller should respond Y indicating that Torque Mode has been selected The Controller is now set to Torque Mode When the voltage applied to the Analogue Input is greater than OV the motor will produce a positive torque which is proportional to the applied volt age When the input voltage is less than OV negative the motor will produce a negative torque proportional to the applied voltage If the motor is unloaded or the load torque is less than the ad justed torque then the direction of motor movement will follow the sign at the analogue input For further information see Torque Mode MO 5 page 60 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 9 10 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 Installation and Adjustment JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 2 1 General Aspects of Installation It is recommended that this section is read carefully in conjunction with the installation of the AC Servo Controller When the Controller has been installed the following check list should be followed Ensure that the selection of the Controller s basic mode of operation 1 5 is correct If necessary refer to Overview of Operating Modes page 4 which explains the overall use of the v
67. last 2 digits specify the required length in metres Example WM1905 specifies a cable for a Yaskawa SGM SGMP motor and a required length of 5 metres Encoder cables Type order no Motor manufacturer Motortype vasa Drive Systems feso ______ _________ All encoder cables can be delivered in any length Specify the WE number and 2 digits depending on the motor type The last 2 digits specify the required length in metres Example WE 1403 specifies a cable for a Yaskawa SGM SGMP motor and a required length of 3 metres Programming cables between PC and AMC2x Controller Type orderno Length PC connector JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 207 208 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 Index Symbols 79 79 A Acceleration 80 81 162 ADDR 82 86 104 105 Address 43 82 86 AIN 59 60 Analogue Input 41 AND 86 87 B Baud rate 43 BEGIN 88 Brake output 96 60 90 CBI 91 CB2 92 CB3 92 CB4 92 Checksum 43 44 99 CLK terminal 37 Command 43 Alphabetical overview of 176 Command Description 79 135 Command syntax 43 Communication protocol 43 Communication rate 43 CP 114 CR 43 Current filter 16 D D Delay 103 Decele
68. motor may be allowed to move during start up In this case the HALL command is used to set the Hall register to O If however it is required that the motor remains completely stationary during start up a Hall element in the motor must be used and the HALL command is used to set the Hall type The Hall element is used during start up to tell the Controller the position of the motor so that the commutation circuitry can lock the applied magnetic field at the motor s ac tual position without the motor moving The information from the motor s incremental encoder cannot be used for this purpose since it only detects a relative move not an ab solute position The Hall element is only used during start up The following Hall types can be selected HALL register HALL 0 Start up without HALL Index is generated from the Hall signals Normal HALL format The signals ap Index is generated from the en HALL 1 plied to the primary Hall inputs HLA coder EZ input HLB and HLC are used Yaskawa HALL encoding type 1 Use The Index is generated via the in only encoder inputs EA and EB incl ternal Hall signals which are gen the Index channel EZ erated from the 3 encoder Motor series SGM SGMP SGME signals SGMG SGMS is supported by this Hall setting HALL 2 Yaskawa HALL encoding type 2 The index is generated directly HALL 3 Uses only encoder inputs incl the from the 3 encoder inputs Index channel EZ By Index sourc
69. move one step each time a voltage pulse is applied to the Controller s pulse inputs Velocity and acceleration deceleration are determined by the externally applied pulse frequency Configuration of these pulse inputs enables the following Connection of an incremental encoder so that the motor operates at a selectable gearing ratio in relation to the encoder electronic gearing Connection of a step pulse and direction signal to the 2 pulse inputs This represents a typical step motor configuration Connection of a pulse signal to one of the two pulse inputs If the motor is required to move forward pulses are applied to one input if the motor is required to move in the opposite direction pulses are applied to the other input 2 Positioning Mode In Positioning Mode the Controller positions the motor via commands transmitted over the RS232 interface or RS485 interface This mode can be used primarily when the Controller is part of a system which is per manently connected to a PC via the RS232 interface In addition it is recommended that Positioning Mode is used during installation and commissioning of systems 3 Register Mode In this mode the Controller s set of parameter registers X0 X63 store the position and velocity values etc required by the actual system These registers can be addressed via the User Inputs and are activated by activating a start input This mode of operation is especially powerful since the Controlle
70. necessary to toggle a single output Toggling means that a specific output is changed from active to passive or visa versa Use OUTx OUTx Example Sent to Controller OUT5 1 OUT5 Toggle output 5 Received from Controller Y Which means that the output is now tog gled If the output was active before the command was executed it will now be passive and visa versa JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 135 4 11 Command Description 4 11 97 Description Usage Maximum Pulse Error PE Com mand Description os x be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect To determine when the motor is in position the RS register is normally used see Report Motor Status RS page 147 The state of RS is partly controlled by PE since PE specifies the interval in which the final position of the motor is accepted RS is set according to the following conditions RS 0 Motor in position The position is within the number of pulses specified by PE RS Motor is accelerating RS 2 Motor is running at constant speed RS 3 Motor is decelerating RS 4 Motor in position but the position is outside the tolerance specified by PE Velocity The system is unstable since the acceleration value is too high The motor torque is not enough to hand
71. no effect Has effect can be set verified Can be verified but not changed has effect Description The Activate command is used to activate a flag in an external module whose address is specified by a The Flag number i is specified by o For example the flag may refer to an output on a IOMI I module When the flag is activated an output will be activated A flag in a different module may refer to a completely different function For example if flag 3 in a KDMIO module is activated the cursor on the module s LCD display will blink Flags with the same number in different modules can have different functions See the instruction manual for the individual module for a description of the function of the module s flags Format 1 lt lt 31 1 lt 0 lt 255 Example Keyboard Display Module has address 4 The module display is to be erased so that new text can be displayed The following command will erase the display and position the cursor at the top left hand corner of the display 4 1 Erase LCD display Example 2 An IOMI module and the Controller are connected together in a system The IOMI module address is 10 Output 4 is to be activated The following command is used AO10 4 86 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 13 Description Example 4 11 14 Description Example Actual Position AP Com poston m
72. o Can be verified but not changed has effect Calibrate full scale set positive voltage max OV at one of the analogue inputs and send the AIUI or AIU2 command The Controller will then calibrate the analogue input s positive voltage The positive voltage must not be less than the zero point voltage See Adjustment of Analogue Input page 78 for further information about the use of this com mand AIUI Maximum positive voltage at input is calibrated AIU2 Maximum positive voltage at input 2 is calibrated Sent to Controller AIUI Calibrate the maximum voltage for analogue input Received from Controller Y The calibration is done JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 85 4 11 Command Description 4 11 11 Logical AND operator AND Only AMC2xP me Exec Com Time mand Description msec TS e x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description The Logical AND operator is used in IF statements when two or more conditional state ments must be fulfilled simultaneously The AND operator can only be used in IF state ments Usage IF expression AND expression Example IF AC234 AND INI 1 See also Logical equations page 68 4 11 12 Activate Flag in External Module AO Only T e Exec Com Time mand Description msec TS co NN x Can be set verified but
73. operator OR can only be used in conditional IF statements and is used when only one of the conditional expressions is required to be fulfilled Usage IF expression OR expression Example IF VM lt gt 500 OR AC 750 4 11 95 Read Set Status of Outputs 01 08 Com mand Description snowsmevenaruseroupusfo es les x Can be set verified but no effect Has effect can be set verified o be verified but not changed has effect Description The 8 user outputs can be set or read by this command The status of these outputs can be read or set using the OUT command The OUT command is expressed in decimal values If the output level must be defined in binary a character is added after the com mand see following examples Note that the 8 LEDs O8 at the Controller front panel always show the actual levels at the respective outputs Outputs and 2 are by default dedicated for use as In position and Controller OK out puts The functionality of these outputs can however be redefined see CB4 Position Output O1 Function page 92 CB15 Function of User Output I O1 page 96 CB16 Function of User Output 2 02 page 96 7 Function of User Output 3 03 page 96 Default used as In position output Default levels 1 In position only used in mode 2 and 3 CB4 and CB15 control the function of this out put Output 1 can also be used as a general output Default used as C
74. sequence is interrupted by the PL input positive limit switch The only solution to restart the motor is to move in a negative direction by selecting regis ter set X2 set up with a negative going position whereby the limit switch is released The position output Ol stays passive until the final position defined by X2 is reached Situation 4 Pause in start signal The positioning sequence is interrupted because the start input IN8 is set to a pas sive state The motor resumes operation after the start input is activated again The position output Ol stays passive until the final position defined by is reached JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 57 4 5 Register 3 4 5 4 4 5 5 Continued Situation 5 Change to new X register while running The positioning sequence defined by the contents of X5 is started After a period the X6 register is chosen by changing inputs to 6 and the start input is set to passive causing the motor to start a deceleration The start input is activated again and the new register set is chosen This will cause the motor to accelerate to nominal speed and the final position specified by X6 is reached The position output which has been passive throughout the complete se quence is now activated Note that the LED on the front panel is lit when the motor is moving faster than gt 10 RPM regardless of the controller status Resp
75. set up using the PR command Example of the use of Positioning Mode Select Positioning Mode using 2 Set a maximum velocity using VM Set an acceleration using AC Adjust the servo loop If necessary see Adjustment of Servo Regulation page 18 The motor can now be set to move to various positions using the SP or SR commands Commands of particular interest for operation in this mode are ET PR SP SR VM AC PE Velocity _ AC RPM S Position TT0529GB JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 53 4 5 Register 3 4 5 1 General Description of Register The Controller can also be configured for absolute or relative positioning via 8 digital in puts See also Getting Started Register Mode Mode 3 page 7 The Controller has 63 programmable parameter sets Each parameter set can be used to store information about acceleration position relative or absolute and velocity Se lection of a parameter set is made using inputs INI IN6 Input INB is a start stop input If IN8 is high a parameter set is selected and the motor moves to a new position accord ing to the selected velocity profile If IN8 is set low before the desired position is reached the motor will stop according to the pre programmed deceleration acceleration When IN8 is again set high the motor continues to the required position When the required posi
76. sure that the system remains stable Kl can now be increased to ensure that a static positioning error will be minimized The feed forward factor KF can be used optionally KF will make sure that the system has a fast response time when the speed reference goes up or down KF is therefore impor tant if the system must deliver a fast positioning cycle Errors during tuning If the tuning is interrupted by an error caused for example by heavy oscillations because of too high gain factors it may be reset by the Reset botton JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 19 2 4 Adjustment of Servo Regulation 2 4 3 Using Auto tuning The servo regulator in the Controller is a digital regulator based on a 7th order filter depending on the mode in which the Controller is operating It is implemented using ap proximately 35 parameters thus providing excellent regulation performance The Moto Ware software provides an aid by adjusting these parameters Choose Filter Tuning in the parameter window AMC2x Parameter Setup Online E Choose the filter response in 10 steps The Prefilter is used if the positioning error must be low while the motor is running Main Parameters l Basic Parameters User Registers Auto Tuning Control Bits Search Zero m Make the filter Registers PID tuning Press the Tune button to calculate filter coefficients C 1 Slowest re these values correct
77. system CFE must be seen in combination with FEM which sets the maximum allowable number of pulses in CFE If this limit is passed the error message E102 Encoder error or position error limit exceeded will be given Usage CFE Show the actual following error in pulses Example Send the command CFE enter the MotoWare online editor Following is received CFE 15 Which means that the actual static position error is 15 pulses 4 11 44 Current Following Error Nominal in Pulses mode Com Rana pesenton ue ene os Ledelse x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description CFNE can be verified to see the static position error in the system CFNE must be seen in combination with FNEM which sets the maximum allowable number of pulses in CFNE If this limit is passed the error message E102 Encoder error or position error limit exceeded will be given Usage CFNE Show the actual following error in pulses Example Send the command CFNE enter Inthe MotoWare online editor Following is received CFNE 15 Which means that the actual static position error is 15 pulses 98 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 45 Interface Checksum CHS at Exec Mode _ ee x Can be set verified but no effect
78. the motor is limited manual PID tuning is recommended 18 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 2 4 Adjustment of Servo Regulation 2 4 2 Manual tuning Use the window shown below All relevant parameters are available via this window AMC2x Parameter Setup Online Main Parameters Basic Parameters User Registers Registers Auto Tuning Control Bits Search Zero PID tuning Mode Passiv Mode PID Filter Enabled Position Mode freser ENE Velocity Mode Run Go Reset L TT L 33 Sample time 2 Use arrow keys to fine tune TT9026GB E E Tuning sequence Make sure to activate the PID Filter Enable and chose Position Mode or Velocity Mode depending on the final application Position Mode is used if the final mode is Gear Mode I Position Mode 2 or Register Mode MO 3 Velocity Mode is chosen if the final mode is Velocity Mode 4 or Torque Mode MO 5 Increase the KP factor very slowly until the motor starts to be noisy and unstable At this point decrease KP by 2 3 steps to make sure that the system remains stable Try to pull the motor mechanics away from the stationary position If the damping is not optimal try to increase the KD factor until the damping improves If the system starts to oscillate decrease KD by 2 3 steps to make
79. to 4 external modules is possible to a PC via the RS232 interface and to DISIO KDMIO and IOMI I Modules via the JVL Bus interface PRINTnI n2 n3 nl Specifies the address of the module to be printed to 1 31 Address 255 is re served for a PC n2 Specifies the register or cursor position to be printed to in the external module n3 Specifies the register numeric value or text string in the Controller to be printed When n3 is a string then the string contains two types of objects ordinary charac ters which are simply copied to the display and conversion specifications each of which causes conversion and printing of the next successive argument to PRINT Each conversion specification is introduced by the character 96 and ended by a conversion character If a decimal number is included in the successive argument then the argument must be surrounded by parentheses E g CA 1 5 The conversion characters and their meanings are 96 To print a single 96 include two 96 in the string like 9696 The argument is taken to be a single character i The argument is taken to be 16 bit integer in the range 32768 to 32767 The argument is taken to be a 32 bit integer 2 147 483 647 to 2 147 483 647 f The argument is taken to be a 32 bit decimal number floating point number with one decimal nf The argument is taken to be a 32 bit decimal number floating point number with n numbers of decimals n must be in the range 0 to 4
80. velocity will be changed Usage Set Position parameter to x pulses for parameter set n XPn Show position XP Show position values for all parameter sets 162 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 135 Description Usage 4 11 136 Description Usage Relative Positioning in Parameter Sets XR mode Com mand Description Max za 4s ee rae 5 x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The relative positioning parameter set XR contains information about whether the re quired position is relative or absolute XRn x x specifies whether the position is absolute 0 or relative 1 XRn Show relative positioning set up in parameter set n XR Show all relative positioning values Velocity in Parameter Sets XV Mode Com mand Description Max zs 5 x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect A required velocity can be set for each parameter set If the velocity is set to null the velocity will not be changed when the parameter set is selected i e the previous velocity setting will be re used XVn x Set maximum velocity in parameter set n to x RPM XVn Show velocity v
81. very rapid and the motor needs to move at a high ve locity with a good efficiency a high value must be chosen See also Current Loop Bandwidth page 129 continued next page 16 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 2 3 Current filter optimizing continued from last page PWM Freq KHz Leave this value to 20 KHz Only by using long motor cables or if the temperature of the controller starts to be critical it must be considered to chose 5 KHz At 5 KHz the regulation is slower but the loses in the controller the cable and in the motor is less Normally it is not a problem to use 5KHz at motors with a rated power of IkW and up since the internal timeconstant is anyway high AMC2x Parameter Setup Online Auto Tuning Control Bits Search Zero Main Parameters E User Registers XR Commutation Constants Motor Enter the motors allowable Kphase 1 0 4 Magnetic Poles 8 i average current in this field Polfset 2700 i Current Filler 4 Enter the motors allowable Mean AAMS 20 5 peak current in this field Acivelevel Low High feo e 5 Leave this field at 1 0 default Hall Elements Yaskawat Current Filter Gai 1 0 5 ed 3 Bandwidth for the current filter Hall offset 208 Bandwidth Hz 1000 e can be specified here Normally Encoding PWM Freq KH G 20 C 5 1000Hz will do Encoder Type ur
82. 0 Additional adjustment must be done with reference to this value It is of vital importance to system performance that this parameter is adjusted correctly since poor adjustment will result in the motor not providing optimum torque at high ve locities In the worst case the motor will not be able to run at full velocity and the system will produce an error when the positioning error exceeds the limit specified by the FEM or FNEM register see Following Error FEM page 111 and Nominal Following Error Max imum FNEM page I I I Also too high a current consumption can be a problem if KPHASE is not adjusted cor rectly See also Setting KPHASE page 198 KPHASE Set KHASE to value x KPHASE Show current KPHASE set up value Sent to Controller KPHASE 1 3 Set KPHASE to 1 3 30 higher than de fault Received from Controller Y The controller has accepted the command and the KPHASE is changed Sent to Controller KPHASE Show KPHASE value Received from Controller KPHASE 1 3 The current KPHASE value is 1 3 126 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 84 Show Line Number LINE Only AMC2xP me Exec Com Time mand a msec ERA oo ee ee eee x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Description The LINE command returns the line number of the last command
83. 0514GB 3 10 1 General The Controller is equipped with a total of 8 digital outputs Each output can be used for a variety of purposes depending on the Controller s basic mode of operation The Out puts are optically isolated from other Controller circuitry The output circuitry must be powered from an external power supply This power supply is connected to the ter minals O and O The output circuitry operates with voltages in the range 8 30VDC Each output can supply a continuous current of 700mA The Outputs are all source driv ers PNP i e if a given Output is activated contact is made between the supply O and the respective output terminal See above illustration To indicate the level of each output the Controller front panel is equipped with LEDs denoted Ol O2 O8 These LEDs are lit when the respective Output is activated PowerSupply 5 30VD User Outputs Note Outputs and 2 are reserved Output is used in mode 2 and 3 as an In position indication Output is active when the motor is at its final position If the motor is moving the output is passive In mode 3 the function of output can be changed see CB4 Position Output O I Function page 92 Output 2 is a general error output used in all modes The output is normally active but if a fatal error has occurred the output is set passive See also CB 5 Function of User Output I OI page 96 For information about th
84. 08 which means that can be controlled through commands send via the RS232 interface or OUT commands implemented in a program only AMC2xP In this case output 3 will not be influenced by any other activ ity in the Controller Output 3 can however be set up to control a brake at the motor by setting 17 1 or 2 The output will then be active during normal operation which means that the brake will be released If any error occurs or if mode 0 passive mode is selected the output is set passive whereby the brake keeps the motor in a stationary position 7 0 Output 3 can be used for general purpose Default 7 1 Output 3 is used as Brake Output Active high 7 2 Output 3 is used as Brake Output Active low 96 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 37 4 11 38 4 11 39 4 11 40 4 11 41 4 11 42 CB18 Enable extended gear mode This bit enables extended gear mode By extended gear mode means that every pulse received at the pulse inputs is remembered also in situations where the maximum mo tor torque is reached which means that the motor has difficulties by moving in the same speed as the pulses are specifying CB18 0 Extended gear mode disabled 8 1 Extended gear mode enabled default CB19 Enable passive halt mode Sometimes it can be desired that the running status register RS is not going to 0 if a Halt or S
85. 20 20 msec D 20 Wait for 20 msec Digital Input Format DIF Mode Com mand Description zs slo fosameutome rese ewe fr x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect In some applications a requirement may be to run the motor in a certain direction at a certain speed For this purpose the DIF register can be used When DIF is set to de fault the functionality of mode 3 is normal But if DIF is set to 2 all the positions XP registers are ignored except the sign in these registers The XR registers are not used at all Example If XP is set to 1000 the motor will move in a positive direction when is selected and the start input is active The velocity is defined by XV I as normal The motor will run as long as INB is active Note that the registers are not affected by the DIF register setting These registers can still be used to find the home zero position IN 1 6 0 together with a start signal at INB Positive direction is chosen when the actual XP register is set to 0 or a value higher than 0 Negative is when the actual XP register is set lower than 0 only negative values DIF x Set Digital Input Format to x DIF Show current DIF setting See also Using Mode 3 for Continuous Movement page 58 JVL Industri Elektronik A S User Manual AC Servo Cont
86. 2400 enter This value is found by subtracting 20 from the nominal speed Also set KPHASE to a value of 100 by keying KPHASE 100 enter 6 Allow the motor to run for a good distance by keying SP 5555555 7 The motor should now run If the Controller produces an error after only running a short time KPHASE is set incorrectly or the supply voltage to the system is not set to the same value as the motor s nominal voltage If necessary repeat from step 5 and specify a lower velocity or use a higher supply voltage that corresponds to the motor s nominal voltage 8 When the motor is running at the desired velocity KPHASE can then be adjusted as follows Check the internal torque reference TQOUT by sending the command TQOUT enter The Controller will respond with the message for example TQOUT 200 indicating that the actual torque is 200 units Adjust KPHASE up or down until the value for TQOUT is close to zero 50 9 Finally save the determined value of KPHASE in the Controller s non volatile memo ry by sending the command MS enter VOUT Torque 0 Phase Offset 0 Optimum KPHASE rd KPHASE 198 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 9 7 Connection of an Unknown Motor Type 5 7 9 AMC2x Parameter Setup Online x Auto Tuning Control Bits Search Zero PID tuning Main Parameters Basic Parameters User Registers X Registers Commutation Constants Motor fa p s Pof
87. 255 Examples An IOMI I Input output module is used The Module address is 5 All 16 inputs are to be read and tested to determine if the value is 255 If this is the case the module Counter is read and the program continues In the user manual for the IOM I I module the Coun ter register is specified as register 2 and the register for all 16 inputs is 3 READINP R10 INPUT5 2 READ ALL 16 INPUTS AND TRANSFER CONTENTS TO R10 IF R10 255 IF INPUTS NOT EQUAL TO 255 READ AGAIN J READ COUNT J READINP ELSE READ COUNTER VALUE AND CONTINUE PROGRAM READ COUNT R30 INPUT5 3 READ COUNTER AND TRANSFER TO R30 124 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 81 Description Usage Examples 4 11 82 Description Usage Examples Jump Statement J Only AMC2xP Mode Com mand Description Max _ oa 5 b esame fo fe I 5 x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Jump statement The Jump statement causes an unconditional jump to a specified pro gram line Program execution continues from there x Where x is a line number J50 Jump to line 50 J LABEL I Jump to LABELI Can be used while programming via MotoWare Jump to Sub routine JS Only AMC2xP Mode Com
88. 4 h Jo fr fi 0 p xs pee rs as h Jo fr fi 1 o pas xvae xps __ 6 47 n Jo fm i pr pea far as h Ji fo Joo o pas ____ xeas __ as h Ji fo Jo Jo 1 pao va xps __ o h fo Jo i fo xeso xrso i Hh Ji fo Jo 1 fr xes __ 2 Hh 1 fo h 0 o Jxese farse s Ji fo Ji 0 1 xass o vss Pss xnss h Ji fo Ji 1 fo Psa xnea 55 1 1 fo fi 1 fr xess xnss ss h Ji fr Jo Jo o xvse xese xnse 7 n i fr Jo Jo xesz __ 57 h ph fr Jo i fo xus xps xass ss Hh 1 fr Jo 1 xese xnse H 1 fr 1 Jo Jo ____ xeeo xneo 85 pm i fr fi Jo e xee __ 2 h p fr fi xne 0 Low Inactive 1 High Active JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 55 4 5 Register Mode MO 3 Set up of parameter set in On line editor Example 1 Sent to Controller XV1 1000 Set velocity in param set to 1000 RPM Received from Controller Y Example 2 Sent to Controller XV1 Received from Controller XV1 1000 Show speed in parameter set Example 3 Sent to Controller XV Show all speed registers in paramet
89. 4 400W 200V 001 5et 5 vaskawa SGME 08750 vaskawa SM 08 750W 200V OD1 set vaskawa SGMG 13 1300 25 vaskawa SGMAH 04 400W 200V 001 5et 5 vaskawa SGMGH 09 850 25 vaskawa SGMAH 04 400W 200V 002 set 5 Yaskawa SGMP 01 100W gt Filnavn Yaskawa SGM 02 200w 200V 00l set Filtype C20 setup set v Annuller Description vaskawa 5 GM 02 200w 200v 001 TT9027GB mp Ow 200 001 set Select motor type Select Open to obtain the motor parameters Select the required motor type and select Open to view the parameters 14 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 2 2 Transfer of Parameters to the Controller 3 MotoWare32 Press Yes in order to send the ax choosen motor parameters to Send setup to controller the controller e Send With Parameters r Select what to Send Do choose any of the 2 options X registers or User registers X registers To be used in register mode since they are not relevant for setting up the motor parameters in the controller Press Ok to continue re Ok j Cancel Userregisters R1 R499 Parameter transfer Sending Parameters The transfer is started and takes normally a few seconds Ss 35 Complete Send Setup parameters Choose Save and Reset d This will save all the new motor parameters permanent in th
90. 5 interface The commands NL and PL can be used to verify the level at the inputs CB3 OLimit switches enabled default CB3 I Limit switches disabled CB4 Position Output 01 Function CB4 is only used in mode 3 register mode Output motor in position is normally fed back to the source that generates the position signals The source could for example be a PLC In some applications timing problems can occur between the start input IN8 and motor in position output Ol This problem is caused by the delay that appears when the start input is activated until the motor in position output following is passive If the external source e g a PLC sends the start signal and with a very small time margin lt I msec is looking at the In position output the output is still active After msec the AMC2x will set the output passive since the motor is now moving but has not reached the final position The problem is illustrated in the following timing diagram D PLC gives start signal PLC thinks that final position is already reached when 4 0 Start IN8 CB4 1 5004S 10005 Output O1 At position Final position specified in X1 Motor is reached Velocity CB4 1 enables that O1 motor in position is always passive when the start input IN8 is passive TT0547GB CB4 0 Output I is not influenced when IN8 goes passive default CB4 Output goes passive when IN8 goes pass
91. 61 52 55 761 decimal 2F9 hexadec imal The checksum is thus F9 which is sent as ASCII 70 decimal and 57 decimal The hex characters a f can also be sent as capitals i e d can also be sent as ASCII 68 decimal In the event that the command string is corrupted during transmission the checksum will not correspond and the Controller will report an error message E9 indicating that a checksum error has occurred The command string must then be re transmitted The checksum function is activated using the CHS command The checksum feature must also be enabled in MotoWare Use the Setup menu and choose Controller spec Via this menu MotoWare can be permanently setup for using checksum 44 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 3 15 RS232 Interface 3 15 7 3 15 8 Gonnection to PC For communication from a PC the following connection diagrams can be used These show the connections between the Controller and an IBM AT or IBM XT PS2 Controller PC XT PS2 Controller m Gnd EN vlee Sr Sa pv I TT0523GB Connection of Several Controllers to a PC For connection of more than Controller to a PC i e using addressing the connection diagrams given below can be used Note that Tx pin 3 must be connected to TX PD pin 7 on one of the Controllers included in the system T
92. AMC20 AMC21 AMC22 And AMC20P AMC21P AMC22P AC Servo Motor Controller User Manual Copyright 1998 2003 JVL Industri Elektronik A S All rights reserved This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A S JVL Industri Elektronik A S reserves the right to make changes to informa tion contained in this manual without prior notice Similarly JVL Industri Elektronik A S assumes no liability for printing errors or other omissions or discrepancies in this user manual MotoWare is a registered trademark JVL Industri Elektronik A S Blokken 42 DK 3460 Birker d Denmark 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvlQjvl dk Internet http www jvl dk Contents O NANN Qr dba d hdd de da WWWWWWWWWWWWWWWWW QJ NNNNN N O Introduction oieucecesoncdsccesasesseessedecscevecssddccescsedeecdavesdoecsacdsecese Features i CO tete eto roe b e acu au e rane Oe fox 2 Controller Front Panel WV rA E VEDI NU Edid 3 Overview of Operating Modes essen eene nennen enemies enne teen 4 Getting Started Gear Mode Mode 1 eese enne nne te ener eene trementem ener teen 5 Getti
93. B Terminate screen inside motorconnector JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 203 5 8 Examples of Motor Connection 5 8 5 Linear Drives Size 2504 with Hall If set up is performed with the MotoWare parameter set up select the correct motor in the motor library Follow this setup by running an auto tuning to optimise the filter pa rameters See also General Aspects of Installation page 12 Motor connections Motor AMC2x motor connector Red U2 Yellow V2 Blue W2 Green Earth Hall connections Hall AMC2x feedback connector SUBD 15 pole HO Yellow Pin 4 HI Violet Pin 5 H2 Blue Pin 6 OV Green Pin 7 V Red Pin Black Unused White Unused Grey Unused Brown Unused Pink Unused Shield Case Encoder AMC2x feedback connector SUBD 15 pole Renishaw 9pole A Pin 2 Pin 10 A Pin 6 Pin I I B Pin 4 Pin 12 B Pin 8 Pin 13 2 Pin 3 Pin 14 Z Pin 7 Pin 15 5V Pin 5 Pin 9 Pin 1 Pin 8 Inner shield Pin 9 Pin 8 Outer shield Case 204 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 5 9 Using Linear Motors 5 9 1 Gonversion Formulae Please note that all the speed related registers in AMC2x are specified with reference to a rotating motor Example VM nominal speed is expressed in RPM revolutions per minute When using the Controller to drive a linear motor all of the speed related registers must be
94. BIAS optional KPHASE Actual 2nd Order Position Feedbacktilter e m TT0544GB As it is seen the result from the main filter velocity and position converted into a phys ical current in the current filter block Therefore it is extremely important that the cur rent filter is optimized as good as possible to obtain a perfect performance The filter is optimized by entering the following parameters in the parameter window Mean ARMS Make sure that the allowable average current for the actual motor is entered in this field Peak ARMS Make sure that the allowable peak current for the actual motor is entered in this field If the actual motor is specified for a higher peak current than the controller can handle the actual value must still be entered Internally it will be limited to the value that the actual controller is capable of delievering but the value is also used internally to linear ize the current at high values Current filter gain Leave this value to 1 0 If the motor is very small lt 400W it can sometimes be very unlinear when the peak current becomes close to the maximum This will produce an audible high frequency which can be avoided by decreasing the current filter gain Bandwidth Hz This value is important 2 main aspects must be considered If it is desired that the system must be quiet no audible noise a low value must be chosen If it is desired that the system is
95. ET PR VM AIHI AILI AIOI AIUI Velocity in positive direction T Zero point AIO1 Hysteresis AIH1 Maximum negative voltage AIL1 v 10V 10V Input voltage Maximum positive voltage AIU1 M VM TT0533GB Velocity in negative direction JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 59 4 7 Torque Mode 5 The motor torque can be controlled by an analogue signal using the Analogue Input AIN The input voltage must be in the range 10V to 10 with negative voltages pro ducing a negative torque and positive voltages producing a positive torque The value of the torque is specified in Amps TQ is used to specify the maximum torque i e the torque provided by the motor when a maximum input voltage is applied The numeric value of the full scale voltage does not need to be the same in both the pos itive and negative directions Use the All commands to adjust the analogue input If for example TQ is set to 10096 and the analogue input voltage is set to 5V a torque corresponding to 5096 will be produced The torque range 0 10096 refers to the maxi mum peak torque that the motor can produce by the actual CP peak current setting Use of Torque Mode Select Torque Mode 5 Adjust the servo loop See Adjustment of Servo Regulation page 18 If necessary adjust the Analogue Input See Adjustment of Analogue Inpu
96. I RI NOT 12 7 gt RI 7 First of all NOT 12 is processed since NOT has the highest precedence Since NOT only can function at a Bool type the state of 12 will be converted to such one The result of this is true The NOT operator will secondly do a negation of this value with the result 0 false In the end the Bool O is added to the integer 7 The Bool O will at the first place be converted to an integer and thereafter added to 7 The result will therefore be 7 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 69 4 8 Program Execution in the AMC2xP 4 8 8 IF Statement Logical expressions can be evaluated using an IF statement Together with ELSE the IF statement can be used to express decisions within the programming sequence Formal ly the syntax for the IF statement is as follows IF expression action ELSE action2 in which the ELSE clause is optional The conditional test is performed by evaluating ex pression If it is true action is carried out If expression is false and if an ELSE clause is included then action2 is carried out The IF statement is line based action must be spec ified on the lines following the IF statement and if an ELSE clause is used ELSE and action2 must be specified on the following lines action can include several command lines terminated by ELSE or ENDIF If action2 consist of several lines the sequence must be terminated by ENDIF otherwise
97. JI 3ndjno 43 941 gt YOUN LMS dOLS u LYVLS 000 L dV39 L 0M L E O1N 2 spom anejg Jaqseyy o 198 2V OZ2IAIV 0M499 2V plays OgAre s49 0 3u07 1020 4 OZIIAY 2 Buisues 104 Buisues 104 5 uum UOHEINdde ed ed 4osuag Josuag eAnonpu 6661 S Y xIuo4549 3 14 45 TAF 14BUAdo JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 206 9 11 Accessories JVL supplies the following accessories for use with the Controller 5 11 1 5 11 2 Software JVL s unique MotoWare software can be used for set up and installation of the Control ler MotoWare also includes a motor library and program editor for making advanced motion control programs which can be downloaded to the AMC2xP Controllers Gables The following cables are available for programming interface motor etc Motor cables only motor Type order Motor manufacturer Motor type SGM E 0 750W WM20xx Drive Systems BLS70 750W All motor cables can be delivered in any length Specify the WM number and 2 digits de pending on the motor type The
98. LL elements may either be PNP types or NPN types In addition both a balanced or unbalanced signal from the HALL element can be accepted For details of HALL element connection see Hall Input page 31 If a HALL element with a balanced output is used the setting of the HL value can be omit ted If however an unbalanced NPN Hall element is used HL must be set to HL I If an unbalanced PNP Hall element is used HL must be set to 0 HL 0 If a Yaskawa motor is used the setting of the HL parameter is unimportant since the HALL signal is encoded with the encoder signal itself and the HALL Input is therefore not used HL x Set HALL type HL Show current setting of HALL type JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 115 4 11 Command Description 4 11 71 Description Usage Examples 4 11 72 Description Usage Examples Home Signal Status HIM Com mand Description Min Max fotoner one Jor x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Show the actual level of the zero point contact high 1 or low 0 Note that the HM command does not show whether the contact is active or not but whether the input is high 1 or low 0 The definition high means that a voltage is applied to the HM input The HM command is not influenced by the HML setting See Home Sign
99. ME Show the actual sample time setting Received from Controller STIME 5 0 The actual sample time is set at 5 0 second Search Zero Point 5Z Mode Com mand Description 2345 fsz Search zeropoint PE os RITER x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect This command is used to reset the motor position to a known zero point See also Home Reset Input page 35 or Mechanical Reset page 75 SZ Begin zero point search Sent to Controller SZ Begin zero search Received from Controller Y The Controller has accepted the command JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 155 4 11 Command Description 4 11 124 Description Usage 4 11 125 Description Usage Show Temperature TPx Mode Com mand Description 012345 TP Report temperature in river stage fo jos x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The TPI and TP2 commands can be used to monitor the actual temperature in the Con troller TPI shows the temperature in the power section normally the highest temperature The sensor is also used for the temperature thermal overload protection TP2 shows the temperature in the processor section TPI Shows the temperature
100. N goe CB13 Reset servo when SON goes high again If it is desired to reset the controller by a hardware signal from outside this can be done by using the SON input By enabling this feature the controller will be reset every time the SON input changes state from passive to active 0 tol 3 0 Do not reset when SON changes state default 3 1 Reset when SON goes from passiv to active 0 to 1 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 95 4 11 Command Description 4 11 33 14 Enable PID Filter The Controller normally uses a very advanced filter that can be adjusted up to 6 orders This standard filter however involves up to 35 filter constants which are impossible to adjust manually since the behaviour of each filter constant is extremely complex Only the auto tuning facility in MotoWare can be used to adjust this filter As an alternative a traditional PID filter is available The PID filter can be adjusted man ually and is intended to be used in applications where the auto tuning is not possible See also Adjustment of Servo Regulation page 18 where a complete description of the filter adjustment is given CBl4 0 PID filter disabled default CBI4 PID filter enabled 4 11 34 CB15 Function of User Output 1 01 The user output is set up by default to show when the motor is in position CB15 or CBI5 2 This function is only used in mode 2 and 3 Alternativel
101. Position ing Mode MO 2 and Register Mode 3 The Running Error Current and T gt 80 C LEDs on the front panel flash simultaneously if the maximum pulse error is exceeded If FEM is set to O the limit function is disabled which means that the Controller will allow an infinitely high error level without stopping motor operation and reporting an error Sent to Controller FEM 10000 Set maximum following error to 10000 en coder counts Received from Controller Y The controller has accepted the command the maximum following error is now changed Sent to Controller FEM Show the maximum following error setting E m M 10000 The actual maximum following error limit is set at 10000 encoder counts Received from Controller Nominal Following Error Maximum FNEM Mode Com mand Description o z a ls Few Norra oror maarun essen erre os x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect This safety limit is almost equivalent to the FEM parameter except that FNEM only has an effect during a movement sequence FNEM will typical protect the system in case of an encoder index or hall errors If the difference between the internal profile generator and the actual move becomes higher than the value specified in FNEM the power at the motor will be disconnected and the error message E102 E
102. SP 10000 0 IF 2 1 SP 0 WAIT IF RS gt 0 Select SEND to send the program J WAIT Kill 100 1 J START Send Trace On TT0535 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 63 4 8 Program Execution in the AMC2xP 6 After SEND is selected the following dialogue box will appear Send With Program x Select what to Send v Parameter setup X registers To be used in register mode Userregisters TT0567GB This dialogue is used to decide which other parameters must be transferred together with the program if any Parameter setup This item covers all the standard parameters such as Velocity Servo filter setup and motor basic parameters All parameters except X and R registers X Registers If X Registers are selected all the position and speed registers used in mode 3 are transferred together with the program User registers If User registers are selected all the user registers RO R499 are transferred together with the program Press Ok and the program will be transferred to the Controller in cluding the selected register groups 7 Once the program has been sent to the Controller the dialogue box shown below is displayed This provides several options For example you can choose to start the program automatically when the Controller is powered up In this case Yes is selected followed by Save The six command button
103. Servo Controller AMC20 21 22 189 5 7 Connection of an Unknown Motor Type This section should be followed if the Controller is to be adjusted for an unknown motor type which is not included in the MotoWare parameter list Proceed as follows Find the following data for the actual motor and adjust the Controller accordingly Number of motor poles parameter POL See Setting the Number of Motor Poles page 194 Number of encoder pulses per revolution and encoder type parameters PR ET and INDEX See Set up of Encoder Resolution page 191 Motor currents The values of the motor s allowable average current peak cur rent parameters CA and CP See Setting the Motor Currents page 195 It is recommended that the Controller is adjusted without using Hall elements even if the motor is equipped with Hall elements These should first be connected and used after the basic adjustment If the motor does not have Hall elements follow the instructions in Start up of Motor without Hall Element page 199 If the motor has Hall elements these may be used See Setting the Hall Element page 196 Adjust the other critical parameters for the actual type of motor including Current filter See Current filter optimizing page 16 Servo filter parameters See Adjustment of Servo Regulation page 18 Velocity dependent commutation offset parameter KPHASE See Setting KPHASE page 198 A usefull command for determine the mot
104. T 0 Usage Set encoder type ET Show encoder type setting 4 11 62 Leave Programming Mode EXIT Only AMC2xP Com mand Description Max xr Ext programmingmoas os HHHH x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description When a new program is to be input to the Controller the sequence is started using the PROGRAM command Once programming is complete the EXIT command is used to leave programming mode The program is then ready for execution GO Remember to store the program in the Controller s permanent memory using the MSI command Usage EXIT Leave Programming mode 110 JVL Industri Elektronik A S User Manual AC Servo Controller 20 21 22 4 11 Command Description 4 11 63 Description Examples 4 11 64 Description Examples Following Error FEM Mode Com mand Description b afa as x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect As a safety limit a maximum allowable pulse error can be specified If the error between the desired position and the actual position is too large the encoder may be at fault or the motor is blocked If the pulse error exceeds the specified limit the motor is stopped and made currentless The FEM command can be used in Gear Mode MO I
105. The RS register will be 7 as usual when using halt The actual position counter will have been updated during the zero search and the contents will therefore be intact The zero search can be restarted by using the commands mentioned above under Start a Zero search 2 ASoft halt command SH will stop the zero search according to the acceleration deceleration specified in the ZA register The behaviour of the AP and RS register etc will be the same as that using halt 3 Changing to mode 0 passive mode This situation can happen after many situations such as when using the SON input or if a fatal error has occurred The motor will be de energised and the RS register will be set to 4 If the mode is changed back to an active mode 1 5 the RS register will be set to O and the zero search is not continued JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 75 4 9 Mechanical Reset 4 9 4 Zero Search Sequence using the HM Input ZM 0 When the zero point search function is activated the motor moves in the specified di rection and at the specified velocity until the HM Input becomes active The motor then decelerates and stops after which it moves in the opposite direction to the position where HM was activated The result of the sequence is that the motor is positioned pre cisely at the zero point contact The zero point is thus located and the motor s po
106. The change is coursing the motor to continue because the new acceleration must be The desired position fullfilled is reached Time TT0581GB Sent to Controller AC 1000 Set the acceleration to 1000 RPM sec Received from Controller The controller has received the AC command and AC is now updated with the value 1000 RPM sec Sent to Controller AC Ask the controller to read back the actual acceler ation Received from Controller AC 1000 This value indicates that the acceleration is set at 1000 RPM sec 80 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 11 Command Description 4 11 4 Description Example I Deceleration under a Halt Condition ACH Wu Exec Com Time mand Description msec SERA re e e ee x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect This command is used to specify the deceleration profile to be used when a halt condition has occurred A halt condition could be one of following Limit switches activated NL or PL The Halt H command is executed Normally a Halt condition requires a fast response since the motor movement could cause damage if it doesn t stop quickly enough However too rapid a deceleration could cause damage to the transmission drive belt gears etc between the motor and load if the system has high inertia Se also Smo
107. To other Internal circuitry behind each input inputs Opto coupler 1 22215 Sharp PC357 AA Po LED on front panel l e 2 7kOhm 3 8 1 General The Controller is equipped with end of travel limit inputs denoted NL negative limit and PL positive limit The Inputs are optically isolated from other Controller circuitry with the exceptions of IN I IN8 and HM Home input All of these inputs have com mon ground denoted N The End of travel Limit Inputs operate with voltages in the range 5 to 30VDC Note that the Inputs must normally receive a signal from a PNP out put since a positive current must be applied for the Inputs to be activated Activation of the PL Input will halt motor operation if the motor is moving in a positive direction The motor can however operate in a negative direction even if the PL Input is activated Activation of the NL Input will halt motor operation if the motor is moving in a negative direction The motor can however operate in a positive direction even if the NL Input is activated The active level at the NL or PL inputs is determined by the NLL and PLL regis ter See Negative Limit Input Level NLL page 133 or Positive Limit Input Level PLL page 139 An error message will be set in the Controller s error register if either the NL or PL Inputs has been activated See Error Messages page 167 3 8 2 Connection of NPN Output To c
108. Type 5 7 2 The encoder resolution must be set to a value in the range 256 to 20000 pulses per rev olution Set the encoder resolution in the Pulse rev S field and send the information by pressing Send If required store the value in the Controller s non volatile memory by pressing FLASHPROM If the encoder resolution is set via the on line editor the PR command is used Example PR 2048 enter Sets the encoder resolution to 2048 pulses per revolution PR enter Displays the current encoder resolution set up To store the value in the Controller s permanent memory key MS enter Setting the Encoder Type The encoder used with the AMC Controller can be of either a PNP or NPN type In ad dition the Controller accepts both a balanced and unbalanced signal from a standard 2 channel incremental encoder For connection of the encoder see Encoder Input page 29 The Encoder Type field determines which type of encoder is connected to the Controller If an encoder with a balanced output is used this setting can be omitted If however an unbalanced NPN type encoder is used the field must be set to NPN If the encoder is a PNP type the field is set to PNP Send the information to the Controller by pressing Send If required save the setting in the Controller s non volatile memory by pressing FLASHPROM If the encoder type is set via the on line editor the ET command is used Example ET 0 enter Set encoder type
109. VL type PA0095 This module will convert a resolver signal into an encoder signal which can be con nected directly to the AMC2x controller Contact your local JVL representive to get more information 3 4 4 Encoders with serial data transmission The AMC2x also supports encoders with serial data communication in some extend The two terminals at the Feedback connector is ment for this purpose The two terminals are Pin 2 EDI Data and Pin 3 ED2 Data This serial channel is made as a RS485 bidirectional interface The protocol today supports the Yaskawa SG SGMPH SGMPH and SGMSH See also the Encoder Type ET page 110 which shows how to setup the encoder input for different hardware formats communication protocols For connecting Yaskawa motors see Examples of Motor Connection page 200 Please contact JVL if other motors from other manufactors need to be connected 30 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 3 5 Hall Input Feedback Incremental MM mo Id 1 2 Reserved Ld TNI Reserved 112 of HLA I 511 I 0 HLB I 114 ofl l HLC 711 I 115 ECM gel I BEER It is recommended that screened cable is used to the encoder 3 5 1 General The Controller is equipped with 3 inputs for connection of a Hall sensor Th
110. Vlode IMode 2 Minimum configuration VIT when using Mode 2 Running Error Current Special 1 0 Incremental encoder AC Servo Motor Encoder Input m Motor Output MotoWare lt RS232 RS485 gt Mains Supply and ground Consult power supply chapter for details Industri Elektronik V IMC2x Servo Motor Controller TT0551GB Follow the procedure below for operation of the Controller in Mode 2 Positioning Mode l Connect the Controller as shown above For further details see Motor Connection page 27 En coder Input page 29 Power Supply page 25 2 Connect the PC via a terminal program e g JVL s MotoWare or Windows Terminal if necessary following the description of the RS232 interface in RS232 Interface page 43 3 Switch on the Controller but ensure that all inputs are inactive Only the Power LED and possibly Out may be active If one or more of the red LEDs is active or blinks the Controller is most likely set up for the wrong motor type Follow the instructions in General Aspects of Installation page 12 4 Sendthe command enter to the Controller and wait until the Controller responds with a status overview If the status overview is displayed the RS232 interface and power supply are connected correctly
111. a AMC2xP only MS Save all For AMC20 21 and AMC22 this command will save set up data For AMC20P AMC2 I P and AMC22P this command will save set up data pro gram and user registers MSO Save set up including X registers for use in mode 3 MSI Save program only AMC2xP MS2 Save user registers only AMC2xP JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 131 4 11 Command Description 4 11 91 Description Usage Example Motor test IVITEST mode Com mand Description Max 0123 45 mest Finds tne motor parameters x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The MTEST command is used to verify the actual motor connected to the Controller The command is only used to monitor the parameters of the actual motor versus the ac tual setup in the controller The command do not change any parameters If certain pa rameters are not equal set to the correct value the change must be done manually in the online editor or in the parameter window When the MTEST command is executed it will apply a fixed current equal to the the CA average current setting and move the field for approximately 2 motor revolutions or until it meets the index pulse from the encoder During this sequence all the feedback signals are observed and it is afterward analysed how many pulses the encod
112. ack from the motor to the Controller and thereby increasing the bus voltage Example The power supply voltage is too high or the motor has been decelerated quickly with a high inertial load Correction If the supply voltage is too high it should be reduced During deceleration the motor can send current back to the Controller causing the bus voltage to increase The deceleration AC can be reduced until the error dis appears If required a Power Dump shunt resistor should be inserted as de scribed in Power Dump Output page 42 If deceleration must be rapid this warning is ok E37 Bus Voltage exceeds 800 V Controller can be damaged The power Bus voltage has exceeded 800V This is an error that indicates that the power dump circuitry is not able to consume the extra amount of energy that flows back from the motor to the Controller thereby increasing the bus voltage This energy is typically caused by high inertial load on the motor which makes the internal supply increase if the deceleration of the motor is rapid This error is number 2 of 3 See also W36 Bus Voltage exceeds 700 V Activating powerdump or E38 Bus Voltage exceeds 850 V Note that if the voltage reaches 850V the Controller will shut down the driver circuit and therefore make the motor currentless Correction Decrease the deceleration AC until the error disappears If required a Power Dump shunt resistor should be inserted as described in Power Dump Output
113. age 12 Female at cable Male at AMC2x Not used It is recommended that screened cable is used to the encoder Yaskawa encoder colors P1 Blue EA1 P2 Blue Black EA2 P3 Yellow EB1 1 P4 Yellow Black EB2 P5 Green EZ1 1 P6 Green Black EZ2 P7 Grey ECM P8 Hed 5VO Motor P9 Orange Screen Motor connected to Va Screen terminated at earth terminal TT0521GB See also Accessories page 207 for a list of standard cables 200 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 5 8 Examples of Motor Connection 5 8 e Yaskawa series SGMAH SGIVIPH If set up is performed with the MotoWare parameter set up select the correct motor in the motor library Follow this setup by running an auto tuning to optimise the filter pa rameters See also General Aspects of Installation page 12 L 1 1 Lu Motor type SGMAH or SGMPH Feedback connector at AMC2x Female at cable Male at AMC2x The screen must be terminated inside the encoder connector It is recommended that scr
114. al Level HML page 116 The HM input is basically intended to be used together with the zero search function but the HM command can also verify the HM input in general For a hardware description of the HM input see Home Reset Input page 35 For a complete description of the zero search function and related commands see Me chanical Reset page 75 HM Show current level at the HM input Sent to Controller HM Show the actual level at the HM input Received from Controller HM 1 actual level at the HM input is which means that a voltage is applied to the input Home Signal Level HML Mode Com mand Description Max b 2 415 bw fof es 80 x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The zero point contact is connected to the HM input The contact can be active high 1 if a normally open sensor is used or low 0 if a normally closed sensor is used Note that a resistor must be connected between HM and a voltage source if an NPN sen sor is used For a complete description of the zero search function and related com mands see Mechanical Reset page 75 HML x Set the active level for zero point contact 0 low high HML Show current level Sent to Controller HML 1 Sethome signal level normally open sensor Received from Controller Y The controller has accepted the command Sent
115. al velocity In gear mode 1 is used to limit the maximum speed l e if the external master encoder causes the motor to have a rotation speed higher than VM then the motor ve locity is limited to VM In Positioning Mode MO 2 VM is used to set the velocity to which the motor will ac celerate and maintain until it is decelerated In Register Mode 3 VM is used if a given XV register is set to O In Velocity Mode 4 VM sets the limit for the velocity corresponding to maximum input at the analog input If for example VM is set to 1000 and the analogue input is ad justed to an input voltage in the range 10V to 10 the motor will rotate at 500 RPM in a negative direction for an applied voltage of 5V In Torque Mode MO 5 VM is used to set a limit for the motor Regulation of the ve locity in this mode is not precise and is used only as an additional precautionary measure The maximum VM is given by the formula MaxVM 2 15 1 STIME VFACTOR PRP 2133 3 10 9 Where PRP pulses per electrical period PRP PR 8 POL Note that the Controller will give the error message E2 Out of range if the value is set too high VM will then be set to the nearest possible value that matches the original value maximum velocity in RPM VM Show current max velocity Sent to Controller VM 1000 Set maximum velocity to 1000 RPM Received from Controller The Controller has accepted the
116. allowable instantaneous RMS current per mo tor phase Please note that some motor manufacturers specify this value using other terms such as the maximum motor current which usually means the total current flow ing into the motor This value will be higher by a factor of the square root of 3 1 732 See also Average Rated Current CA page 90 or Current Level in 96 CL page 99 The actual motor phase current can be measured using the command Motor Current CU page 102 Sent to Controller CP 8 1 Setthe allowable instantaneous RMS motor cur rent to 8 Received from Controller The controller has accepted the command Sent to Controller CP Show the instantaneous RMS current limit Received from Controller CP 8 1 The max allowable instantaneous RMS motor cur rent is set to 8 1A See also Setting the Motor Currents page 195 for a complete guide to setup the motor currents Current Power Level CPL e T Exec Efe pe E formen x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The actual total power consumption of the Controller can be read using this command The power consumption is integrated over 12 seconds and expressed in 96 of the max imum allowable power consumption PM See Power Management PM page 140 If CPL reaches 100 96 the Controller is set in mode 0 and the error message E34 Power consumption too high
117. alue in parameter set n XV Show all velocity values for all parameter sets JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 163 4 11 Command Description 4 11 137 Description Usage Examples 4 11 138 Description Usage Examples Zero Search Acceleration ZA mode Com mand Description Max o 2 5 415 es umor los x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The zero search acceleration is defined by the ZA register ZA is used during zero search in any situation where the motor changes speed See also Mechanical Reset page 75 for a detailed description of the complete zero search function including related parameters ZA n Set zero search acceleration n RPM second ZA Show actual zero search acceleration Sent to Controller ZA 1000 Set zero search acceleration to 1000 RPM sec ond Received from Controller Y The Controller has accepted the command Sent to Controller ZA Show current zero search acceleration Received from Controller ZA 1000 The current zero search acceleration is 1000 RPM second Zero Search Direction ZD Mode Com mand Description Min Max __ zo a fra EE x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has
118. amplel PES is set to 10 and PE is set to 7 40 pulses The motor is running until it stops The RS register is now set to 0 after the position error has been within 40 encoder pulses for 10 samples sample is by default msecond but if the STIME sample time register has been changed this value may differ Example2 Sent to Controller PES 10 Set PES register value to 10 10 samples Received from Controller Y The controller has accepted the command Sent to Controller PES Show current PES value Received from Controller PES 10 The current PES value is 10 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 137 4 11 Command Description 4 11 99 Pulse Input Format PIF TN Mode mand Deseripion m mar 44444 Pir Puseimputrormat Jos x Can be set verified but no effect Has effect be set verified be verified but not changed has effect Description The PIF register determines how the incoming pulse signal at the Pulse Input XI and YI is decoded The PIF register is only relevant when the Controller is set to Mode Gear Mode The following Pulse Input Formats can be selected Set up Typical Application PIF 2 0 Reserved for future use Cannot be selected H eg Incremental encoder format The bandwidth at the signal input is 2 MHz see PIF 5 i liess The input can be connected to a standard incremental encod Electronic gear er with 2
119. an be set verified o Can be verified but not changed has effect In Positioning Mode 2 and Register Mode 3 the motor can be set to move to a new position specified in terms of pulses Note that the number of pulses refers to the number of encoder pulses times 4 For example an encoder motor with 500 pulses per revolution effectively has a resolution of 2000 pulses per revolution If the motor is to rotate revolution the SP command is based on a value of 2000 pulses Sent to Controller SP 1000 Move to absolute position 1000 Received from Controller Y JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 151 4 11 Command Description 4 11 119 Relative Positioning SR Limits Exec mand Description med Description Example e pee fo fos MeL LT sos x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect In Positioning Mode MO 2 and Register Mode MO 3 the motor can be set to move a specified number of pulses in a positive or negative direction The SR command can also be used in Gear 1 In this situation the motor will move the extra length specified by SR in parallel with the normal gear operation The velocity and acceleration is still followed also in this situation For movement in a negative direction the para
120. are Examples of the use of commands in a program AC 330 Set acceleration to 330 RPM s VM 500 Set max velocity to 500 RPM SR 100000 Advance the motor 100000 pulses AP Show actual position via the RS232 interface User Registers All registers can be used for temporary storage of values Since some registers have di rect effect on motor movement as mentioned above the Controller is equipped with 500 user definable registers denoted RO R499 These can be used freely to store inter mediate values RO R499 can be used and included in arithmetic expressions in the same way as any other parameter such as the motor parameters VM PR CL AC The user registers can store values in the range 2 147 483 647 to 2 147 483 647 and can be saved in the Controller s non volatile memory using the command MS2 When the con tents of the user registers are saved in non volatile memory they must be recalled using the MRI command before they can be used Examples of the use of user registers RI R2 Set register equal to register 2 R2 RI RI Negate the value of register RI R2 Negate the value of R2 and save the result in RI R3 RI R2 Negate R2 multiply by RI and save result in R3 RI KP IO Multiply KP by 10 and save the result in RI JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 61 4 8 Program Execution in the AMC2xP The user registers can also be used for indir
121. are phase shifted 30 degrees positive with reference to the motor outputs TTO572GB In the illustration above the phase shift is 30 degrees which means that the HOFFSET register must be set to 30 0 Note that HOFFSET only can be set to an unsigned value HOFFSET x Set HALL offset HOFFSET Show current setting of HALL offset JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 117 4 11 Command Description 4 11 74 Description Usage Examples IF statement IF Only AMC2xP and Description Max _ msec 2 o eem EE Ef EE x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Program execution can be controlled using conditional statements If the condition spec ified by the IF statement is true not 0 the next line in the program is executed If the statement is false 0 the next program line is skipped and program execution contin ues The ELSE statement can also be used in conjunction with the IF statement All reg isters and commands that return a value can be used in IF statements The following operators can be used in the statement Operator Description Less than Greater than Equal to Less than or equal to Greater than or equal to not equal to Logical AND operator Logical OR operator IF statement OR statement
122. arious modes of operation 2 Connect the motor encoder any hall sensor diverse end of travel inputs inputs and outputs as required Details of motor connection inputs and inputs powering etc are given in Hardware page 23 Note For connection of motors and encoders see the appendix Examples of Motor Connection page 200 which gives specific connection diagrams for a number of AC servo motors These sections also give the associated parameter values that the Con troller should be set to for optimum motor operation 3 Connect the power to the Controller Most probably the default parameter settings will not correspond to the actual motor connected This will result in the Controller reporting an error and current to the motor will be disconnected If the actual motor used is one of the types named in the Appendix Examples of Motor Connection page 200 or included in MotoWare s parameter list these parameter val ues must be transferred to the Controller See Transfer of Parameters to the Control ler page 13 If the motor is recognised the system should function optimally after transfer of the associated parameter set Some fine adjustment may be carried out as described in this chapter The basic installation of the Controller is now complete and the specific function of the Controller can now be set up and tested See the description of Modes to 5 in the Software section pages 52 to 60 depending on the required mode of operat
123. ations this can result in undesirable influences on other electronic equip ment in close proximity to the servo motor system To avoid this problem the connec tion between the Controller and the motor should be made using screened cable as shown in the illustrations on page 28 Furthermore it is strongly recommended that screened cable is also used for the encoder cable to avoid any influence from the motor cable affecting the encoder signal Short circuiting of the Motor Output The Motor Output can withstand short circuiting between the U2 V2 W2 terminals In addition all motor terminals can withstand short circuiting to ground or to the positive supply If a short circuit occurs the Controller will stop all activity and report an error condition by activating the red Current LED In addition the Controller s error register will be ac tivated See the ES and EST commands Allowable Motor Inductance The Driver can drive motors that have an inductance per phase in the range to 20 mH Please note that the mains voltage also has an influence If a motor with a lower inductance is used an inductance of 0 5 mH must be connected in series with each motor lead This inductance will function as an integrator and ensure that the Controller controls the current correctly Allowable cable length Since a typical motor cable have a capacitance of 0 22nF per meter the total cable length can not be infinitive since the switching losses in t
124. be divided by 16 This feature is seldom used but if the Controller is used together with an encoder with a very high resolution it can be necessary because the encoder input only allows encoder resolutions up to 65535 pulses per electrical cycle If CB8 is set CB8 the PR value must also be divided by 16 See also Encoder Pulses PR page 142 Example An encoder rated at 20000 pulses per revolution is used mounted at a 2 pole motor 20000 pulses per revolution is internally converted to 80000 pulses per revolution since all the transitions in the encoder signals are used value of 80000 pulses per revolution is too high maximum is 65535 and therefore CB8 must be set The PR register must also be corrected to 1250 20000 16 instead of 20000 Remember to make a new tuning of the servo filter CB8 0 Passive default CB8 Divide encoder input by 16 4 11 28 CB9 Ignore Servo On Signal The Controller input SON can normally be used for safety The motor will stay current less until this input is supplied with an external voltage CB9 is made to bypass this fea ture If CB9 is setto the SON input will be passive not used and the motor output will stay fully operational regardless the voltage at the SON input See also Servo On Input SON page 32 CB9 0 SON input enabled default CB9 SON input disabled 94 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 29
125. ber values can give problems when programs are modified When MotoWare is used however labels can be used MotoWare interprets and translates the individual labels and sends the correct command to the Controller La bel names may in principle consist of all displayable characters but it is recommended that only numerals and the letters a z are used since problems may occur if programs are moved between computers with different set ups Labels are case sensitive The following program segment START IFINI I f INI is equal to next line is executed J OK Jump to label OK ELSE WINI is 0 execute line after ELSE J ERROR Jump to label ERROR OUT5 I Set OUTS J START Jump to label START Begin again ERROR OUT5 0 Clear OUT5 J START Jump to label START Begin again is translated to IFINI JA ELSE 6 OUT5 I JO OUT5 0 JO Call of Sub routine If the same sequence of commands is used often it is a good idea to create a sub routine A sub routine is started with a label and terminated by the RET command A sub routine is called by the JS Jump Subroutine command When the JS command is executed pro gram execution continues from the line number specified by the command in the form of a number or a label When the RET Return command is encountered in the sub rou tine the program returns to the main program at the line immediately after the JS com mand and continues from there The following gives an
126. can be set verified o Can be verified but not changed has effect The PL and NL Inputs function as end of travel limits If the motor is moving in a negative direction and NL is activated the motor is stopped instantaneously The PL Input is the positive end of travel input The two limit switches can be independently programmed to be active high 1 Normally open sensor or active low 0 Normally closed sensor The NLL command is used to set this active level for the NL input positive limit switch For connection of the end of travel inputs see End of travel Limit Inputs page 34 NLL x Set the active level for the negative limit switch sensor connected to the NL input 0 low normally closed high normally open NLL Show current active level for the NL input Sent to Controller NLL 1 Set NL active level to normally open sensor Received from Controller Y The controller has accepted the command Sent to Controller NLL Show current NL active level Received from Controller NLL 1 The current NL active level is 1 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 133 4 11 Command Description 4 11 94 Logical OR Operator OR Only AMC2xP Com Time Sem pescripton in ue nese fa on _ os fk x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Description Logical OR
127. channels which are shifted 90 degrees in phase Pulse and direction format i The bandwidth at the signal input is 2 MHz see PIF 6 edel motor system PIF 2 A pulse signal is connected to XI to control the motor s Control from PLC position and velocity A direction signal is connect to YI controller module to determine the direction of motor operation Pulse Pulse format The bandwidth at the signal input is 2 MHz see PIF 7 Simulation of step PIF 3 A pulse signal is connected to XI to control the motor s motor system position and velocity the positive direction of operation Control from PLC If the motor is required to operate in a negative direction controller module the pulse signal is connected to YI PIF 2 4 Reserved for future use Cannot be selected Incremental encoder format E Same as PIF 1 with a 200 kHz filter at the signal input RIESS The input can be connected to a standard incremental encod Electronic g ar er with 2 channels which are shifted 90 degrees in phase Pulse and direction format 3 Same as PIF 2 with 200 kHz filter the signal input Simulation of step motor system PIF 6 A pulse signal is connected to XI to control the motor s Control from PLC position and velocity A direction signal is connect to YI controlar module to determine the direction of motor operation Pulse Pulse format Same as PIF 3 with 200 kHz filter at the signal input Simulation of step A
128. coder Type ET page 110 E50 Currentfilter overflow The current filter has not been able to control the motor current within the range that that the controller can handle The maximum peak current has been exceeded Correction Lower the acceleration or deceleration Try to reoptimize the current filter with a higher bandwidth See also Current filter optimizing page 16 E51 63 Reserved for future use E65 Motor controller Communication error Internal error The main processor is not able to communicate with the motor processor DSP that takes care of the motor and servo filter Correction Turn off power immediately and consult JVL E66 Power processor Timeout Internal error The main processor is not able to communicate with the power processor that takes care of the driver section including power supply Correction Turn off power immediately and consult JVL E67 Unknown error from Power processor Internal error The main processor is not able to communicate with the power proces sor that takes care of the driver section including power supply Correction Turn off power immediately and consult JVL E68 Average current cannot be measured correctly The average current value in the motor phases cannot be measured correctly Correction Turn the Controller off and then on again If the error condition persists a hardware error has occurred It is important to note that the motor must not be moving when the Controller is
129. cription of the RS232 interface in RS232 Interface page 43 3 Switch on the Controller but ensure that the Analogue Input is 0 volt Only the Power LED and possibly Out may be active If one or more of the red LEDs is active or blinks the Controller is most likely set up for the wrong motor type Follow the instructions in General Aspects of Installa tion page 12 4 Send the command enter to the Controller and wait until the Controller responds with a status overview If the status overview is displayed the RS232 interface and power supply are connected correctly 5 Setthe Controller to Velocity Mode by sending the command MO 4 enter The Controller should respond Y indicating that Velocity Mode has been selected 6 The Controller is now set to Velocity Mode When the voltage applied to the analogue input is greater than OV the motor will move at a velocity which is proportional to the applied voltage If the applied voltage is less than OV negative the motor will move in the opposite direction For further information see Velocity Mode MO 4 page 59 8 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 1 8 Getting Started Torque Mode Mode 5 Minimum configuration PC card or Potentiometer when using Mode 5 Running Error Current T gt 75 C 10V Out Ground 53 o ui Analogue Input 25 O7 PL e O NL 25 O7 soN O N8 Incremental
130. der The GEAR command can only be used in Mode and is intended for use when the Controller is used for so called elec tronic gearing The gear factor can only be specified as a positive value See also Encoder Pulses for Master PRM page 145 or Gear Mode I page 52 Important Since the gear ratio is internally converted into a 8 bit scalar the difference between the master encoder and the motor can be some pulses after a certain distance This difference however means no loss of position since the start position will still be the same The actual GEAR setting must be verified Sent to Controller GEAR Received from Controller GEAR 1 000 Which means that the actual gear ratio be tween the master encoder connected at XI and YI and the motor is 1 1 y y The actual GEAR setting must be changed to 1 2 which means that the motor must move factor 1 200 with reference to the master encoder Sent to Controller GEAR 1 2 Received from Controller The gear factor can also be set in MotoWare using the parameter window AMC2x Parameter Setup Online x Auto Tuning Control Bits Search Zero PID tuning Main Parameters Basic Parameters User Registers X Registers Checksum Address o 4 Description ratio In this field Adjust the gear Mode Formats Electronic Gear Digital input fi p Pulse rev Master 500 3 Pulse In Encoder X Bear Ratio 0 4883 i Pulse Qut Pu
131. distance is determined by the GEAR command and the encoder resolution Both Inputs are equipped with a built in noise filter which cuts off all frequencies above IMHz The diagram on the following page illustrates minimum durations for the signals Input Voltage As standard the Inputs are designed according to the RS422 standard which means that the source must be a balanced output operating with a voltages of 5V Contact JVL if other signal formats must be used See also the description of Mode Getting Started Gear Mode Mode 1 page 5 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 37 3 11 Pulse Inputs Input Configuration 1 Inputs XI and YI are supplied with signals from an incremental encoder Normally used for electronic gearing Function and minimum durations 1 1 2 0us Input Configuration 2 Input XI is supplied with pulses and input YI determines the direction Movement occurs on the rising flanks Function and minimum durations 2 0us 1 0us gt le Input Configuration 3 Pulses applied to input XI move the motor in a positive direction Pulses applied to YI move the motor in a negative direction Movement occurs on the rising flanks Function and minimum durations 2 0us gt gt euo 90 degrees ee g LIL pusen P
132. dustri Elektronik A S User Manual AC Servo Controller AMC20 21 22 Hardware JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 23 3 1 Connections r Analogue inputs Home Reset input End of travel inputs Servo ON input High speed pulse outputs r Hall Input User Inputs User Inputs 55 EERE EER User Outputs Encoder Input ser Outputs Motor output JVL Bus Interface Power Dump Pulse Inputs RS232 485 Interface Mains Supply Co I Industri Elektronik V AMC2x Servo Motor Controller TTO504GB 3 1 1 Connections The illustration above shows the individual topics described in this Chapter Each topic is described in the following sections Power Supply page 25 Analogue Inputs page 41 Motor Connection page 27 Power Dump Output page 42 Encoder Input page 29 RS232 Interface page 43 Hall Input page 31 RS485 Interface page 46 Servo On Input SON page 32 JVL Bus Interface in the AMC2xP page 47 User Inputs page 33 End of travel Limit Inputs page 34 Home Reset Input page 35 User Outputs page 36 Pulse Inputs page 37 Pulse Outputs page 40 24 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 3 e Power Supply EMERGENCY STOP Emergency relay EN954 catgory 4 g L RS232 RS485 connected if cont
133. e 7 CS SE or users stone avenge aren oneris noms o femme fe ffs Peker fe re feron aroraa _ feer Jos Pelo rom oo re p feer es Pelle roses oo oe eem em Pn 2 _ b forora fo 5 Peke fe CNN CRM NN NN UTC st CPL Show current power leve current power level een pe 088 1 eerie __ e pera E een _ phd he esee Te TB T Eo Te E Em Ps _ 8 ken DIN CEN mM p ENF fremra rogamos fom seen os _ E eme pb est forsonet pp Er OS pesas j ren renes peer ee s bbb Continued on following page Notes Depending on the VFACTOR and PR register setting Consult the detailed command description JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 177 4 13 Alphabetical Overview of Commands Com Time aa Description msec Scere E Nominal Following error maximum 32767 100 mmm nu mco rq E ud 000000 ee 18 p le nr ee os Ple Ple Srowconmanes stow Hone rursus
134. e maximum that the motor can really produce During the following operation the actual torque is verified Sent to the Controller TOOUT Show the actual motor torque Received from Controller TQOUT 50 The actual motor torque level is returned which is 10096 of full scale JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 157 4 11 Command Description 4 11 127 Unhalt UH Com mand Description Min Max Jumet reeese nets ___ ___ x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description The UH command resets a halt state It is intended to be used after a Halt command If the motor is running and a Halt H command is sent to the Controller the motor will be stopped but will still be energized The UH command will in this situation release the halt state and allow the motor to con tinue The Halt and Unhalt commands can be used in all modes In mode 2 the positioning commands SR SRA SR SP and SZ zero search will automatically release the halt state before any movement is made In mode 3 a start signal at IN8 will also automatically release the halt state For all other modes the halt can only be released by the UH command See also Halt of Motor H page 113 Usage UH Release the halt state if any Example Sent to Controller UH Release the halt state Received from Controller Y The
135. e means which source that is used to produce the internal index pulse for aligning the motor commutation during normal continous operation See also Setting the Index Input page 193 Note that Yaskawa motors have their HALL signals encoded together with the encoder signals including the index signal This minimises the number of cables between the mo tor and the Controller See also Hall Input page 31 HALL x Set HALL type HALL Show current setting of HALL type 114 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 69 Description Example 4 11 70 Description Command Overview HELP me Exec Com Time mand Description msec SERA ee pene eee x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The HELP command is used to display an alphabetical list of the commands that can be used with the Controller Sent to Controller HELP Received from Controler Following Instructions can be used AC ADDR AP CHS Choi HALL Level Type HL e Exec Com Time mand Description msec Mese eee x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect To achieve correct decoding of the HALL element in the motor if the Hall element is used it is vital that the HALL set up is correct HA
136. e parameter setup AMC2x Parameter Setup x Main Parameters Basic Parms User Registers X Registers Filter Tuning Control Bits Search Zero Manual tuning Search Zero Parameters 2 2000 Acceleration 10 23 Velocity 20 NEG C POS Direction 2M fo Search HM ZR Automatic search after Reset HML LOW C HIGH Active Level HM C Status TT9025GB Get Setup Send Setup Save Ok ZA The acceleration used for zero search ZV The velocity used for zero search ZD The direction used for zero search when it is started ZM Zero search mode See the other pages in this section which explains in detail how the different zero search modes are carried out ZR If the zero search must be started automatically after power up this checkbox must be selected HML The active level for the actual sensor used for zero sensing For some modes i e mode using index this field can be by passed since the value is not used HM Show the actual level at the HM input Actual level means that high a dot in the field is when the input is applied a voltage corresponding to logic See also Technical Data page 182 After adjusting the necessary parameters they can be sent by pressing the Send Setup button Remember that all the other parameters also will be sent JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 77 4 10 Adjustment of Analogu
137. e 64 pa rameter sets x Show all parameter sets The Controller responds as follows X1 A 0 V 0 P 100 R 0 A 0 V 0 P 20 R 1 0 Note that these values are default values and can vary if the set up has changed JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 161 4 11 Command Description 4 11 133 Acceleration in Parameter Sets XA e Exec Mode _ Time mand Description msec 2 3 5 e ee ET x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description A required acceleration can be set for each parameter set If the acceleration is set to 0 the acceleration will not be changed by selecting the parameter set in question i e the previous acceleration value will be used Usage XAn x Set acceleration in parameter set n to x RPM Second XAn Show acceleration in parameter set n XA Show all acceleration values 4 11 134 Position in Parameter Sets XP Limits e Exec Com Time mand Description ee msec 0 2 5 be frostenmparammmrsom onere names x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Description A required position can be set for each parameter set If the position is set to null no change in position will occur but the acceleration and
138. e Input The analogue input is adjusted by default for 10 00 and 0 00V as zero point The hys teresis is default adjusted to 25 If this setting is to be changed the following pro cedure must be followed The motor can be controlled directly using an analogue signal applied to the Controller s Analogue Input Voltages applied to the Analogue Input must be in the range 10 V The Analogue Input is used in Velocity Mode MO 4 and in Torque Mode MO 5 See An alogue Inputs page 41 for further information about the Analogue Input Before the Analogue Input is used it must be adjusted for the actual application This ad justment is necessary because the signal source supplying the control signal to the Con troller may have an offset error or may only be able to supply for example 9 5V or less Select Velocity Mode MO 4 or Torque Mode 5 Ensure that the motor can run without damaging anything Adjust the zero point by setting the input to OV and send the command Set the input voltage to the maximum negative value max 10 and send the com mand AILI 5 Set the input voltage to the maximum positive value max 10 and send the com mand AIUI 6 Seta hysteresis value using AIH AIHI is set in steps of 4 88 mV The hysteresis is the range around the OV point in which the motor must not move 7 Reset the input voltage apply OV AWN The motor can now be controlled within th
139. e Line driver Opti 1000 Pulse tev 2048 ion Index C nt E TT90236B Please notice that when changing control bit 2 CB2 the bandwith is also changed CB2 is controlling the PWM frequency at the motor output The table below show the influence at the bandwiths by changing MAXFREQ and CB2 See also CB2 Set low PWM output frequency page 92 MAXFREQ setup Bandwith when 20KHz Bandwith when 5KHz CB2 0 CB2 1 See also Setting the Motor Currents page 195 for the complete current setting proce dure JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 129 4 11 Command Description 4 11 88 Description Usage Mode Selection MO oo Exec M E Passive 1 Gear 2 Position M E Register 4 Velocity 5z Torque x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Control of the motor can be made in one of six basic modes of Controller operation as given in the table below The MO command is used to select the Controller mode of op eration A sixth mode mode 0 can be used to power down the motor output and make the mode currentless The complete control circuitry including in and outputs will still be active after the mode is set to 0 MO x Mode no Mode Passive passive output Velocity MO Show current mode of operation 130
140. e PD shunt resistor does not stop the in crease in supply voltage the following occurs When the supply voltage exceeds 850V the Controller shuts down completely and the motor is released to avoid dam age to the internal circuitry The Controller sends an error message E38 Bus Voltage exceeds 850 V The PD output is activated until the voltage falls below 700V and the Controller remains in this error state until it receives the RESET command see Re set Controller RESET page 147 42 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 3 15 RS232 Interface 3 15 1 3 15 2 3 15 3 3 15 4 Interface Connection The Controller Interface uses the widespread RS232C standard offering the advantage that all Personal Computers and standard terminals can be connected via the interface The 3 interface signals Rx Tx and ground are used The interface cable length should not exceed 10 metres Do not connect pin 4 6 8 and 9 since they are used for other purposes Signal ground Tx Transmit Rx Receive The TX PD terminal must Chassis ground be connected to Tx pin 3 not isolated if the Controller is not using adressing TTO518GB Communication Protocol The Controller uses the following format I startbit 8 databit Odd parity Stop bit Note that a startbit is always used in the RS232C V24 protocol Communication Rate The Controller operates at a fixed communica
141. e active low therefore INAL 00000000 is set 120 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description Usage Input active level INAL Continued Example 2 Input 8 is required to be active low therefore INAL 01111111 is set INALRead active level for all inputs INAL abcdefghSet active level for all inputs a is IN8 abc can be either 0 or 1 INALxRead active level for input x INALx nSet active level to n for input x INAL can also be set from MotoWare using the parameter window AMC2x Parameter Setup Online 3 ControlBits _ Seachzero PID tuning Basic Parameters User Registers X Registers I Checksum Address 0 Description No name r Mode p Formats Electronic Gear 0 Passive 1 Gear Puse rev Masten 5000 2 2 Position Encoder gt P Pulse In Encoder Gen Hio fo C 3 Register C 4 Velociy Pulse Out _ 5 Torque Profile r Port Protection Limits 3 100 Power W Er Pulse 40 Accel s 2000 Pos En Sample J a Flw Em Pulse 32767 Torque i00 5 Fne En Pulse 1000 ACH S 10000 4 Limit Switches EL Low High Status Load 1 0 i Negative C NL Pae g sel Bias 00 a 495959799552 The active level for each input can be easily setup in these fields
142. e controller Reset makes The controller must be restarted for the changes to take sure that the controller is effect restarted with the new The setup can be saved in PROM for permanent use parameters Save Save and Reset Vital parameters have been changed TT0587GB After going through the different dialog boxes above the controller will now be setup to control the actual motor chosen The new parameters will now appear on the screen in the parameter window The motor should be able to run now however the parameters probably needs to be optimised for the actual inertias etc JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 15 e 3 Current filter optimizing 2 3 1 Optimizing the current filter optional The files in the motor libary is ment to be a good choice for getting the motor fast up and running without playing around for hours to find the right motor setup The current filter optimize function must therefore be seen as an option Please be awear that the controller include two main filter blocks Velocity and position filter block Controls the velocity acceleration and position Current filter This filter is receiving the output from the velocity position filter and convert the in formation to a specific motor current Velocity and position filter Current filter x 3rd Order Torque To Motor H gt Feed forward pid Current 2 Alpha Desired Speed
143. e errors that cause the output to be ac tivated see Read out of Error Status ES page 106 3 10 2 Overload of User Outputs All of the Outputs are short circuit protected which means that the output is automati cally disconnected in the event of a short circuit The Output will first function normally again when the short circuit has been removed The OE LED on the Controller s front panel is lit when one or more of the Outputs are short circuited The LED also indicates if the output circuitry has overheated due to an overload The error message E46 Over load on output ports will appear in the error register 36 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 Pulse Inputs Incremental encoder 3 11 1 3 11 2 User Inputs To internal Control circuitry Receiver DS9637ACM User Outputs Pulse Inputs Screen Gear Bus Ps Hot Surface A May Cause electric eme pair cable is recommended For electronic gearing an incremental encoder is used Channel XI Channel A Channel B Channel B TT0585GB L RS232 RS485 EET General The Pulse Inputs are used in Mode I Each time a voltage pulse is applied to the Inputs the motor moves a specified distance 3 different pulse formats can be chosen The ratio between input pulses and the movement
144. e from which input is required The ad dress parameter must be specified as a value between 0 and 31 The JVL Bus inter face enables up to 32 modules to be connected to the interface The address of each module must be set via DIP switches on the individual module Consult the user man ual for the actual module f Specifies the flag or input in the external module from which input is to be read f must be specified in the range 0 255 Consult the user manual for the actual module to see which flags or inputs are available An IOMI I Input output module is used The Module address is 2 Input 5 has to be read and tested to determine if the value is logic input is activated If this is the case the module Counter is read and the program continues In the instruction manual for the IOMI I module the Counter register is specified as register 2 and the register for all 16 inputs is 3 START IF I2 5 1 VERIFY FLAG 5 IN MODULE 2 ADDRESS 2 IF FLAG IS EQUAL 1 LOGIC 1 MOVE MOTOR TO POSITION 5000 OTHRWISE BYPASS NEXT LINE SP 5000 5 5000 MOVE MOTOR POSITION 5000 OUT1 4 ACTIVATE OUTPUT 4 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 119 4 11 Command Description 4 11 76 Description Usage Example 4 11 77 Range Default Description Example Read Status of Inputs IN1 INS er Exec senere Oe ee Me
145. e limits set by AILI and AIU I with a range around the zero point given by AIO and AIH I in which the motor remains stationary The motor is controlled linearly in the range from the maximum negative voltage to the hysteresis value below the zero point and in the range from the zero point plus the hys teresis level to the maximum positive voltage Note that if the zero point is not OV and the negative voltage is not numerically equal to the positive voltage the control profile will be asymmetric Torque or velocity Maximum negative voltage AIL1 Zero point AIO1 Input voltage Maximum positive voltage AIU1 Hysteresis AIH1 TT0561GB 78 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 11 Command Description 4 11 1 Command Modes Description Usage Example 4 11 2 Command Modes Description Usage Example Show set up 1 2 3 4 5 The most important details of status and set up can be displayed using this single com mand Display values Sent to Controller Received from Controller type no and values are examples AMC20P VE 2 45 MCV 4 5 PCV 1 5 Jan 15 2001 ADDR 0 Max Velocity RPM VM 100 Acceleration RPM S AC 6000 Average current AMP CA 3 00 Peak current AMP CP 10 00 Temperature TP1 28 TP2 32 Torque 100 0 Pulses Revolution PR 8192 Mode MO 2 Motor s
146. e must be answered The flag can be set in the following states 0 If the address is set gt 0 no reply is returned Only register read backs CBI 1 If the address is set gt 0 any request will be answered Default JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 91 4 11 Command Description 4 11 21 4 11 22 4 11 23 Set low PWM output frequency To minimise heat disippation from the drive the PWM frequency used in the IGBT output stage can be decreased from 20kHz default to 5 2 Normally a decrease of the sample rate in the current loop will reduce the audible noise significantly However the dynamic performance will also be reduced Using a PWM frequency at 5kHz will normally not influence the dynamic perfomance at motors above 1 5kW since the timeconstant is typically also higher at motors in this power range CB2 0 PWM frequency 20kHz default AMC20 and 21 2 1 PWM frequency 5kHz default AMC22 Important Remember to retune the current filter after changing the CB2 See also page 157 CB3 Enable Disable Limit Switches If the limit inputs NL and PL are used for other purposes the limit function can be disabled Disabling means that the inputs will still be usable but they will not interrupt the motor operation or cause any error warning messages The inputs NL and PL can always be used in a program or can be verified by the RS232 RS48
147. e program line is executed again and again until the condition is fulfilled 0 5ms may therefore elapse before the next line is executed WAIT condition It is intended to make a program with following behavoure The program execution must be halted until input is activated Then the motor must run 100000 pulses with the ve locity of 1000 RPM When the position has passed the first 8000 pulses the motor should accelerate up to 2000 RPM After the motor has reached the final position 100000 it must return to zero position VM 1000 Set velocity equal 1000 RPM AP 0 Zero the actual position counter START WAIT IN1 1 Wait until input 1 is activated SP 100000 Run motor to position 100000 WAIT gt 8000 Wait here until position 8000 is passed then change velocity to 2000 RPM VM 2000 Accelerate to velocity 2000 RPM WAIT 5 0 Wait here until motor is stopped SP 0 Return motor to zero position WAIT 5 0 Wait here until motor is stopped J START Jump to label START 160 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 132 Show all Parameter Set Values X me Com mand Description Description Usage Exec Time msec x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The X command can be used to obtain a quick overview of all the values in th
148. e seek zero command SZ reset See Search Zero Point SZ page 155 2 The Controller is switched on only if XR 1 See Zero Point Search Function page 75 3 Ifthe Controller is set to Mode 3 and register O is selected See Register Mode MO 3 page 54 The Home Input is primarily used if the Controller is used for positioning purposes The Input is optically isolated from other Controller circuitry with the exceptions of IN I IN8 and NL and PL End of travel Limit Inputs All these inputs have a common ground denoted IN The Home Input can operate with voltages in the range 5 to 30VDC Note that the Input is designed to receive a signal from a PNP output since a positive current must be applied for the Input to be activated 3 9 2 Connection of NPN Output To connect the Input to an NPN output a Pull Up resistor must be connected between the Input and the supply See above illustration The size of the resistance depends on the supply voltage used The following resistances are recommended Supply Voltage Recommended Resistance 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 35 3 10 User Outputs AMC2x output circuit PNP output 1 1 1 1 1 1 1 1 1 1 1 1 E AMC2x 1 E User Inputs LJ 7 1 700 Foa LUNT JE E35 Load O TT
149. e stored in the error status register 0 This register can be read using the command ESTO enter see also Error Status Text EST page 109 Commands may be sent as both upper case and lower case characters With the excep tion of error messages replies from the Controller are always upper case The following sections described all of the RS232 commands As mentioned above all commands must be terminated by a carriage return character CR or a semi colon 7 before they will be interpreted by the Controller These characters are not included in the description of the individual commands 50 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 2 Operating Modes General Description The complete AMC2x series of Controllers offers 5 basic modes of operation These 5 modes cover most typical applications If a more complex solution is required the AMC2xP models can be used AMC2xP models offer the advantage of downloading a program in high level language that describes a motion sequence together with I O sig nals etc If AMC2xP models are used please note that switching between operating modes can be done under program control by using the MO command but when shifting between 2 different modes there will be a short delay before the system stabilises The delay time is in the range 1 5 mseconds JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 51 4 3 Gear Mode MO
150. e this Sent to Controller LOAD 2 0 Received from Controller The parameter window in MotoWare can also be used to set the load factor x Auto Tuning Control Bits Search Zero PID tuning Main Parameters Basic Parameters User Registers Registers Checksum Address 0 Description No name r Mode Formats r Electronic Gea D Passive Digitali igital input 1 v Pulse rev Master 500 4 5 Bint Pulse In Encoder Gear Halo faa H Register 4 Velocily pras eil 5 Torque Profile Port gt Protection Limits fo DUT Active high Power w 1000 4 E I 26 Pos En Pulse 40 8 Accet is 00 Har Adjust the load factor Pos Sample 9 here Flu En Pulse AmE Torque 1000 4 sc 3 F Fnc Pulse 1000 ACH 5 100000 i 79 8 Limit Switches li pM Low High Status oad fro 2 Negative C NL 3 Positive PL Bias 00 TT9024GB 128 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 87 Description Current Loop Bandwidth MAXFREG Com mand Description Min Max MAxFREG Loop bandwidth o a ____ os xjojejoloojoo x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The motor current is updated with a f
151. ect addressing by using square brackets and R 3 and R3 will give the same result and give the possibility of using another register or an equation as the index for the register The following gives examples of indirect ad dressing VM R R5 CA R R5 1 4 8 4 Programming the AMC2xP using MotoWare Using MotoWare programs can be easily developed and saved in the Controller Proceed as follows to create a new program I First open a new program document either by selecting FILE and then New or by selecting the new document icon Open a new program document MotoWare Motol File Edit Keys View Window Applications Setup 2 Select the correct Controller type and if required whether addressing and check sum are to be used Document Status is DEMONSTRA AMC2xx must be selected here Controller otherwise the selected Controller AC 100 ______ 2 7 type is incorrect Checksum START OUT1 1 IF IN1 Address SP 10 fo IF IN2 SP 0 If checksum or address WAIT IF RS gt needs to be changed J WAI do it here Kill D 100 Ji STAR Parms Send Get Prog Trace On 62 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 8 Program Execution in the AMC2xP 3 Key in the program in the program document editor window Key in program here sox MotoWare CP TEST M
152. ect in all modes In general the acceleration must be set to a proper value that ensures the motor is pow erful enough to start and stop the load inertia The left hand illustration below shows a situation where the acceleration is set to a proper value 10000 thus giving a smooth velocity profile with no overshoots or oscillations The right hand illustration shows an example where the acceleration is set to an extreme value 500000 causing the system to oscillate Overshoot after acceleration is avoided by internal The system is very Velocity Theoretical limit function unstable since the acceleration __ acceleration value is too high The motor torque is not sufficient to handle the load Only Mode 1 3 10000 The system is stable since the motor can handle the load 500000 I 1 1 1 I I TT0562GB Important It is possible to change the acceleration during a motion sequence but if this is done in mode 2 or 3 position related modes a side effect of the change can be that a certain position overshoot occurs The side effect only takes place if the AC change is done during deceleration The side effect may arise because the acceleration has higher priority than the positioning which often can be an advantage since the mechanics are not overloaded by rapid speed changes Acceleration is Velocity changed here to a lower level
153. ed in step 3 SP stays at 100000 desired target position 8 SRA 100000 is executed again SP is therefore set at 147823 SP AP SRA AP 0 AP 47823 AP 100000 TT0583GB See also the commands Halt of Motor H page 113 Smooth Halt of Motor SH page 150 Unhalt UH page 158 154 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 311 122 Description Usage Example 4 11 123 Description Usage Example Sample Time STIME Com Show set update time x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The sample time for the outer servo filter can be adjusted using this command The outer servo filter covers the position loop and the speed loop The current loop filter that controls the current to the motor cannot be adjusted and is fixed to 50 uS 20kHz The resolution for the sample rate is 0 05 msecond If high inertias are applied to the motor the sample rate must be increased A more detailed description is given in Adjustment of Servo Regulation page 18 STIME x Setservo filter sample time STIME Show servo filter sample time Sent to Controller STIME 5 0 Setsample time to 5 0 msecond 200Hz Received from Controller Y The Controller has accepted the command sample time is now changed Sent to Controller STI
154. ed on a PC Mains Supply and ground for setting up the AMC2x with ow Consult power supply chapter positioning data etc for details only during installation AUD Industri Elektronik V AMC2x Servo Motor Controller TT0552GB Follow the procedure below for operation of the Controller in Mode 3 Register Mode Connect the Controller as shown above For further details see Motor Connection page 27 User Inputs page 33 User Outputs page 36 Encoder Input page 29 Power Supply page 25 Connect the PC via a terminal program e g JVL s MotoWare or Windows Terminal if necessary following the description of the RS232 interface in 5232 Interface page 43 Switch on the Controller but ensure that all inputs are inactive Only the Power LED and possibly Out may be active If one or more of the red LEDs is active or blinks the Controller is most likely set up for the wrong motor type Follow the instructions in General Aspects of Installation page 12 Send the command enter to the Controller and wait until the Controller responds with a status overview If the status overview is displayed the RS232 interface and power supply are connected correctly Set the Controller to Register Mode by sending the command 3 enter The Controller should respond Y indicating that Register Mode has been selected The Controller is now set to Regi
155. eened cable is used to the encoder Encoder connections Motor connections AMC2x Encoder AMC2x Motor ED1 P2 3 PS U2 1 ED2 P3 4 PS v2 2 ECM P8 9 PGOV w2 3 6 5VO P9 8 PG5V Earth Motor W2 Terminate screen cil al inside motorconnector Screen terminated at earth terminal TT0590GB See also Accessories page 207 for a list of standard cables JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 201 5 8 Examples of Motor Connection 5 8 3 Yaskawa SGMG SGMS series If set up is performed with the MotoWare parameter set up select the correct motor in the motor library Follow this setup by running an auto tuning to optimise the filter pa rameters See also General Aspects of Installation page 12 Female at cable Male at AMC2x Motor type SGMG 30V 3kW 400V Feedback connector at AMC2x eee MULT E N The screen must be terminated inside Encoder connector the encoder connector gt svo 1105 Reserved LEN o1 Reserved t 1 1 1 1 1 i 1 1 1 1 ot HLA 5 5 HLC 2 o1 gt 1 1 7 It is recommended that screened cable is used to the
156. ements This state is typically provoked by too high an average current or a following error but other circumstances can also be the reason Verify the other messages in the error register to determine the exact cause of the fatal error state Example The average current during normal operation has been too high and the Controller is set in mode 0 If a positioning command is used such as SP xxx the Controller will return the 14 Not allowed due to previous fatal error Correction Only a RESET or power down of the Controller will cancel the fatal error and there by allow the actual command to be executed E15 Error initialising motor The Controller has tried to initialise the motor but for some reason this was not possible The problem can be one of following I The INITTYPE is set to 0 fixed field initialisation but during initialization the motor was unstable The commutation angle could not be found 2 The INITTYPE is set to mixed field initialisation This is a future option not sup ported The initialization is therefore cancelled 3 The INITTYPE is set to 2 hall initialisation but the HALL register is not adjusted for the right Hall sensor Correction Check the motor and feedback encoder hall connections and consult the Initialisa tion Type INITTYPE page 122 or Hall element Type HALL page 114 to ensure the correct setting JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 169
157. ene nennen tette 78 Command Description tesi eise e dre ree idee etr Radiant iat 79 Error Messages OE HERES 167 Alphabetical Overview of Commands essent ener enne trennen ementi 176 Appendix e eee teen esee ____ _ _ _6_6_6_6_6______ Technical Data c 182 Physical Dimensions 5er hr e E ON NR SR eet ORE er e reed 183 Power Dissipation d X OI 185 Servo LOOP a a E EH Mm 186 Error Indication ote ce en FRENIS RENNES sadistiske 187 Typical Errors pietre era D RE E REA ERU ET E E RE TU ride 188 Connection of an Unknown Motor Type HH 190 Examples of Motor Connection CQ 200 Using Linear Motors m dats ees 205 Typical Applications e 206 cl p 207 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 Introduction JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 1 1 Features Program JVL Bus Execution Interface
158. er have pro duced in one revolution where the indexpulse was detected etc A trap could be if one of the 4 parameters CP CA PR og POL is not set to a prober value before the test since those 4 parameters could make a big influence on the test re sult Also make sure that the motor can move freely within any mechanical collisions An optimal situation is if the motor is not fitted to any mechanical load MTEST Motor test The test will be started It is desired to test if the actual motor connected to the controller matches the setup of the controller Therefore the MTEST command is sent in the online editor Sent to Controller MTEST Received from Controller Motor Data CP 8 0 CA 4 0 PR 2048 POL 8 Parameter Setup Actual R 2048 2046 T 270 0 269 3 T 208 0 209 4 0 LEI ET i This test shows that all the parameters set correct except for the 2 bit Direction of the Hall sensors It is acceptable that the PR POFFSET HOFFSET shows a small tol erance In general the tolerance must not exceed 3 If the tolerance is higher it must be corrected To correct the CBI2 bit sent following string Sent to Controller CB12 0 Received from Controller Y Now all parameters is set correct Try the MTEST command once more to make sure and finish by sending the MS command in order to save the setup permanent in the con troller See also the chapter Connection o
159. er sets Received from Controller XV1 10 XV2 1000 XV63 0 4 5 2 Setup of X Registers Using MotoWare If MotoWare is used for installing and adjusting the X registers this can be done by se lecting the Parameter Sets menu File View Applications Setup Help Dig On line Editor inner Profile Contole Recipe Tuning Choose Parameter Sets Address The X Registers tab should then be selected to access the X register window This gives access to all of the X register settings Note that it is not necessary to adjust the XV and XA registers since the default in the main parameter setup is used if a certain XV or XA register is set to 0 Filter Tuning Control Bits Find Index Pulse SearchZero Setup Main Parameters _ BasicParms User Registers X Registers Register Acceleration Velocity Position Relative The p arameters used 0 po roges Used for Search Zero for zero search are taken from the standard zero search registers f ZA ZV ZD and ZR EN HM mn M Eu L mm If Acceleration or Velocity is equal to zero Default values are used TT0559GB Get Setup Send Setup Open Save Ok 56 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 5 Register 3 positioning with pause handling em limit stop signal reg while running A m Wy 1 1 i 1 1 1 1 1 1 18 X Register x2 X2 Rogister X3 0 1
160. ero search mode to n ZM Show current zero search mode Sent to Controller ZM 0 Set zero search function to mode 0 Search HM Received from Controller The Controller has accepted the command Sent to Controller ZM Show current zero search mode Received from Controller ZM 0 current zero search mode is 0 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 165 4 11 Command Description 4 11 140 Zero Search After Reset ZR Com mand Description Min Max _ Em _ fo 5 80 x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Selection 0 No automatic zero search after reset Automatic zero search after reset Description ZR determines whether a zero point search should be carried out when the Controller is turned on or has received a RESET command For a complete description of the zero search function and related commands see Me chanical Reset page 75 Usage ZR Enable or disable the automatic zero search ZR Show the actual setting of ZR Example Sent to Controller ZR 1 Enable automatic zero search after reset or power up Received from Controller Y The Controller has accepted the command Sent to Controller ZR Show current state of ZR Received from Controller ZR 1 The automatic zero search is enabled 4 11 141 Zero Search Velocity ZV ode Com mand pesor
161. erter res olution is 12 bit which gives a complete number of 4096 steps in the range 1 to 10 Read analogue input in ADC steps 12 Read analogue input 2 in ADC steps Sent to Controller AI Ask the controller to read back the A D val ue Received from Controller 11 2047 This value indicates that the analogue input is applied with 10 00 Volt Analogue Input Hysteresis AIH1 AIH2 me Exec Com Time mand Description msec A ADC steps AIH1 2 Hysteresis for analogue input a 10 50mV os 1step 5mV x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The AIH I command is used to define a range around the zero point of the analogue input voltage in which the motor must not move The hysteresis range is symmetrical around the zero point twice the value specified The AIHI value is specified in terms of a number of AD converter steps The ADC has an operating range of 4096 steps 12 bit i e with an adjustment of I OV to 10 at the input a resolution of approximately 5 mV per step is obtained See Adjustment of Analogue Input page 78 for further information about the use of this command AIHI x Where x specifies the hysteresis value AIHI Show current hysteresis value and current values of the three calibration commands AILI AIO and AIUI Sent to Controller AIH Ask the contro
162. example of the use of a sub routine R5 500 R6 1000 RI 5 JS TEST set acceleration to 500 RI 6 JS TEST set acceleration to 1000 jy END TEST AC R RI RET END JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 73 4 8 Program Execution in the AMC2xP 4 8 12 Pause in Program Execution Delay The D command pauses program execution The break in msec is defined by specifying pause or D pause While a program line is executed every 2 msec the delay spec ified will be in even multiples of msec For example 13 will make a break for 14 msec RI 20 Set RI to 20 D RI Wait for 20 msec 74 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 9 Mechanical Reset 4 9 1 4 9 2 4 9 3 Zero Point Search Function The motor can be brought to a known mechanical reference position i e reset using the zero point search function This is achieved using a sensor connected to the HM Home Input default The motor index signal can also be used The parameter set ZA ZV ZD ZR and ZM determine how the zero point search is carried out The parameter HML de termines the Home Input s active level These parameters have the following functions Parameter Function Specifies acceleration deceleration during zero point search The specified value is expressed in RPM Second If ZA is set to 0 the Controller will use the AC parameter durin
163. executed whether the program is running or not Usage LINE Show line number JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 127 4 11 Command Description 4 11 85 List Program LIST Only AMC2xP mode Com peeeriton han ust Srov user srera twan I I es leee x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description List the user program in RAM memory Note that jump labels from original program code created in MotoWare are converted into absolute line numbers Additionally com ments etc are not retrieved since they are only kept together with the original program Usage LIST List the program 4 11 86 Load Inertia Register LOAD ode Com Rama fm x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Description This register compensates the filter in applications where a higher load inertia has been added the motor after the tuning is done Usage LOAD x Set load register to factor x LOAD Show actual load register setting Example The tuning is done at a motor with kg m but no load Afterwards a load inertia is added with the same inertia as the motor Ikg m The load register must therefore be set to 2 The following must be done to achiev
164. f an Unknown Motor Type page 190 132 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 92 Description Usage Examples 4 11 93 Description Usage Examples Negative Limit signal status NL me Exec Com Time mand Description msec ERA e em ee x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Shows the actual level of the NL negative limit input high 1 or low 0 Note that the NL command does not show whether the connected contact is active or not but wheth er the input is high 1 or low 0 The definition high means that a voltage is applied to the NL input The NL command is not influenced by the NLL setting See Negative Limit Input Level NLL page 133 The NL input is basically intended to be used for the negative limit switch but the NL command can also verify the NL input in general For a hardware description of the NL input see End of travel Limit Inputs page 34 NL Show current level at the NL input Sent to Controller NL Show the actual level at the NL input Received from Controller NL 1 actual level at the NL input is which means that a voltage is applied to the input Negative Limit Input Level NLL me Exec Com Time mand Description msec re m Pre _ x Can be set verified but no effect Has effect
165. fset 270 0 4 Current Fitter Mean ARMS 40 4 Hall Elements Active Level Low C High Peak ARMS 12 0 E Hall Elements x Current Filter Gain 1 0 il Bandwieth He __ 5 Set up of initialisation type ps Encoding 4 PWM Freq KHa 20 Set to Fixed Field no hall Encoder Type Optimize Pulse rev 8132 i Initialization Index C Off On Fixed Field Mined Field Hall You are about to change Special vital motor parameters EIE Warning Start up of Motor without Hall Element The Controller can be initialised with or without the use of a Hall element in the motor Hall sensors in the motor offer the advantage that the motor stays in a stationary position after turning on the power For operation without the use of a Hall element the alter native method is to apply a fixed current and thus produce a fixed magnetic field in the motor This fixed field will make the motor move to a known position where the Con troller commutation firmware will be set to a zero value This is absolutely necessary in a servo system since the magnetic field is controlled in a closed loop Proceed as follows I The Controller s Hall input must be disabled and fixed field initialisation must be se lected Set Initialisation to Fixed Field or send the command Initialisation 0 in the On line editor 2
166. g addressing this example will result in error E5 Correction Use a proper command E6 Parameter error or out of range There is an error in the specified parameter or the parameter value is out of the allowable range Example SP 111I111I11I1 or VM 8G7 Correction The Controller cannot handle values as great as I I 1 I I I I I I I I I in the first example Use a value within the allowable range In the second example parameter values must not contain alphabetic characters E7 Register number error or out of range Error in register number Example XP7777 or XP4F Correction In the first example use a register number in the allowable range In the second example register number must not contain alphabetic characters E8 Data can not be stored in FLASHPROM The set up cannot be stored in the FLASHPROM A hardware error has occurred that prevents the CPU from communicating with FLASHPROM Correction Try to restart the Controller by shutting off the power Try to set Controller to default by typing SD followed by MS Restart Controller E9 Checksum error The Controller s receiver s calculated checksum is not the same as the transmitted checksum Example 255KP 25F3 Correction Send the command as 255KP 25DB W10 Parameter will be rounded The Controller has received a parameter value which must be an integer Example VM 1000 8 Correction Send the command specifying an integer value 1000 or VM 1001 Exa
167. g in Sequence If the four LEDs Running Error Current and T gt 75 C blink in sequence it is an indication of a PROM error When the Controller is switched on the checksum in the Controller s program memory PROM is verified If the pre programmed checksum does not match the calculated checksum the Controller will not operate the motor The PROM may be defective Try resetting the Controller Four LEDs Blinking Simultaneously If the four LEDs Running Error Current and T gt 75 C blink simultaneously a motor error or encoder error has occurred When the Controller is switched on a check is carried out to ensure that the motor and encoder are connected correctly The PWM signal to the motor is gradually increased until movement is registered or the PWM signals reach 5096 In this way the Controller can check whether l The motor is correctly connected i e moves in the right direction 2 The motor is blocked i e draws a lot of current without the motor moving 3 The encoder is connected incorrectly Check that the motor or encoder is connected correctly Use the EST command Error Status Text EST page 109 for further information from the Controller JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 187 5 6 Typical Errors 5 6 1 5 6 2 During installation and use of the Controller various errors may occur Information about many of these can be obtained from the Controller itself u
168. g zero point search ZD 1 results in zero point search in ZD 1 results in zero point search in a a negative direction default positive direction Specifies the nominal velocity during zero point search If ZV is set to 0 the Controller will use the standard velocity VM parameter during zero point search ZR 0 Specifies that the Controller ZRO 1 Specifies that the Controller does not perform a zero point search automatically performs a zero point when powered up search when powered up HML 0 HM input active low HML 1 HM input active high ZM 0 default HM input is used for ZM 1 HM is disabled The index EZ in sensor After a home seek is started put is used as for home sensing After a the motor will move until the HM in home seekis started the motor will move put is activated until the index signal changes Start a Zero search A zero point search will be carried out after one of the following conditions is met After start up power up or after the Controller has received the RESET command This only occurs if I see above table 2 If the Controller receives the search zero command SZ 3 Ifthe Controller is set to Mode 3 Register Mode and register 0 is selected During zero search the RS register will have the value 6 Zero search Interruption A zero search can be stopped or paused in following ways A Halt command H will stop the zero search immediately
169. he cable as well as in the controller will be extreme As a general rule the following maximum lengths are recommended At 5 2 The capacitive load of the output of the controller may not exceed I2nF 18nF This val ue is normally exceeded having more than 20m 30m cable At 20kHz default The capacitive load of the output of the controller may not exceed 3nF 4 5nF This value includes the internal capacitance of the motor This value is normally exceeded having more than 5m 7 5m cable The values in brackets is valid if 230VAC is used as supply The controlbit CB2 determines the switching frequency See also CB2 Set low PWM output frequency page 92 If a higher cable length is desired please insert a motor inductor between the controller and the cable JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 27 Motor Connection Power Running Error Current AC Servo Motor Motor Output Gear Bus L RS232 RS485 J Mains Supply Nj Industri Elektronik V AMC2x Servo Motor Controller TT0563GB 3 3 5 Connection of 3 phase Motor To connect a 3 phase brushless motor to the Controller terminals U2 V2 and W2 are used Screened cable must be used to connect the motor to the Controller The specific motor s average current and peak current must be set using the 2 Con
170. he diagrams show the connec tions between Controllers and an IBM AT or IBM XT PS2 PC XT PS2 Controller Address 2 Controller Address 1 To other Controllers Addresses 3 4 5 Controller Address 2 Controller Address 1 To other Controllers Addresses 3 4 5 TTO524GB JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 45 3 16 RS485 Interface The Controller also includes an RS485 interface in addition to the normal RS232 inter face The RS485 interface is intended for purposes where to 32 controllers are con nected on the same interface in a noisy environment B Terminator Connect to A if Controller is the last Unit on the interfacebus TT0525GB The communication protocol is exactly the same as that for RS232 communication The only difference is the balanced signal lines and the fact that all communication is half du plex which means that the Controller cannot send and receive at the same time unlike RS232 communication The RS485 interface makes it possible for up to 32 units to be connected to the same interface bus On the last Controller on the interface the terminal marked Terminator pin 8 must be shorted to the A terminal pin 4 The following illustration shows a typical system with 2 or more units connected to a computer or similar Controller Controller Address 1 Address 2 oN gt To controller 3 32
171. here rel opis lt gt lt gt or lt gt value register or arithmetic expression Logical equations may use ordinary arithmetic expressions registers relational opera tors lt gt lt gt or lt gt and logical operators AND and OR The order of evaluation for OR and AND cannot be changed using parentheses A logical expres sion must be specified before and after an AND or an OR operator logical expression must contain a relational operator Thus it is not sufficient to specify an expression such as AC OR VM but an expression such as AC gt 0 OR VM 0 is legal As many relational and logical operators as required may be used providing the formal requirements are met A logical equation may also include arithmetic expressions in which the result is compared to value register or another arithmetic expression The following illustrates examples of logical equations Equations Comments INI ORIN2 1 OR IN3 AND 4 Is true if IN I or IN2 is I or IN3 and IN4 is I AC gt 8 4 3 AND INI IN2 IN3 IN4 Is true if the acceleration is greater than 8 and when INI is at the same time as IN2 IN3 and IN4 are or INI 0 and only one of IN2 IN3 or IN4 is 0 AC VM INI Is always true when the acceleration is greater than zero and different from the velocity The following are illegal AC gt 45 OR VM 67 AND AC VM Parentheses cannot be used to change the order of evaluation of OR a
172. ilter Without Prefilter Velocity RPM Pos Error 3000 00 6000 00 Position error is 0 when the target position is reached 0 00 0 00 1000 00 TT0541GB By enabling the Prefilter Prefilter set higher than 0 the positioning error can be min imized to be close to zero The following curve shows a typical profile after tuning has been done with Prefilter With Prefilter Velocity RPM Pos Error 3000 00 1500 00 Position error is when the target position is reached The position error is extremely 10 00 0 00 1000 00 TT0564GB The choice wheather to use Prefilter or not must depend on the audible noise desired and the efficiency etc In general using the prefilter will create a very agressive system which will reach very rapidly and hard against position errors JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 21 2 5 Adjustment of BIAS The Controller includes a parameter denoted BIAS This parameter can be used in appli cations where the motor is subjected to a static load e g a lifting mechanism The BIAS function enables a compensation to be made for the static load regardless of whether the load is pushing or pulling on the motor This BIAS adjustment is normally advantageous since the balance in the filter is uniform regardless of the direction of mo tor rotation and ultimately enables easier adjustment of the complete system and a faster re
173. ine number 0 A program line is executed every millisecond The Controller can thus take care of all the functions required by an AC Servo Controller For example power consumption and average current are monitored and it is possible to communi cate via the RS232 interface when a program is executed The programming language itself is very simple and resembles BASIC The program is not compiled but is interpreted during execution This gives the advantage that in principle only a terminal program is required to program the Controller Use of Commands in a Program The inclusion of a command such as one of the show value commands will result in the returned value being sent over the RS232 interface For example if the current ac celeration is 100 the command AC alone will result in the following string on the inter face AC 100 The command AC 200 however will change the acceleration to 200 When a command is included in an arithmetic expression the value of the register is sub stituted into the expression For example the program line VM AC 100 will set the maximum velocity to the value of the acceleration plus 100 When register values are in cluded in expressions in this way no account is taken of the implied units velocity and acceleration in this case When for example velocity is changed using the VM command the effect on motor operation occurs instantaneously Changes in motor parameters must therefore be made with great c
174. information to the Controller by pressing SEND If required save the setting in the Controller s non volatile memory by pressing SAVE in the send dialog window To set the number of poles via the on line editor the POL command is used Example POL 8 enter Set the number of poles to 8 4 sets POL enter Display the current number of poles setting To save the setting in the Controller s permanent memory key MS enter 194 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 9 7 Connection of an Unknown Motor Type 5 7 5 Setting the Motor Currents A brushless AC servo motor has 2 current limits which must not be exceeded in order to avoid overheating the motor or reducing its operational lifetime These current limits are the maximum allowable average current and the maximum allowable peak current and are specified in the following manner Use the online editor in the MotoWare pro gram from JVL Step Average Current CA Consult the data sheet for the actual motor in question to determine the max allowable average current This value may be specified as Continuous Current Rated Current or Nominal Current The average current is set using the Controller command in the on line editor Example set the average current value to 1 4 Amp key 1 4 enter The Controller will then under no circumstances allow the motor to draw a continuous current greater than
175. ing the motor s peak current The value is specified as the maximum allowable RMS current per motor phase Please note that some motor manufacturers specify this value using other terms such as the maximum motor current which means the total current flowing into the motor This value will be higher by a factor of the square root of 3 1 732 See also Current Level in 96 CL page 99 or Peak Current CP page 101 The actual motor phase current can be measured with the command Motor Current CU page 102 CA xx xx Set average current value in Amp CA Show actual setting of max average current Sent to Controller CA 4 15 Setthe allowable average motor current to 4 15A Received from Controller Y The controller has accepted the command Sent to Controller CA Show current average current limit Received from Controller CA 4 15 The max allowable average motor current is set to 4 15A See also Setting the Motor Currents page 195 90 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 19 4 11 20 Control Bits in General CB In addition to the user registers R registers the Controller contains a number of control bits These bits control some basic parameters functions in the Controller Mostly these parameters or functions are special compared to the standard functions described in this chapter For example a bit can control whether a certain inpu
176. ion To optimise the complete system follow the instructions given in Adjustment of Servo Regulation page 18 If the motor is not recognised follow the instructions given in Connection of an Un known Motor Type page 190 12 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 2 2 Transfer of Parameters to the Controller MotoWare MotoWarel File Edit MainKeys View Window Applications Setup Help TT0537GB Dae Hle Sle 2 2 MotoWare1 Controller Spec selected in the Setup menu Checksum Address fo E Key OK when Controller Type AMC2xx is selected fam C2xx AC servo x Cancel f pe OK For easy transfer of complete parameter sets to the Controller JVL s PC based pro gramming tool MotoWare is recommended The program is started and the RS232 cable connected to the Controller Set MotoWare to work with the AC Servo Controller by selecting AMC2xx AC Servo in the Controller Spec window in the Setup menu See illus tration above This adjusts MotoWare to work with the 20 21 and 22 making avail able new windows that include amongst others a graphic display of motor operating conditions Key OK and the following screen is displayed MotoWare32 File View Applications Setup Help On line Editor Profile Parameter sets is selected Document A ber in this menu Recipe Tuning TT0543GB Select Parameter Sets i
177. ion is much lower Example In an application the total output power to the motor is 3 kW This surcomstance result in following power dissipation 40 3000 0 1 340W This amount of power 340W will be dissipated as heat inside the controller The surounding cabinet must therefore be able to absorb some of this heat Please make sure that an area is keept free in each end of the controller to asure that a free air circulation is possible JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 185 5 4 Servo Loop The Controller uses a servo loop based on Z transformations as illustrated in the figure below Velocity and position filter Current filter 3S SS 1 Desired Speed 3rd Order Feed forward Filter 4th Order Filter BIAS optional KPHASE Actual Position 2nd Order 1 1 I 1 I 1 i Feedbackfilter TT0544GB 5 4 1 Servo Loop The servo loop can be adjusted using the Controller s auto tuning facility Additionally the BIAS parameter can be optimised if the system is loaded with a constant force in one direction The BIAS can establish equilibrium in such a manner that the basic filters can be concentrated on regulating the motor force under dynamic conditions See also Adjustment of BIAS page 22 The KPHASE parameter must be adju
178. is feature is only used if it is required that the motor does not move during start up of the Controller Almost all types of Hall sensor can be connected providing they are equipped with one of the following types of output NPN PNP or Push Pull output The Hall sensor signals must be within the voltage range 0 to 5V Note The cable between the Hall sensor and the Controller must always be screened cable and the screen must only be connected to the Controller s encoder hall chassis terminal ECM Some motor manufacturers e g Yaskawa use an integrated hall element where the out put signals are encoded together with the incremental encoder signals See Examples of Motor Connection page 200 For further details see Setting the Hall Element page 196 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 31 3 6 Servo On Input SON This diagram is used if an NPN output is connected Inductive sensor PowerSupply or similar 45 30VDC 4 Power NPN Output Running Error Current PNP Output p Power Supply o 5 30VDC Inductive sensor or similar SON Servo ON Input Pd User Inputs B 0000000 0000 00000000 To other Internal circuitry behind each input inputs Opto coupler TT0578GB 1 eaan Sharp PC357 T Filter LED on front panel
179. is transmitted Sent to Controller CPL Show the actual power consumption in 96 with ref erence to the PM register Received from Controller CPL 8 The actual power consumption is currently 8 of the value specified in the PM register JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 101 4 11 Command Description 4 11 50 Motor Current CU e Er Exec Time mand Description msec me 10 CU Show motor current AMC21 16 0 5 ARMS Ph AMC22 23 x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Description The motor current can be read using this command The current shown is the actual current flowing through the motor The returned value is given in ARMS per motor phase Note that the same current defi nition is used for the CA and CP allowable average and peak current registers Usage CU Show motor current consumption in ARMS per phase Example Send the command CU enter Inthe MotoWare online editor Following is received 0 4 35 Which means that the motor phase current is now 4 35 A RMS 4 11 51 Bus Gurrent CUB me Exec Time mand Description msec 2 3 5 ee e e x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description The actual DC bus current can be measured using thi
180. ity It is important that the servo constants are adjusted correctly The system cannot main tain the correct velocity if the servo loop is not adjusted Incorrect Velocity even though the servo constants have been adjusted It is important that the specification of the encoder resolution pulses revolution is set correctly Use the PR command see Encoder Pulses PR page 142 The motor does not move to the correct position by selecting XPO XPO is used for the zero point search function and has therefore a different function than the other position registers The motor and encoder are connected correctly but still report an error Check that the encoder type is set correctly using the ET command page 110 The motor does not supply the correct torque It is important that the servo constants are adjusted The system cannot produce the cor rect torque if the servo loop is not adjusted 188 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 5 6 Typical Errors Four LEDs blink simultaneously A problem has occurred with either the encoder or the motor The encoder has fallen off or the motor is jammed In cases where the encoder and motor appear to be con nected correctly check the maximum allowable pulse error using the PE command Maximum Pulse Error PE page 136 Check also the encoder type using the ET com mand see Encoder Type ET page 110 JVL Industri Elektronik A S User Manual AC
181. ive 92 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 24 CB5 Slip Coupling On Off The slip coupling has the same function as a mechanical slip coupling If the motor is run ning in mode 1 2 3 and the load gets higher than the maximum allowable torque the speed will decrease In this situation the motor is not able to follow the specified speed and thereby reach the final position in the correct time Whether the slip coupling is used or not this situation will occur if the torque is higher than TQ If the slip coupling is not enabled 5 0 the final position will still be reached but of course after some additional time If the slip coupling is enabled 5 1 the distance that is lost during the torque over load is subtracted from the total distance and the final position is therefore not reached The illustration below shows the situation With slip coupling 5 1 Decreased speed caused by torque overload Velocity The slip coupling is active in this situation Motor stops before final position is reached due to the loss of pulses in the torque overload situation Time Maximum torque I Torque limit TQ is passed Torque is falling under the limit TQ and the velocity rises to normal value VM I Time Torque Decreased speed Without slip coupling 5 0 caused by torque ove
182. ixed frequency of 5kHz or 20kHz which is consid ered a quite high frequency This high update frequency offers extremely good dynamic regulation performance For some motor types with low time constants it can cause some audible noise For this situation the MAXFREQ register can be used By decreasing the maximum bandwidth to 400 or 650 Hz in the current filter the noise can be decreased significantly The disadvantage is that the dynamic performance is also decreased but not proportionally since the filter algorithm is optimised in a way to ensure that the response within 3 5 samples is the same as gt 1000 Hz bandwidth Please note that the filter must be re optimized if the MAXFREQ register has been changed The bandwidth can also be changed in MotoWare by entering the Basic Param eters window under the Parameter Setup window AMC2x Parameter Setup Online Auto Tuning Control Bits Search Zero PID tu Main Parameters Basic Parameters User Registers X Regi Commutation Constants i Motor 8 Kphase 1 0 1 Magnetic Poles 4 Poffset 270 0 Current Filter Mean ARMS 2 0 The bandwidth can be Hall Elements 1 changed here Active Level Low High Peak ARMS 6 0 Remember to use the Optimize function Hall Elements Y askawal Current Filter Gain fi 0 bel gare in order to Hall offset 208 4 Bandwidth Hz 1000 the current ilter Encoding Freq KHz Encoder Typ
183. l AC Servo Controller AMC20 2 1 22 4 11 Command Description 4 11 120 Example 4 11 121 Example Relative Positioning 58 or SR Com mand Description Min x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect In mode 2 the motor can be set to move continuously in a specified direction The SR command is followed by a or parameter which specifies the direction of movement To stop the motor once the SR command has been issued a SH Smooth Stop or H Halt command must be used Sent to Controller SR Move in positive direction Received from Controller Y Which means that the command is accepted and will be executed Relative Positioning with Reference to AP SRA Mode Com mand Description Min Max m ame mostre nemen mare fo os x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The SRA command has the same function as the SR command but the motor movement is done with reference to the motor s actual position AP before execution of the com mand In contrast the SR command performs the move with reference to the theoretical position SP In Positioning Mode MO 2 the motor can be set to move a specified number of pulses in a positive or negative direction For movement in a negative direction the parameter va
184. l EZ the index input must be activated by setting See also Index Pulse On Off INDEX page 122 Note The Cable between the encoder and the Controller must be screened and the screen must only be connected to the encoder ground terminal ECM For details of general encoder set up see Set up of Encoder Resolution page 191 Encoders with Balanced Output To connect an encoder with a balanced output to the Controller see the above illustra tion Note that the use of an encoder with balanced outputs is recommended It is rec ommended that 0 3mm minimum screened cable is used The encoder should under no circumstances share a cable with other signal cables as this can have serious and cat astrophic effect on encoder signals If the motor has a Hall element these signals can be included in a common cable JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 29 3 4 Encoder Input 3 4 3 Special Encoders Sensors JVL currently plans to supply other adaptor modules for other types of encoder and sen sor Contact JVL Industri Elektronik for further details Today following adaptor modules exists Analogue feedback to encoder converter JVL type PA0094 This module will convert an analogue voltage or current into an encoder signal which can be connected directly to the AMC2x controller Contact your local JVL representive to get more information Resolver to Encoder converter J
185. l motor movement and the value in the RS register Note that RS will not be set to O position reached unless the criteria in the PE and PES registers are fulfilled See also 9 Enable passive halt mode page 97 148 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 114 Report Motor Program Status in text RST Mode Com mand Description Max _ ls P Description Usage __ Sew Jos x Can be set verified but no effect Has effect be set verified o be verified but not changed has effect During operation the system can report information about the status of the motor sta tionary running etc using the RST command For the AMC2xP Controller this com mand will report program status also Compared to the RS command RST returns a complete status in plain text This can typ ically be done from the on line editor in MotoWare RST will return following example Motor Status Standby Zero Search Inactive When using the AMC2xP the reply includes also program status example Motor Status Standby Zero Search Inactive Program Mode Active The following scheme shows the different messages that are returned depending on the actual Controller and motor status Motor Status Stationary Motor is in position or standby Only used in mode 2
186. l2 The terminals AO and BO are used for the pulse output See elsewhere in this manual Analogue Inputs Kom BO _ IG oS err 7 Note screen only i 1 17 ort AO connectedto signal source all I AN MEN SET Reserved 10V Input Al __ 96 Reserved General The Analogue Inputs are used for example when the Controller is operated in Velocity Mode Mode 4 or Torque Mode Mode 5 or is under program control In these modes of operation the motor is controlled to produce a velocity or torque de termined by and proportional to the voltage applied to an Analogue Input The Analogue Inputs accepts input voltages in the range 10V to I OV and are optically isolated from all other inputs and outputs including supply terminals Note however that the Inputs share a common internal supply with the RS232 interface and are therefore not galvanically isolated from the interface The Analogue Inputs are protected against voltage overload up to 00V peak and have a built in filter which removes input signal noise Always use screened cable to connect the source used to control the Analogue Inputs since the motor etc can easily interfere with the analogue signal and cause instability The Controller is equipped with an analog to digital converter ADC which converts the measured analogue signal level The ADC has a resolution of 12 bit which gives a to tal operati
187. le the load Unstable system with high acceleration Stable system with low acceleration Time Time TT0562GB Position Error is greater than the interval specified in the PE register therefore RS is set to 4 As shown RS will change depending on the actual motor status PE only has effect when the motor theoretically is stopped at the final position If the interval specified by PE is fulfilled RS is 0 If not RS is set to 4 The table below shows the conversion between PE values and the actual number of pulses PE Value Pulses PEValue Pulses oo eo iis 9 19 de fin LG fer frk eee ____ 7 defaut __ 40 15 1024 The Running LED also depends on the RS register which means that the Running LED is only lit when RS is equal 0 position within PE Note that PES Position Error Samples also determines the state of RS Set pulse error PE Show current Pulse Error limit 136 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 98 Pulse Error Samples PES e a Exec Com Time mand Description msec ume x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description PES specifies the number of samples required to verify the interval specified by PE before RS is set to O Ex
188. ler s maximum working range The Controller has an internal power dump resistor that has been designed to take care of most applications If the internal resistor is not sufficient however the Power Dump Output PD can be used This output can be used to sink the energy to an external shunt resistor and thus avoid that the Controller shuts down and reports an error Note that reduction of the velocity VM acceleration AC or peak current CP can minimise the energy surge from the motor Detailed Description of Power Dump The value of the PDO shunt resistor will depend on many parameters such as the max rpm of the motor the supply voltage how rapidly the motor decelerates etc It is how ever recommended that the resistor has a minimum value of 47Ohm 100W not less The rated power of the resistor can be greater or less depending on the actual load 1 When the Controller registers that the supply voltage exceeds 700V the PDO out put is activated and the Error LED is lit The Controller automatically transmits an warning message W36 Bus Voltage exceeds 700 V Activating powerdump 2 If activation of the internal and external PD resistor does not stop the increase in supply voltage the error message E37 Bus Voltage exceeds 800 V Controller can be damaged is sent This message indicates that the power dump circuitry has a prob lem handling the high amount of returned energy 3 If activation of the PD output and thus th
189. ller to read back the hysteresis for analogue input Received from Controller ATH1 10 This value indicates that the hysteresis for ana logue input is adjusted at 10 ADC steps 50mvV JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 83 4 11 Command Description 4 11 8 Description Usage Example 4 11 9 Description Usage Example Analogue Input Maximum Negative 10V Value AIL1 AIL2 Com mand Description cs Resse voar aranera sor eor Tos LLL EPI noon x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Calibrate full scale set negative voltage max 0V at one of the analogue inputs and send the AILI or AIL2 command The Controller will then calibrate the analogue input s negative value The negative input voltage must not be greater than the zero point volt age See Adjustment of Analogue Input page 78 for further information about the use of this command AILI Maximum negative voltage at analogue input All is calibrated AIL2 Maximum negative voltage at analogue input 2 AI2 is calibrated Sent to Controller AIL1 Calibrate the negative full scale for analogue input I Received from Controller Y The calibration is done Analogue Input Zero point Voltage 1 AIO Mods Com mand Description
190. ltage must be in the range 10V to 10 with negative voltages producing motor movement in a negative direction and positive voltages producing movement in a positive direction The VM command is used to specify the maximum velocity i e the velocity at which the motor will rotate for maximum voltage applied to the analogue in put The numeric value of the full scale voltage does not have to be the same in both the pos itive and negative direction Use the All command for adjustment of the Analogue Input 1 Once the servo loop has been adjusted the Controller will ensure that the required ve locity is maintained regardless of whether the motor is loaded or not The load however must not be so great that the current limits are exceeded If the rated current or peak current limits begins to regulate motor operation will be very unsmooth and in extreme circumstances the motor will resonate If for example VM 500 RPM and the analogue input voltage is set to 5V the motor will rotate at 250 RPM ina positive direction See also Getting Started Velocity Mode Mode 4 page 8 Use of Velocity Mode Select Velocity Mode MO 4 Adjust the servo loop If necessary see Adjustment of Servo Regulation page 18 If necessary adjust the analogue input See Adjustment of Analogue Input page 78 Set the maximum velocity using VM The motor can now be controlled via the analogue input AIN I Commands of particular interest in this mode are
191. lue is specified with a minus sign Note that the number of pulses refers to the number of encoder pulses times 4 For example an encoder motor with 500 pulses per revolution effectively has a resolu tion of 2000 pulses per revolution If the motor is to rotate revolution the SR command is based on a value of 2000 pulses The actual position counter AP is 1000 Sent to Controller SRA 100 Move 100 pulses in positive direction Received from Controller Y Which means that the command is accepted and will be executed After the SRA 100 command is sent and the motor has moved the actual position will be 1100 See also Relative Positioning SR page 152 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 153 4 11 Command Description Example If a halt command is used or a limit switch is activated during the relative positioning se quence the final position SP will still be the calculated value specified by SP AP SRA The UH unhalt command can be used to release the halt state In this case the SP target position calculated when the SRA command was issued will be used See illustration SRA 100000 is executed Motor is halted by the H Halt 4 Motor stops at final SP AP SRA command The motor decelerates target position and stops at position 47823 SP and AP are now 147823 147823 Time The motor would have stopped here if Motor stays stationary unhalt was us
192. meter value is specified with a minus sign Note that the number of pulses refers to the number of encoder pulses times 4 For example an encoder motor with 500 pulses per revolution effectively has a resolu tion of 2000 pulses per revolution If the motor is to rotate revolution the SR command is based on a value of 2000 pulses Note that SR is done with reference to SP which is the theoretical position See also Relative Positioning with Reference to AP SRA page 153 Sent to Controller SR 5000 Move 5000 pulses in positive direction Received from Controller Y If a halt command is used or a limit switch is activated during the relative positioning se quence the final position SP will still be the calculated value specified by SP SP SR The UH unhalt command can be used to release the halt state In this case the SP target position calculated when the SR command was issued will be used See illustration 51 100000 is executed 2 Motor is halted by the H Halt 2 Motor stops at final SP SP SR command The motor decelerates target position and stops at position 47823 SP and AP are now 200000 AP 0 AP 47823 AP 100000 AP 200000 gt Time y The motor would have stopped here if Motor stays stationary unhalt was used in step 3 SP stays at 100000 desired target position 8 SR 100000 is executed again SP is therefore set at 200000 TT0582GB SP SP SR 152 JVL Industri Elektronik A S User Manua
193. mmand Typical execution time description value for the actual command Wu Exec pene buo e ke DENEN p menm gt gt LE _ eese eoo os fn Marker explanation x The command or register can be set and verified but has no effect in the actual mode o The command or register can be verified and has an effect in the actual mode but no changes can be made This marker is mostly used together with the Basic Motor registers t The command or register can be set and verified There will be P Program only valid for extenc ed Controller types AMC2xP 176 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 13 Alphabetical Overview of Commands Wu a Mode mand Description 345 pee ett Jone p mem EC 3 eo reos os fr cH peeseenatersa fero reor fos fer mos eme gt ee OE feo o fos oo cs neono ors zeopamorenanempt fov ew es ura so er fos os mo gt TE ao fammetegnomarmeene fs os arm fos A fos n rom __ bs
194. mple The calculation R 5 2 will cause the WIO warning to appear since RI will be rounded to 2 168 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 12 Error Messages E11 No Program available There is no program in the program RAM memory Example After executing a GO command the El I No Program available will appear if there is no program in the program memory Correction Use MR to retrieve the program from FLASHPROM or enter a new program E12 Zero Search Function Active The zero search function is already active The motor is moving while the Controller is waiting for a signal at the HM input or other signal depending on ZM zero search mode register Example An SZ command start zero search is sent but the zero search is already in progress Correction Avoid starting a zero search when a zero search is already in progress E13 Command not valid in this mode The Controller is setup in a mode Mode register where the use of the chosen com mand or register is not possible Example The SP command set position is used in mode 5 torque mode This is not possible because mode 5 is only intended for torque control and not position control Correction Set the Controller in position mode MO 2 and send the SP command E14 Not allowed due to previous fatal error The Controller is in a fatal error state which typically means that the motor is not able to make any mov
195. n the Applications menu This gives access to the window containing all the basic parameters in the Controller JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 13 2 2 Transfer of Parameters to the Controller AMC2x Parameter Setup Online xj Auto Tuning Control Bits Search Zero PID tuning Main Parameters Basic Parameters User Registers X Registers Checksum Address o Description Noname TT Mode Fomats Electronic Gear y Passive EE C 1 Gear Digital input fi z Pulse rev Master 500 2 Position Encoder p 3 Register nahi a Gear Ratio 0 4883 5 4 Velocity Pulse Out Pulse x 5 Torque TIERE Port r Protection Limits Power w fom Velocity 1 00 E Pos Pulse 40 Accel ts 2000 i Pos Sample n Flw Pulse 32767 Torque 1000 ij Fnc Pulse 7000 j ACH US 100000 m Limit Switches r Load Low High Status oad Negative C Robo gs g uu Bias _ 5 TT9024GB a TNA E Active high Iv 7 gt v gt C Pause C Start Stop IV None 09504198 Select Open to obtain the motor list To select a specific motor type select File The following window will appear me Sogi AMC20 et A E vaskawa SGME 01 100 Yaskawa SM 03 300W 100V OD1 set sf raskama SGME 04 4004 25 vaskawa SGM 0
196. nal denoted IN Note that this terminal is also used with the end of travel limit input and reset Home input Each Input can operate with voltages in the range 5 to 30VDC Note that the Inputs should normally be connected to a PNP output since a positive current must be applied for an input to be activated 3 7 2 Connection of NPN Output If an Input is connect to an NPN output a Pull Up resistor must be connected between the Input and the supply See above illustration The value of the resistance used de pends on the supply voltage The following resistances are recommended Supply Voltage Recommended Resistance 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W 3 7 3 Indication of Input Status To indicate the status of each Input the Controller s front panel is equipped with LEDs These LEDs are lit when the respective Input is activated The brightness of the respec tive LED depends on the voltage applied JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 33 3 8 End of travel Limit Inputs PNP Output Power End of travel inputs Running o Power Supply Error 45 30VDC Inductive j Current sensor T gt 75 C or similar O HM O PL This diagram is used if an NPN output is connected User Inputs Inductive sensor Power Supply or similar 5 30VDC TT0512GB
197. ncoder error or position error limit exceeded will be given The FNEM command can be used in Gear Mode 1 Positioning Mode MO 2 and Register Mode MO 3 The Running Error Current and T gt 80 C LEDs on the front panel flash simultaneously if the maximum pulse error is exceeded If FNEM is set to 0 the limit function is disabled which means that the Controller will allow an infinitely high error level without stopping motor operation and reporting an error To protect the sys tem in mode 4 and 5 use the FEM command see Following Error FEM page 111 Sent to Controller FEM 10000 Set maximum following error to 10000 coder counts Received from Controller The controller has accepted the command the maximum following error is now changed Sent to Controller F Show the maximum following error setting Received from Controller FEM 10000 The actual maximum following error limit is set at 10000 encoder counts 1 m JVL Industri Elektronik A S User Manual AC Servo Controller 20 21 22 III 4 11 Command Description 4 11 65 Description Example Gearing GEAR Com mand Description Min Max can ene quee pem fos _ x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect This command is used to specify the ratio between the number of pulses at the pulse in put and the number of pulses at the motor s enco
198. nd AND the right bracket is expected after 45 INI ORIN2 Relational operator missing 68 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 8 Program Execution in the AMC2xP Examples 3 5 5 7 gt RI 39 First of all 5 7 will be calculated since multiply has the higest precedence The result of this calculation will be an integer Int Now the floating point value 3 5 the integer 35 is processed In the first place the value 35 will be converted to a floating point value and afterwards the addition will be done The result will be the floating point value 38 5 Since RO is an integer the value will be converted into an integer 39 which is transfered to the register RI RI 7 3 3 5 gt RI 74 First of all 7 3 will be calculated since multiply is evaluated from left against right The result of this is the integer 21 Secondly 21 3 5 is calculated but in the first place 21 is converted into a floating point value The result is 73 5 which is converted to an integer and transfered to the register RI RI 47 2 2 0 gt RI 12 First of all 47 2 will be calculated as a integer division since a division is evaluated from left to right The result is 23 Secondly 23 2 0 is calculated This is done by converting 23 to a floating point value The result is presented as a floating point value of 11 5 which is converted to the integer value 12 In the end the result 12 is transfered to R
199. ng Started Positioning Mode Mode 2 rnrrnnrvrvrnerervrnnrervevervrrenesesveverssvevesssvevesvsvevesvevevesssvevesesvevesesvevesssvevesvevene 6 Getting Started Register Mode Mode 3 sse nene nnne nennen nnne nennen 7 Getting Started Velocity Mode Mode 4 A 8 Getting Started Torque Mode Mode 5 sse ener nennen 9 Installation and Adjustment eese sese sees scssccscsescscsssese sess I I General Aspects of Installation EU RE Rr PRI CH e HR Ha t res pietre 12 Transfer of Parameters to the Controller TASET RE EAEI n eae EE 13 Current filter OptimiZing e P l6 Adjustment of Servo Regulation eese eene ennemi tne teen etre treten enne teinte trennen enne 18 Adjustment of BIAS 22 BHardWAFe io noe mam c ve Ie ME EE NE IO LO EE uU NRI 20 Conriectioris ERO IE RR rede RERO RET I RS OD ARE GI ED 24 Power Supply 25 Motor COnn AREE ene gneis e PEU CGR Sa Seats San eu x AY CAN IR Tasa SEINEN Se NAR 27 Encoder re dito ent ted e e e M tee A ee i 29 eto Ue P CH Te YOU NEP co Doe d reddet 3l vadens 32 BESSER 33 End of travel Limit Inp
200. ng range of 4096 steps in the range 10V to 10 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 41 3 14 Power Dump Output PDO activated PDO V when voltage exceeds 700V Note screen only connectedto signal source So s User O 193 he oo Energy fed back from Voltage V the motor to the Controller RAS 700V xxu R Not less than 47 Ohm s Gear Bus p lt Ej EREEEEUI E Velocity oo oo 00000 L RS232 RS485 Shielding housing must be connected to earth Terminal description for the Dump connector CM Common Is internally connected to earth Is only intended to be used for the screen on the cable to the power dump resistor T IN Bus Output The internal DC bus is connected to this terminal Dus E PD Power Dump output Behind this terminal is placed a switch AMC2x IGBT transistor which connect the terminal to the internal LLL bus ground if a voltage is higher than 700VDC Mains Supply TT0517GB 3 14 1 3 14 2 General Aspects of the Power Dump Output If the Controller is used in systems in which there are very large inertial loads flywheels etc a problem can arise during deceleration with energy being sent back from the mo tor to the Controller supply This can result in increases in the supply voltage to a criti cally high level above the Control
201. ng will take effect next time communication takes place Sent to Controller BAUD Verify the BAUD register Received from Controller BAUD 7 The baud rate is set to 19200 with 8 databits Start Program Block BEGIN Only AMC2xP Com BEGIN Begin program vioo pF TINOM x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect BEGIN is used in IF statements when several command lines must be grouped in a block BEGIN can be used in IF statements only For a more detailed description see IF Statement page 70 IF AC 500 BEGIN AC 500 VM 1000 END 88 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 11 Command Description 4 11 17 Description Usage Examples Bias after Servo Filter BIAS Mode Com mand Description Min Max pis JBasaterter _ 3100 fao o fos Peel x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The BIAS command can be used in applications in which the motor is subjected to a per sistent load such as in a lifting mechanism The BIAS command enables the static load to be balanced regardless of whether the load pushes or pulls on the motor This counter balancing is usually advantageous since the load on the servo filters is uniform regardless of whether the motor
202. nication at long distances de spite the presence of electrical noise It is recommended that twisted cable is used for connection between the Controller and other modules on the interface If the communication distance between 2 units in a system exceeds 25 metres the DIP switch marked TERM must be set to the ON position on those units which are located more than 25 metres apart See the User Manual for the module in question for details of DIP switch settings 3 17 2 Module Addresses In communication systems where several modules are connected together each unit must be assigned a unique address in the range to 31 The above illustration shows how addresses in a typical system are set Note that care must be taken to ensure no two modules use the same address If the module addresses are not unique the Controller will terminate program execution and an error message will occur Note that the Controller s address is the same as that used for RS232 communication See Connection of Several Controllers to a PC page 45 The address of each module should be set in accordance with the instructions given in the respective module s User Manual JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 47 48 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 Software JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 49 4 1 Use of RS232 Commands
203. nt is deter mined by which input XI or YI pulses are applied to 38 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 3 11 Pulse Inputs SN9636 470 Ohm L1 4 T Filter 100pF TTO586GB 3 11 7 Pulse Inputs Hardware The illustration above shows a detailed circuit diagram of the input circuitry of the pulse input terminals This can often be helpful when auxiliary electronics must be connected Please make sure that the inputs are not applied with more than 5V at any of the termi nals compared to ground since this can damage the input circuitry Important The input circuitry in controllers with serial numbers lower than 19500 is dif ferent Please consult JVL for documentation JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 39 3 12 Pulse Outputs AMC2x Pulse Outputs RS422 outputs Special RS422 outputs balanced From internal Control circuitry Signal GND connector shield Termination resistor 120 270 Ohm is recommended To internal am control circuitry BO o 211 BO ___ sll I I 18 0 7 Reserved R 422 balanced tW lo 411 Reserved o Al 9 sl I Signal GND EC NT ACM Twisted pair cable is recommended Use also screened cable connected to ground TT0515GB 3 12 1 General The 2 Pulse Outputs AO and
204. ntroller AMC20 21 22 197 9 7 Connection of an Unknown Motor Type 5 7 8 Setting KPHASE The Controller includes a parameter denoted KPHASE This determines how far the commutation of the motor is offset in relation to the motor s actual position KPHASE is velocity dependent i e it becomes more significant the faster the motor is running It is of vital importance for system performance that KPHASE is adjusted correctly In correct adjustment will result in the motor not being able to supply sufficient torque at high velocities In the worst case the motor will not run at full speed and the system will produce an error when the positioning error becomes too great See illustration below Torque due to limited voltage KPHASE 500 KPHASE 0 GE Velocity Adjustment of KPHASE is made during system installation as follows I Start MotoWare and the Controller Open the On line editor 2 Check that there is contact with the Controller by keying enter 3 Ensure that the motor can run at an arbitrary speed and distance without any mech anism connected being damaged 4 Set the Controller to Mode 2 by keying MO 2 enter 5 Set the max velocity 20 on the Controller so that it corresponds to that speci fied by the motor manufacturer for the maximum velocity with load typically 3000 RPM This is done by keying VM
205. oft Halt command is executed By setting CBI9 to I the RS register will go to 7 in stead of 0 if a Halt or Soft Halt command is executed See also Report Motor Status RS page 147 CBI9 0 Disable passive halt mode RS will be set to 0 if a Halt or Soft halt command is executed default CBlI9 Enable passive halt mode RS will be set to 7 if a Halt or Softhalt command is executed Enable direct torque mode In torque mode the response can be optimized by CB20 By enabling direct torque mode the bandwidth is increased significantly but the limits made by AC the acceleration pa rameter and VM the topspeed parameter is completely ignored CB20 0 Disable direct torque mode default CB20 Enable direct torque mode CB21 Use balanced analogue inputs CB21 0 Disable default CB20 Enable CB22 Enable pulse torque mode CB22 0 Disable default CB22 1 Enable CB23 Invert pulse input direction CB23 0 Disable default CB23 Enable JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 97 4 11 Command Description 4 11 43 CFE Current Following Error in Pulses Com mand Description Min Max _ cre _ o frr E les eee x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description CFE can be verified to see the static position error in the
206. on This tells the Controller that the com mand string is complete and interpretation can begin When a checksum is used com mand interpretation will not begin until the entire command line has been received i e is terminated by a CR maximum of 80 characters may be sent in a single command line If the Controller is set to use addressing ADDR 0 the complete string shall be termi nated by Checksum In industrial applications electrical noise from motors etc often occurs This noise is quite arbitrary and random and cannot be eliminated 100 even by effective electrical fileering To ensure correct transmission of Controller commands therefore a checksum can be used typical command line may be as follows 25MO 3 VM 47F9 TT0522GB In this example addressing is used address 25 Two commands delimited by a semi colon are transmitted followed by a checksum The checksum consists of two char acters The checksum is a simple checksum and is calculated in the following way First the ASCII value of each of the characters in the command line is determined These val ues are summed and the two least significant characters the least significant byte of the result s hexadecimal value are used The two least significant digits are converted to ASCII values and transmitted along with the command line The actual calculation in this example is as follow 50 53 77 79 61 51 59 86 77
207. on the earth terminal must always be connected before any other power source is connected to the Controller Power Supply Faults The Controller is protected against undervoltage If a voltage overload of the supply oc curs the error message E37 Bus Voltage exceeds 850 V will be given and the Control ler will disable the motor driver circuitry The motor will thus be without current Note that the Controller supply is only protected against voltage transients and not against a permanent overvoltage The Controller can be damaged if the supply voltage is higher than 600VAC RMS between the supply terminals UI VI WI and PC 26 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 3 3 Motor Connection 3 3 1 3 3 2 3 3 3 3 3 4 General Aspects of Motor Connection The Controller is designed for use with common AC servo motors brushless with an incremental encoder The Controller can supply high continuous and peak currents These current values must be set using the software commands CA and CP The Controller Driver uses IGBT transistors which give exceptionally good perform ance The motor voltage is regulated at a frequency of 20kHz which ensures that the motor does not produce any audible noise as a result of regulation The Driver s switching time is very short 400nS which can result in high frequency noise components in the cables between the Driver and the motor In certain situ
208. onnect an End of travel Input to an NPN output a Pull Up resistor must be con nected between the Input and the supply See above illustration The size of the re sistance depends on the supply voltage used The following resistances are recommended Supply Voltage Recommended Resistance 5 12VDC 1kOhm 0 25W 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W 34 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 3 9 Home Reset Input This diagram is used if an NPN output is connected Inductive sensor Power Supply or similar NPN Output Power Supply i 5 30VDC Inductive T sensor or similar Home Reset Input OE O 1 To other Internal circuitry behind each input 23 O o8 inputs 7 Fr Opto coupler TT0513GB 2 2nF 1 T Filter Sharp PC357 pi MN a Power Running Error Current T gt 75 C 3 00000 PNP Output Special 1 0 O HM O PL O NL O soN O 1ns O IN7 O ING O INS IN O IN4 9 O o6 A User Inputs O IN3 O 1n2 O IN1 IN EERE EEE 00000000 LED on front panel 2 7kOhm 3 9 1 General The Reset Input HM Home is used during the zero point seek function A zero point seek occurs after one of the following conditions I The Controller receives th
209. onse Times In many applications the timing can be important The following timing scheme illustrates response times i e from a start signal until the motor is running 0 Reference Start IN8 IN1 IN6 we 6 ins eines M 22 LLL ESS zos 9 HH e gt 500uS 1 Output O1 At position Final position 500 5 gt specified in X1 100uS is reached Motor 1 Velocity 1mS 0 1mS TT0547GB gt I 1mS 0 1mS lt q Using Mode 3 for Continuous Movement Some applications may require that the motor is run in a certain direction at a certain speed The DIF register can be used for this purpose When DIF is set to default the functionality of mode 3 is normal as described elsewhere in this section But if DIF is set to 2 all of the positions XP registers are ignored except for the sign in these registers The XR registers are not used at all Example If XPI is set to 1000 the motor will move in a positive direction when XP I is selected and the start input is active The velocity is defined by XVI as normal Note that the zero search register 0 is not affected by the DIF register setting Register 0 can still be used to find the home zero position 58 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 6 Velocity Mode MO 4 Analogue control of the motor velocity can be achieved using the analogue input AIN The input vo
210. onse is EO No errors list of the error messages is given in Error Messages page 167 EST Read complete list of errors from all error registers ESTO Read out error status register 0 as text ESTI Read out error status register as text EST2 Read out error status register 2 as text EST3 Read out error status register 3 as text JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 109 4 11 Command Description 4 11 61 Encoder Type ET Com mand Description et 3 x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Selection I NPN 2 LINE DRIVER Description achieve correct positioning and precise velocity and acceleration it is important that the encoder set up is correct The encoder may be either a PNP NPN or a line driver type This gives the possibility for using a balanced or an unbalanced signal from a standard 2 channel incremental encoder For details of encoder connection see Set up of Encoder Resolution page 191 The ET command is used to specify the type of encoder connected to the Controller If an encoder with a balanced output is used the setting ET must be set to 2 ET 2 If however an unbalanced encoder with NPN outputs is used ET must be set to ET 1 If an unbalanced encoder with PNP outputs is used ET must be set to 0 E
211. ontroller OK Default levels 0 Fatal error s 1 Controller OK CB16 controls the function of this output Output 2 can also be used as a general output Output 3 Can be used via the OUT command Output 3 can also be used to control a brake see CB17 description Output 4 Can be used via the OUT command Output 5 Can be used via the OUT command 5 o6 Output 6 Can be used via the OUT command 6 107 Output 7 Can be used the OUT command 7 108 Output 8 Can be used the OUT command Continued on following page 134 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description Usage OUT Read status of outputs OUT n Read status of output n n to 8 OUT n x Set output n to x 0 or I OUT xxxxxxxx _ Setall outputs to x where x is 0 or 1 OUT x Set all 8 outputs to decimal value x x 0 255 Examples Sent to Controller OUT Read outputs as a decimal value Received from Controller OUT 0 Which means that all outputs 01 08 are passive logic 0 Sent to Controller OUT3 1 Set O3 to Received from Controller Y Sent to Indexer Out 1010 Sets outputs to 00001010 Received from Indexer Y All digits to the left of MSB will be set to 0 Sent to Indexer OUT Read outputs Received from Indexer OUT 00001010 Note Ol is the rightmost digit LSB Sent to Indexer OUT 255 Sets all outputs to Received from Indexer Y 4 11 96 Toggle a Single Output In some applications it can be
212. or directly The OnLine Editor is opened and the program can be executed using the GO com mand It is important to use the OnLine Editor during tests In the event of program errors the Controller sends error messages which are automatically displayed in the OnLine Editor Close the dialogue box without any further action The Controller is equipped with a program memory of 32kbyte This memory will typi cally be able to contain a program of 1000 2000 program lines Program capacity is how ever very dependent on which commands are used in a program The command in the online editor window can be used to display the actual program size in terms of 96 of total memory See Show set up page 79 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 65 4 8 Program Execution in the AMC2xP 4 8 6 4 8 7 Arithmetic expressions All registers can be assigned a value by following the register name with an equal to sign followed by an absolute value a register name an arithmetic expression Absolute values register values and the following four operators can be used in arithmetic expres sions Arithmetic operators used in expressions addition subtraction multiplication I division All calculations are performed either as 32 bit integers 2 147 483 647 to 2 147 483 647 or as 32 bit decimal numbers floating point numbers Integers signed and have approximately
213. or is running This mode is primarily used in sys tems in which the Controller is permanently connected to a PC via the RS232 interface MO must be set to 2 for operation in this mode See Getting Started Positioning Mode Mode 2 page 6 The position is specified in terms of pulses Note that the Controller multiplies the number of encoder pulses by a factor of 4 If for example the encoder has a resolution of 500 pulses per revolution the complete system will have a resolution of 2000 pulses per revolution If an operation of 2000 pulses is specified this means that the motor will ro tate revolution The motor s instantaneous position can be read regardless of whether it is running or stationary When a new position is set up the motor moves to the new position using the pre programmed velocity profile See AC and VM Motor operation can use a programmed velocity profile by programming a maximum ve locity and acceleration In this mode when the motor is operated to move to a new po sition it will operate using the programmed velocity profile and the profile will always follow the acceleration deceleration values This means that the motor may not always attain maximum velocity if the distance is short Motor status can be read us the RS com mand At any time the motor can be stopped using either the H or SH command Note In order to achieve the correct velocity and acceleration the number of encoder pulses per revolution must be
214. or parameters is the Motor test MTEST page 132 For set up of other Controller functions see Software page 49 190 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 5 7 Connection of an Unknown Motor Type AMC2x Parameter Setup Online Auto Tuning Control Bits Search Zero PID tuning Main Parameters Basic Parameters User Registers X Registers Checksum Address o il Description No name r Mode Formats Electronic Gear f D Passive tS 1 Gear Dita haa E Pulse rev Master 500 4 2 Position Pulse In Encoder 3 Register Gear Ratio 0 4883 4 C 4 Velocity Pulse Qut Pulse 5 Torque r Profile Port m Protection Limits 3 1 Power w roo 000 4 Velocity 00 i ES Pos Pulse 40 Accel vs 2000 Pos Sample 1 i foo Flw En Pulse 32767 Fre Pulse ion ACH 5 100000 il m Limit Switches m Load Low High Status Load 1 0 il Negative NL Positive C Bias no 4 Fen V p v C Pause C Start Stop M mc wne 47999979992 Active high 2 Send set up to the Controller AMC2x Parameter Setup Online x Auto Tuning Control Bits Search Zero PID tuning Main Parameters Basic Parameters User Registers X Registers Commutation Constants m Motor Kphase ro Magnetic Poles 8
215. oth Halt of Motor SH page 150 Sent to Controller ACH 100000 Set the acceleration to 100000 RPM sec Received from Controller The controller has received the AC com mand and AC is now updated with the value 100000 RPM sec Sent to Controller ACH Ask the controller to read back the actual acceleration Received from Controller ACH 100000 This value indicates that the acceleration is set at 100000 RPM sec JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 8l 4 11 Command Description 4 11 5 Description Usage Examplel Example2 Example3 Address ADDR Com oon sd x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The Controller can be configured to react to all communication via the interface bus Point to Point communication In this case the Controller address must be set to 0 When the address is set to 0 the address must not be transmitted together with any command during communication with the Controller It is also possible to connect sev eral Controllers to the same interface bus In this case each Controller must be assigned its own unique address in the range 1 255 The number of Controllers that can be simul taneously controlled is however dependent on the system hardware Note If the ad dress of a Controller has been forgotten the exclamation mark command can be used
216. otor s Hall element must be used and the Hall register is set to 1 2 or 3 The Hall element is used during start up to tell the Controller the motor position so that the commutation circuitry can lock the applied magnetic field to the motor s actual po sition without the motor moving The information obtained from the motor s incremen tal encoder cannot be used to determine this position The Hall element is only used during start up The following Hall types can be selected HALL register MotoWarefield Function Normal HALL use HLA HLB and Yaskawa HALL encoding type 1 Use only HALLE encoder inputs incl Index channel Yaskawa HALL encoding type 2 Use only ab encoder inputs incl Index channel Note that Yaskawa motors have their HALL signals encoded together with the encoder signals including index signal This minimises the number of cables between the motor and the Controller See also Examples of Motor Connection page 200 196 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 5 7 Connection of an Unknown Motor Type 5 7 7 Set the Hall type in the Hall elements field and send the information to the Controller by pressing Send If required save the setting in the Controller s non volatile memory by pressing FLASHPROM To set the Hall type via the on line editor the HALL command is used Example HALL 1 enter Set Hall type to normal hall sensor HALL enter
217. pply oc curs the error message E37 Bus Voltage exceeds 800 V Controller can be damaged page 170 will be given and the Controller will disable the motor driver circuitry The motor will thus be without current Note that the Controller supply is only protected against voltage transients and not against a permanent overvoltage The Controller can be damaged if the supply voltage is higher than 600VAC RMS between the supply terminals UI VI WI and PC JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 25 3 e Power Supply EMERGENCY STOP Emergency relay EN954 catgory 4 j 0 al Id al 1x 200 250VAC Earth U1 and must be permanently connected if control circuitry must be keept active while main Inst leon power is disconnected Prefuse T10A type gG AMC2x Servo Motor Controller Do or Dz in all phases TT0557GB 3 2 5 3 2 6 3 2 7 Rated for 600V 150kA Single phase Power Supply of AMC20 AMC20P A single phase supply can be connected according to the above illustration It is only recommended that a single phase supply is used if the power requirement is less than 800W Power requirements greater than this require a 3 phase power supply AMC2I and AMC22 will therefore require a 3 phase power supply Earthing Safety To ensure proper earth connecti
218. pulse signal is connected to XI to control the motor s motor system position and velocity in the positive direction of operation Control from PLC If the motor is required to operate in a negative direction controller module the pulse signal is connected to YI See also Pulse Inputs page 37 Usage PIF x Set Pulse Input Format x PIF Show current Pulse Input Format 138 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 100 Positive Limit Signal Status PL ee Exec Com Time mand Description msec ERA ee x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description Shows the actual level of the PL positive limit input high 1 or low 0 Note that the PL command does not show whether the connected contact is active or not but wheth er the input is high 1 or low 0 The definition high means that a voltage is applied to the PL input The PL command is not influenced by the PLL setting See Positive Limit In put Level PLL page 139 The PL input is basically intended to be used for the positive limit switch but the PL com mand can also verify the PL input in general For a hardware description of the PL input see End of travel Limit Inputs page 34 Usage PL Show current level at the PL input Examples Sent to Controller PL Show the actual level at the PL input Received f
219. puts AO and BO The following two formats can be selected Set up Typical Application 0 0 Pulse outputs AO and are passive no signal Test Pulse Input XI and YI signals are output at AO and BO POF 1 respectively Monitoring POF 2 Motor s encoder Channels A and B of the motor s encoder overall PLC E are output in undecoded form at AO and BO controller module See also Pulse Outputs page 40 POF x Set Pulse Output Format x POF Show current Pulse Output Format 140 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 104 Description Usage 4 11 105 Description Usage Phase Offset Angle POFFSET Com mand Description lo ton oo x Can be set verified but no effect Has effect can be set verified be verified but not changed has effect The POFFSET command sets the phase offset angle between the index signal and the motor outputs used to maintain proper motor commutation The value specified is electrical degrees and represents the offset from the index mark to the motor phase U passing through 0 from a negative value This parameter can be changed on the fly if desired The illustration below shows the timing between the motor outputs and the index signal Electrical timing between motor phases and index signal U2 w2
220. r condi tions may be temporary for example the maximum peak current may have been exceed ed for a short duration and the corresponding bit set in the status register The error indication is cleared after reading the error status For critical vital errors motor oper ation is interrupted and the error information remains in the register and O2 is set high 1 The user must then either switch the system off and on again to reset the error status or use the RESET command Error status register 1 ES1 These errors are related to motor control circuitry Error status Error System cleared by send at must be Error Explanation reading reset 0 E33 Current Overload Motor short circuited E34 Power consumption too high E35 Average Current limit exceeded W36 Bus Voltage exceeds 700 V Activating powerdump E37 Bus Voltage exceeds 800 V Controller can be damaged E38 Bus Voltage exceeds 850 V E39 The motor is not mounted correctly E40 The motor is not connected E41 HALL element is not connected properly W42 Temperature exceeded 75 C E43 Temperature exceeded 85 C E44 Bus current exceeds plus 10A E45 Bus current exceeds minus 10A E46 Overload on output ports E47 Bus voltage too low Check the encoder cable and make sure that the right encoder type is chosen See also Encoder Type ET page 110 E32 Check Other Status Register
221. r itself takes care of the entire positioning se quence 4 Velocity Mode In this mode the Controller controls the motor velocity via the analogue input This mode is typically used for simple applications or applications in which another de vice such as a PC card or PLC with controller modules is used for overall control of velocity and position 5 Torque Mode In Torque Mode the Controller controls the motor torque via the analogue input Typical applications for this mode include for example spooling or tensioning of foil ca ble etc The individual modes of operation are illustrated further in the following pages These pages provide a quick guide to setting up a functional system For more detailed docu mentation of the modes of operation the individual inputs and outputs and the Control ler command set are described in Hardware page 23 and Software page 49 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 1 4 Getting Started Gear Mode IMode 1 Minimum configuration m when using Mode 1 Running Error Current Incremental encoder AC Servo Motor Encoder Input Motor Output User Inputs Feedback Special Pulse output Pulse output Direction output Direction output Ground For electronic gearing an incremental encoder is used Channel A XI Channel XI Neremental
222. rameter MAXFREQ can be de creased See also the command descriptions Average Rated Current CA page 90 CB2 Set low PWM output frequency page 92 Peak Current CP page 101 Current Loop Bandwidth MAXFREQ page 129 page 157 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 195 9 7 Connection of an Unknown Motor Type 5 7 6 AMC2x Parameter Setup Online Auto Tuning Control Bits Search Zero PID tuning Main Parameters Basic Parameters User Registers Registers r Commutation Constants r Motor 1 Kphase 1 0 4 Magnetic Poles 8 4 Poffset 270 0 4 Current Mean ARMS 40 4 r Hall Elements Active Level Low C High Peak ARMS 120 i Hall Elements T Current Filter amp raie TL 0 i Q Hall offset 208 Set up of active level Encoding Encoder Type Line driver h imize 4 Pulse rev 8192 E Initialization Index C Of On Fixed Field Warning 0 Set up of Hall You are about to change Special ha 1 1 type vital motor parameters P II Setting the Hall Element The Controller can be initialised with or without Hall elements in the motor Normally the Hall element is not used if the motor may be allowed to move during start up In this case the Hall register is set to 0 If however the motor is required to remain completely stationary during start up the m
223. ration 80 81 Digital Inputs 33 Digital Outputs Read Set Status of Outputs OUT command 135 Direction 95 Direction input 37 38 E ELSE 104 Encoder Input 29 30 END 105 ENDIF 105 End of travel Limit Inputs 34 EOT 34 Error messages 168 ES 108 EST 109 ET 110 Exclamation mark 79 82 86 EXIT 110 G Galvanic isolation 32 35 Gear Mode 5 52 GO 113 Ground 32 35 H Hall Input 31 Home Input 32 35 IF 118 IN 120 INI 54 IN6 75 INAL 120 121 INDEX 122 123 INPUT 124 Inputs Analogue Input 41 Digital Inputs 33 Direction Input 37 38 Encoder Input 29 30 End of Travel Limit Inputs 34 Hall Input 31 Home Reset Input 32 35 Pulse Step Pulse Input 37 38 User Inputs 32 33 35 J J Jump statement 125 Js 125 JS Jump sub routine 125 K KD 127 128 KP 126 Kp 126 L LINE 127 LIST 128 M Master Slave Control 40 Modes of Operation Gear Mode 5 52 Positioning Mode 6 53 JVL Industri Elektronik A S User Manual AC servocontroller AMC20 21 22 209 6 Index Register Mode 7 54 Torque Mode 9 78 Velocity Mode 8 59 78 MR 131 N Negative Limit Switch 128 134 155 160 NLS 128 134 145 155 160 NPN output 32 35 Ol 54 OK Output 96 OR 134 155 160 OUT 135 OUT Read Set Status of Outputs command 135 Outputs Power Dump Output 42 Pulse Outputs 40 Read Set Status of User Outputs OUT command 135 User Outputs 36 Overload Voltage 25 26 Overview of 176 p PE
224. rload Velocity Time Motor keeps running until the final position is reached TTO575GB CB5 0 Slip coupling disabled default 5 Slip coupling enabled JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 93 4 11 Command Description 4 11 25 CB6 Filter Selection Use velocity filter in position register gear mode modes involving absolute positioning If the mechanical system is elastic and the position tolerance is low the velocity filter can be used to ensure a more stable system CB6 0 Use position filter default CB6 Use velocity filter Please note that the positioning precision is not as good when the velocity filter is used It is therefore recommended that the following registers are adjusted to a higher value than by using the position filter FE Following Error see Following Error FEM page 111 PE Maximum Pulse Error see Maximum Pulse Error PE page 136 PES Pulse Error Samples see Pulse Error Samples PES page 137 4 11 26 7 Mode 4 Source Selection Use program control in velocity mode MO 4 Instead of controlling the velocity via the analogue input it is possible to control the velocity via VM commands via the controller status window in MotoWare or via VM commands in a MotoWare program CB7 0 Use All default CB7 Use program control 4 11 27 CBS Divide Encoder Input by 16 When this control bit is set the encoder input will
225. rol circuitry 4 Ww EA must be keept active while main Industri Elektronik V ower is disconnected MEE Prefuses T10A type gG Servo Motor Controller Do or Dz in all phases TTO503GB Rated for 600V 150kA 3 x 400VAC Earth U1 and must be permanently 3 2 1 General Aspects of Power Supply Powering of the Controller is relatively simple Types AMC20 21 and AMC22 re quire a supply voltage in the range 200 250VAC single phase or 100 400VAC three phase 3 2 2 3 Phase power supply of AMC20 AMC21 and AMC22 To ensure that powering of the Controller is as simple as possible only a single supply voltage is connected Internal supply circuitry ensures the correct supply voltages for the Driver control circuits etc For optimum driver performance it is recommended that 5mm cable minimum is used to connect the power supply to the Controller If the driver supply voltage falls be low 80VAC the internal reset circuitry will reset the driver Provision should therefore be made to ensure that the supply voltage is always maintained at a minimum of I OOVAC 3 phase or 200VAC single phase even in the event of a mains voltage drop 3 2 3 Earthing Safety To ensure proper earth connection the earth terminal must always be connected before any other power source is connected to the Controller 3 2 4 Power Supply Faults The Controller is protected against undervoltage If a voltage overload of the su
226. roller AMC20 21 22 103 4 11 Command Description 4 11 55 ELSE Only AMC2xP e Er Exec Com Time mand Description msec RA pe eee e per eee x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description The ELSE statement is used in conjunction with the IF statement The program line fol lowing ELSE will be executed if the IF statement is false Usage IF condition expression ELSE expression Example IF AC 87 7 2 100 ELSE AC VM 98 104 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 11 Command Description 4 11 56 Description Usage 4 11 57 Description Usage 4 11 58 Selection Description Usage End Program Block END Only AMC2xP me Exec Com Time mand Description msec ERA E fee x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect END is used in IF statements when several command lines must be grouped in a block END can be used in IF statements only See IF Statement page 70 IF AC 500 BEGIN AC 500 VM 1000 END Terminate Program Block ENDIF Only AMC2xP e Exec Com Time mand Description msec ERA acrior cc cR HN x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect
227. rom Controller PL 1 The actual level at the PL input is I which means that a voltage is applied to the input 4 11 101 Positive Limit Input Level PLL ee Exec Com Time mand Description msec ERA oe oo x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description The PL NL Inputs function as end of travel limits If the motor is moving in a negative direction and NL is activated the motor is stopped instantaneously The PL Input is the positive end of travel input The two limit switches can be independently programmed to be active high 1 Normally open sensor or active low 0 Normally closed sensor The PLL command is used to set this active level for the PL input positive limit switch For connection of the end of travel inputs see End of travel Limit Inputs page 34 Usage PLL x Set the active level for the positive limit switch sensor connected to the PL in put 0 low normally closed high normally open PLL Show current active level for the PL input Examples Sent to Controller PLL 1 Set PL active level to normally open sensor Received from Controller The Controller has accepted the command Sent to Controller PLL Show current PL active level Received from Controller PLL 1 The current PL active level is JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 139 4 11 Command Descrip
228. rs los x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The motor position can be read at any given time The position is given in terms of en coder pulses relative to the zero point The motor s position can also be reset by spec ifying an argument to the AP command It is recommended that the position is only changed when the motor is stationary Sent to Controller AP 1234 Setthe actual position counter equal 1234 Received from Controller Y The controller has received the AP command and AP is now updated with the value 1234 Sent to Controller AP Verify the actual position Received from Controler AP 1234 The actual position is 1234 Actual Position of the Master Axis APM Mode Com mand Description Mm Max pen aoarresnonomaserae are farce fos LLLI Ie x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The position for the master axis can be read at any given time The position is given in terms of encoder pulses The position can also be reset by spec ifying an argument to the command such as 0 or 1234 The counter is controlled by the XI and YI pulse inputs see also Pulse Inputs page 37 Note that the APM register will not be updated when the controller is set in mode 2 3 4 or 5 Sen
229. s command The bus current is the current flowing from the main supply to the output driver in the AMC2x The current shown represents the actual current measured The bus voltage can also be monitored by using the VOL command See Bus Voltage VOL page 160 Usage CUB Show the actual bus current in Amps Example Send the command CUB enter Inthe MotoWare online editor Following is received CUB 1 57 Which means that the actual bus current is now 1 57 A RMS 4 11 52 Current Velocity CV me Exec Time mand Description msec 2 3 5 pe ee NN ER RN EN tet zT x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description The motor velocity can be read at any time using this command Usage CV Show current velocity in RPM Example Send the command CV enter Following is received CV 1000 Which means that the actual speed is now 1000 RPM 102 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 53 Description Usage 4 11 54 Description Usage Delay D Mode Com mand Description Max o z a ls D Detay in program jme fs x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The D command pauses program execution The delay can be specified in msec steps D
230. s have the following function The program is sent The Program can be saved in non volatile Memory for later use To debug the program open the On Line editor and type GO If the program is ready just run the program Run program at controller power up Mo C Yes Save OnLine E ditor Run Program OnLine Editor Save and Reset Continue No Action TTO566GB Save Online Editor Save the program in non volatile memory and open the On Line Editor When this option is selected the MS command is sent to the Controller Then the OnLine Editor is started The program can then be executed using the GO command It is important to use the OnLine Editor during tests In the event of program errors the Controller sends error messag es which are automatically displayed in the OnLine Editor 64 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 8 Program Execution in the AMC2xP 4 8 5 Save and run Program Run Program Save OnLine Editor Continue No Action Program Size Save the program in non volatile memory and start program execution When this option is selected the MS command is sent to the Controller followed by the GO command The program is saved and then executed Start the program When this option is selected the GO com mand is sent to the Controller and program execution begins Save the program in non volatile memory Start the OnLine Edit
231. s is true the action as sociated with that expression is performed and the entire chain terminated As always the code for each action is a program line specifying a command The final ELSE clause takes care of the situation when none of the previous conditions have been met If no action is required in this case the final ELSE clause ELSE action can be omitted To illustrate a conditional test involving 3 branches the following exam ples shows how a program segment can be used to wait for input from INI or IN2 When INI is active 1 the acceleration is set to 500 and the program continues If IN I is inac tive 0 and IN2 is active 1 the acceleration is set to 900 and the program continues START IFINI I If INI is active set AC 500 AC 500 ELSE BEGIN IFIN2 1 If IN2 is active set AC 900 900 ELSE JSTART Jump to START if neither INI nor IN2 is active END Note if more IF ELSE statements are used in connection you must use BEGIN and END tags and can be used instead of BEGIN END JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 71 4 8 Program Execution in the AMC2xP 4 8 9 Error Messages during Programming and Program Execution Three types of error message can occur during programming and program execution grammatical errors syntactic errors and errors during execution runtime errors A check for grammatical errors is carried out immediately d
232. se P r Profile m Port r Protection Limits 7 2 1 PowerlW eee 1100 Err Pulse 40 x Accel us 2000 4l Pos Err Sample E Torque 1000 i Flw Pulse 32767 Fre Err Pulse 1000 ACH 25 100000 4 r Limit Switches r Load Low High Status Load 1 0 4 Negative C NL C C PL Bias 0 0 i TT9024GB 0 Passive 1 Gear 2 Position 3 Register 4 Velocity 5 Torque HN M N Active high 5 I XI lt lt M V V C Pause C Start Stop v I lt lt 4 07 112 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 66 Description Usage 4 11 67 Modes Description Usage Example Execute Program GO Only AMC2xP Com mand Description Max _ o I dT x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect This command is used to start execution of the program in the program memory GOExecute Program Halt of Motor H Mode Com mand Description Max _ b z a ls P Ho Hat motor and program f bo o fes x Can be set verified but no effect Has effect can be set verified o Can be verified b
233. select ed The PID can only be manually adjusted PID tuning involves 4 parameters KP KI KD and KF feed forward Advantages It is easy to obtain a stable system also in cases where the transmission is elastic Tuning can be done while the motor remains in a stationary position Disadvantages Dynamic performance is not as good as that obtained with auto tuning Coarse adjustment of the filter is done quickly but it takes some time and know how to optimise the filter for best performance 2 Auto tuning using 2nd to 6th order filter Auto tuning provides a method of tuning that is much better than manual tuning This tuning involves a library of special recipes that are optimised for different ap plications and motor types Advantages It is easy to obtain an extremely good filter setting Dynamic performance is optimal The higher filter order makes it possible to avoid oscillations caused by non linear mechanics Very fast settling times can be obtained Recipes can be made for OEM users who require specific system performance in an application Disadvantages The motor will move during the tuning sequence while the Controller determines the system performance In case of extremely elastic or sloppy mechanics it can be difficult to get a valid tun ing result Choosing the right method of tuning Normally auto tuning is recommended but in cases where the mechanics of a system are very elastic or the allowable positioning range of
234. ser program The EXIT or GO commands will end the programming sequence PROGRAM Set the Controller in programming mode JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 145 4 11 Command Description 4 11 110 User Registers R Only AMC2xP e Exec Com Time mand Description msec STE pesten e fres x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect Description The Controller includes 500 user registers which can be used freely in a program The registers can be assigned a value be included in equations etc The registers can contain values in the range 2147483648 2147483648 Usage Rx v Set register x the value of v Rx Show the value of register x Examples RI 100 R1 2 AC 34 R99 R67 Show the value of register 67 on the RS232 IF R45 gt 666 OR RI 99 R2 AC 146 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 11 Command Description 4 11 111 Description Usage 4 311 112 Description Usage 4 111 113 Description Usage Reset Controller RESET E Exec _ Time mand Description msec 112 315 EE ee pe ee x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect If a system overload occurs for example if the supply voltage is too high see the ES
235. set verified but no effect Has effect can be set verified Can be verified but not changed has effect If the Controller is used in Mode electronic gear the PRM register is used to define the resolution of the master encoder connected to the pulse input XI and YI As with the case of the PR command the value specified here is the number of pulses the resolution of the encoder Note that the Controller internally multiplies this resolution by a factor of 4 The Controller uses the PRM register to calculate the correct gear ratio between the in coming pulses at YI and the movement the motor is required to make Note that PRM is not only significant when an encoder is connected to the pulse input but also is significant if a pulse and direction signal are connected to the pulse input for mat 2 PIF 2 or a pulse and pulse signal format 3 PIF 3 PRM xSet pulses per revolution on master encoder PRM Show encoder pulses per revolution on master encoder Start Programming Mode PROGRAM Only AMC2xP Com Time mand Description Max msec 2 5 gt PRO GR Enter programming mode 0 5 l ll AM x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect This command sets the AMC2xP Controller in programming mode Subsequent com mands statements etc with a few exceptions will then be included in the u
236. sing the EST command see Error Status Text EST page 109 Some error conditions are similar to other errors The following describes some of the most common errors and possible solutions Motion Errors The motor runs ok but at higher speeds the error message average current exceeded appears The error could be l Thecurrent filter is not tuned properly Please re tune the current filter using the TUNEI command See also Setting the Motor Currents page 195 2 KPHASE register is not set properly Please let the motor run at a speed as high as possible without causing this error Try then to adjust the KPHASE value until the CL melt integral is settling at a minimum Try now at full speed Temperature The temperature is very high at the surface of controller or a temperature warning is of ten displayed in MotoWare The error could be l Theambient temperature is too high Make sure that the ambient tempera tures specified in Technical Data page 182 is not exceeded 2 The cable length or the cable capacitance is too high Decrease the PWM frequency at the motor output by using the CB2 param eter See also CB2 Set low PWM output frequency page 92 3 The airflow through the cooling channel in the controller is too bad due to nar row mounting Mount an extra fan in the housing around the controller or im prove the air ciculation by mounting the controller with a better distance to the surounding housing Incorrect Veloc
237. sition AP Actual Position is set to 0 Level at HM Input HML 0 Level at HM Input HML 1 I b Set 0 Returns to final Velocity ZA ZA zero position AP 0 Profile n encoder n encoder n depends on speed deceleration pulses pulses 4 9 5 Zero search Sequence using the Index Input ZM 1 When the zero search format ZM is set to the Controller will use the index inputs EZI and EZ2 from the encoder mounted at the motor see also Encoder Input page 29 When the zero point search function is activated the motor moves in the specified di rection and at the specified velocity until a transition occurs at the index input The motor then decelerates and stops after which it moves in the opposite direction to the position where the index was registered The result of the sequence is that the motor is posi tioned precisely at the index position The zero point is thus located and the motor s po sition AP Actual Position is set to 0 Transition at the index input The index goes from 1 to 0 or from 0 to 1 Level at EZ Inputs 1 Set AP 0 Returns to final velocity ZA ZA zero position AP 0 Profile n encoder n encoder n depends on speed deceleration pulses pulses 76 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 9 Mechanical Reset 4 9 6 Using MotoWare to Set Up Zero Search The easiest way to access all the parameters used for zero search is to use the MotoWar
238. sponse time Illustration of lifting mechanism Motor Static load Drive 90 Degrees Adjustment of the BIAS is made during system installation as follows TT0555GB I Ensure that motor installation described elsewhere in this chapter is done correctly and that the motor can operate normally Open the On line editor in MotoWare Check that there is contact with the Controller by keying enter Ensure that the motor is loaded with the required load for the system Set the Controller to Mode 2 by keying 2 enter Move to a position in the middle of the positioning range by keying SP n enter n specifies the desired position Read the internal filter torque value by keying enter The controller will answer i e TQOUT 10 2 Adjust the BIAS to this value by keying BIAS 10 2 enter The system is now in equilibrium 7 Finally the BIAS value is stored in the Controller s non volatile memory by sending the command MS enter The filter constants may require re adjustment after set ting the BIAS See Adjustment of Servo Regulation page 18 BRUN S The BIAS can also be adjusted using the main parameter window in MotoWare To TQOUT register Desired Speed 3rd Order Feed forward Filter 4th Order To Motor Filter Current 2 Alpha BIAS KPHASE Actual Position 2 Order Feedback filter TT0556GB 22 JVL In
239. sted to optimise the commutating angle at high speeds If the motor library is used for set up the KPHASE parameter is already opti mised for the chosen motor Se also Setting KPHASE page 198 186 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 5 5 Error Indication 5 5 1 5 5 2 5 5 3 5 5 4 5 5 5 5 5 6 In addition to their normal function the Controller LEDs are also used to indicate vital error conditions The following describes the normal functions of the LEDs and then their additional functions See also Error Status Text EST page 109 concerning Control ler error messages Error LED The Error LED is lit when a fatal error occurs fatal error is an error which prevents motor operation e g a fault in an encoder cable the motor is jammed a temperature overload short circuiting of the motor output voltage overload average current ex ceeded Gurrent LED The Current LED is lit if the specified average rated current CA is exceeded for any length of time The Error LED is also lit The Current LED is also lit if an overload occurs The system must be reset after an over load See Reset Controller RESET page 147 T gt 75 C LED The gt 75 LED is lit when the Controller s internal temperature exceeds 75 C The Controller must be reset Out Error LED The Out Error LED is lit when an error occurs at one of the eight Outputs 1 08 Four LEDs Blinkin
240. ster Mode As a test connect a voltage to input and 8 start input The motor should move to position 1000 This value is stored by default in register on delivery For further information on operation in Mode 3 see Register Mode MO 3 page 54 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 7 1 7 Getting Started Velocity Mode Mode 4 Minimum configuration PUER when using Mode 4 Running otentiometer Error Current 10V Out Ground Incremental encoder AC Servo Motor Encoder Input Motor Output MotoWare RS232 RS485 E Power Supply SS c 3 Si MotoWare installed on a PC Mains Supply and ground for setting up the AMC2x with Consult power supply chapter speed data etc for details only during installation Dy woo Industri Elektronik V 2 Servo Motor Controller TT0553GB Follow the procedure below for operation of the Controller in Mode 4 Velocity Mode I Connect the Controller as shown above For further details see Motor Connection page 27 coder Input page 29 Power Supply page 25 Analogue Inputs page 41 2 Connect the PC via a terminal program e g JVL s MotoWare or Windows Terminal if necessary following the des
241. switch ing off the cursor as follows CO3 3 Deactivate cursor The Controller and an IOM I module are connected in a system via the JVL Bus inter face The IOM I module s address is 5 The IOM I I s output 7 is to be de activated The command is as follows CO5 7 Deactivate output 7 on IOM I I module with address 5 100 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 48 Description Examples 4 11 49 Description Examples Peak Current CP Com Time mand Description msec ae The maximum allowable instan 9 55 en taneous RMS current per motor 15 92 AMC21 ARMS Ph phase 22 28 AMC22 x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect To protect the motor from overload and to ensure its operational lifetime is not reduced a maximum peak current value can be specified The system can withstand currents for short periods that are higher than the maximum allowable rated current CA command but the motor can be protected from high current peaks The CP command is used to set the maximum allowable peak current to the motor Typically CP is set to a value 3 times greater than the maximum allowable average current CA The specified current is valid for a single motor phase See also Setting the Motor Currents page 195 The CP value is specified as the maximum
242. t page 78 Set any maximum velocity required using VM Set the maximum torque using the TQ command The motor can be controlled via the Analogue Input All In this mode VM is used to ensure that the motor does not exceed a velocity above which mechanical damage may occur or that the motor is overloaded The velocity limit in this mode is a precautionary measure and not a precise control Commands of particular interest in this mode are TQ VM AIHI AILI AIOI AIUI Positive Torque TQ Maximum negative Zero point voltage AIL1 AIO1 EY 2 1 10 Input Voltage Maximum positive voltage AIU1 Hysteresis AIH1 TT0534GB Negative Torque 60 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 8 Program Execution in the AMC2xP 4 8 1 4 8 2 4 8 3 General Description The AMC2x Servo Controller provides the additional feature that it can be programmed using a simple and flexible programming language which is built up around the interface command set Thus all commands can be used for developing or executing programs During program execution all parameters in the Controller can be read or changed All values that can be set and read using the same single command are called registers and can be used in arithmetic expressions Program execution is line based A program can consist of up to 500 program lines be ginning with l
243. t not within the range spec ified in the PE and PES registers Wait until motor is settled RS 5 Fatal error has occurred RS 6 Zero Search in progress RS 7 System is halted This state occurs if the Controller has re ceived an H or SH command or if one of the limit inputs NL PL is activated In register mode MO 3 an activa tion of the pause input IN7 or a deactivation of the start input during a move will also cause RS 7 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 147 4 11 Command Description The different status values in the RS register are not used for all modes The table below shows the relation between function mode and the RS status LIC MEI sde 2 Mate Meco Moe EEE Ree NNN Gerdt LENER Means that actual RS status is supported Means that the actual RS status is not supported and will never be shown in the actual function mode Example When using mode 2 or mode 3 a typical positioning sequence appears as below Velocity The system is unstable since the acceleration value is too high The motor torque is not enough to handle the load Unstable system with high acceleration Stable system with low acceleration Time RS Time TTO562GB Position Error is greater than the interval specified in the PE register therefore RS is set to 4 The illustration above shows the connection between the actua
244. t should be activated at logic or logic 0 Some of the bits can only be read These bits show the status of different condi tions during program execution for example in which direction the motor is moving or whether errors have been signalled in the error registers The following Control bits are available AMC2x Parameter Setup Online x Main Parameters Basic Parameters User Registers X Registers Auto Tuning Search Zero PID tuning j xl Reply with Y when address gt 0 Divide sample interrupt by 4 Ignore limitswitches NL PL inputs Motor in Position output goes inactive Use slip coupling Use velocity filter in position register gear mode Use program control in velocity mode Divide encoder counter by 16 E E 2 B Ignore Servo Signal 4 Invert Movement direction TT0571GB ETE ETE E o The control bit can be accessed by entering the Control Bit page under parameter set tings Descriptions of the individual bits are given in the following sections CB1 RS232 RS485 Answer if ADDR O If the Controller is set up with an address higher than 0 0 point to point it will not respond with any answer if a command is received Only requests that require read back of a certain register e g actual position AP are answered This default setting optimis es the speed of communication The flag can be used to define if any received messag
245. t to Controller APM 50 Setthe APM counter equal 50 Received from Controller Y The controller has received the APM command and APM is now updated with the value 50 Sent to Controller APM Verify the APM counter Received from Controller APM 50 The counter is 50 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 87 4 11 Command Description 4 11 15 Description Example 4 11 16 Description Usage Baud Rate and Serial Protocol BAUD mand Description msec 1213 46 BAUD fBaudrateformsesemses fs Je x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Use the BAUD command to change the protocol used for serial communication Note that the BAUD register cannot be saved permanently Therefore the Controller will always start up with BAUD 6 This is a safety precaution to avoid that the Control ler is set to a communication format which is not supported by the host Baud rate and serial protocol settings Stopbit BAUD 1 No effect BAUD 2 BAUD 3 BAUD 4 38400 BAUD 5 No effect No effect BAUD 6 default BAUD 7 BAUD 8 Sent to Controller BAUD 7 Setthe baud rate to 19200 with 8 databits Received from Controller Y The Controller has received the BAUD command and the baud rate is set to the new value Note that the Y character is transmitted with the old setting The new setti
246. tatus Running Zero Search Inactive Program Mode Standby Program memory 1 Used Encoder Type ET 1 Input IN8 IN1 IN 00000000 Input PL NL HM 0 0 0 Output 08 01 OUT 00000000 Actual Position PULSES AP 1272 Analogue inputs V AI1 1 12 0 Controller Type 1 2 3 4 5 This command an exclamation mark can be used to obtain information about the Con troller type and its address The Controller will reply to this command regardless of whether addressing or checksum is used Thus there must only be I Controller connect ed to the interface if this command is used without an address The command can be used alone i e or together with an address Show Controller type and address Sent to Controller Received from ControllerAMC2 0 ADDR 24 Note that the above is only an example The address 24 in the above example will also depend on the actual address of the Controller in question JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 79 4 11 Command Description 4 11 3 Description Examplel Acceleration AC Limits Exec mand ee o med o12l3lals e ac sea eoo een os __ x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect This command is used to specify the acceleration deceleration profile Note that the AC parameter has eff
247. the IF ELSE statement will only include first line and the following lines will always be executed Because of the above the following program segment will not work IF INI I NB this program segment will not work IF IN2 1 AC ELSE VM If INI is 1 the program segment will work since the following line IF IN 2 will be eval uated If however INI is 0 the line IF IN2 will be skipped and the AC command ex ecuted The next line begins an ELSE clause Lines following an ELSE are only executed if a preceding IF statement has been evaluated false which is not the case in this example A solution to the above could be IF INI 0 Execute next line if INI is 0 J NN Jump to label NN IF IN2 Execute next line if IN2 is AC Show acceleration RS232 interface ELSE Execute next line if IN2 is 0 VM Show velocity on RS232 interface Or the solution could also be IFINI BEGIN IF IN2 1 AC ELSE VM END 70 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 8 Program Execution in the AMC2xP The following general construct IF expression action ELSE BEGIN IF expression action ELSE BEGIN IF expression action ELSE action END END occurs so often that a brief explanation is given here This sequence of IF statements is the most general way of making conditional tests between many possible cases The ex pressions are evaluated in sequence and if one of the expression
248. tion 4 11 102 Description Usage 4 111 103 Description Usage Power Management me Exec Mode eme ef x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect This command specifies the maximum allowable power consumption If the power con sumption exceeds the value specified by PM the Controller enters mode 0 standby and error register will contain the message E22 Power consumption too high The Reset command must then be used to initiate the Controller Note that the power consumption is integrated over 12 seconds This makes it possible to increase power consumption to 200 30096 or more within this period which is useful during acceleration Power consumption is measured additively i e reverse power feeds from the motor during deceleration will be subtracted from the measured value The actual power consumption can be shown at any time using the CPL command See Current Power Level CPL page 101 750 Set maximum power consumption to 750 watts PM Show actual level of the PM register Pulse Output Format POF ee Exec Mode _ Time mand Description msec o 23 5 et RR E fot x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The POF register determines which signal is output at the pulse out
249. tion is reached Ol is set high to indicate that the motor has reached its destination See also Getting Started Register Mode Mode 3 page 7 Commands of particular in terest for operation in this mode are ET PR XR XA XP XV PE PES Inputs IN I IN6 select which parameter set is used for the actual motor operation Register Digital Inputs Function set me ms ma INS iz INT Acceleration Velocity Position Relative ENE lected fo Jo fo 1 xa xvi per CH p pe pez Jo jo jo jo jt xas xs XPS 4 Jo fo 1 fo jo xas xP4 84 p 1000 jo jf jo ji XAo xes c e o jo jo ji fo xas xve 7 Jo jo jo p xaz xv xe __ 7 jo jo fi fo jo jo jxe xve xee _ jo t fo fo fi xe xe Poe Po Ho fo fi fo fi fo xv xP10 p o pep jo jr jr xam pwn xP 12 o jo t jo jo xaz xvi xP12 XRI2 13 t jo fi xas XPI3 XRI3 ma jpo p fo xata 15 _ t t M jt _ 5 gt xvt5 XPt5 XRIS He Jo j jo j jo o PG XP6 17 Jo 1 fo fo fo t XP17 xet7 nm o T Jo Jo T Jo pas eie xme mh Jo T Jo Jo fi pas vis eie xmo Jo T Jo fr Jo Jo pao 2 r fo h fo fi fo
250. tion rate Baud rate of 9600 Baud The Baud Rate must be set accordingly on the terminal or PC used to communicate with the Controller Command Syntax Communication with the Controller must follow a specific command syntax Address Command Argument Command Argument Checksum CR Text in square brackets may be included or omitted depending on the set up Address This address must be used when more than one Controller is connected to the same interface See also the ADDR command Command The command itself Argument The subsequent numeric argument for the command An argument always begins with the equal to sign Certain commands do not use argu ments e g commands that display set ups More than command be used in a single command line semi colon must be used to delimit multiple commands Checksum In situations where long communication lines are used a checksum can be used to ensure that the commands are received correctly If an error oc curs the error message E9 is received and the command must be re trans mitted See also the CHS command CR ASCII value 13 This character terminates the command line JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 43 3 15 RS232 Interface 3 15 5 3 15 6 Synchronisation During communication with the Controller each command string must be terminated either by a CR ASCII 13 or a semi col
251. to Controller HML Show current home signal level Received from Controller HML 1 The current home signal level is 116 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 73 Description Usage Hall Offset HOFFSET Com mand Description Max _ sera oaaae fo fs Peek x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect To achieve correct decoding of the HALL elements in the motor if the Hall element is used it is vital that the HALL signals are aligned in comparison with the motor phases The Hall signals give the advantage that the motor stays in a stationary position after pow er up If the Hall signals are not used the only alternative is fixed field initialization which will make the motor move a certain distance during initialization See also Initialisation Type INITTYPE page 122 If possible Hall initialization is always recommended The HOFFSET register is used to specify how many electrical degrees the Hall signals must be phase shifted with reference to the motor phases See illustration below Electrical timing between motor phases and hall and index signal U2 v2 w2 Motor Output Current 360 Electrical 1 1 1 8 l I Degrees gt 4 30 Electrical degrees The HALL signals
252. to PNP ET 1 enter Set encoder type to NPN ET enter Display current setting for encoder type To store the setting in the Controller s permanent memory key MS enter 192 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 9 7 Connection of an Unknown Motor Type 5 7 3 Setting the Index Input It is recommended that an encoder with an index channel is used If an encoder with in dex channel is used the Controller s Index Input 21 and EZ2 must be enabled by Setting the INDEX paramter to I INDEX 1 The index inputs will only read a transistion at the input therefore the polarity of the in dex pulse is irrelevant Illustration of active levels Encoder with active high index Encoder with active low index Encoder Encoder B a gt degrees gt 90 degrees Encoder av Encoder B channel B channel Encoder Encoder LSS Index channel Index channel TT0009GB If the index input is enabled via the on line editor the INDEX command can be used Example NDEX 1 enter Enable the index input NDEX enter Display current index input status enabled or disabled JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 193 9 7 Connection of an Unknown Motor Type 5 7 4 2 Parameter Setup
253. tption 7 ma x pes e 5 x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect Description The velocity for Zero search can be set using the ZV register If the ZV velocity is set to null the general velocity register VM will be used Usage ZV Set zero search velocity to n RPM ZV Show actual zero search velocity Example Sent to Controller ZV 50 Set zero search velocity to 50 RPM Received from Controller The Controller has accepted the command Sent to Controller ZV Show current zero search velocity Received from Controller ZV 50 zero search velocity is 50 RPM 166 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 4 12 Error Messages 4 12 1 When an error occurs in communication with the Controller or when an internal error occurs the Controller transmits an error message The error message consists of an E followed by an error number followed by a colon followed by a descriptive English text The following illustrates an example of an error message Example E2 Out of range The error messages can be read by typing EST enter in the on line editor in Moto Ware When a old message is read once it will be deleted from the error register and not shown again Description of Error Messages E0 No errors No errors have occurred since the last request E1 Error The
254. troller commands CA and CP See Setting the Motor Currents page 195 See Examples of Motor Connection page 200 for connection of various types of motor 28 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 2 1 22 3 4 Encoder Input 3 4 1 3 4 2 Connection of balanced encoder Feedback TT0506GB Incremental encoder It is recommended that screened cable is used to the encoder General For position and velocity feedback from the motor an incremental encoder must be con nected to the Controller at the connector marked Feedback It is recommended that an encoder with an index channel is used i e that in addition to the A and B channels the encoder has a third channel which produces impulse for each motor revolution This pulse is used to reset the Controller s commutation circuitry and ensures that compensation is made for a missing pulse on either the A or B channel With out an index channel over a long period of operation the Controller will produce an error due to incorrect commutation of the motor Alternatively system efficiency can be re duced The incremental encoder detects the motor s velocity and position The encoder that is connected must be with RS422 output balanced The Encoder Input can read an encoder signal up to OMHz The encoder signal voltage must be in the range 0 to 5V If the encoder has an index channe
255. ull Up resistor must be connected between the Input and the supply See above illustration The size of the resistance depends on the supply voltage used The following resistances are recommended Supply Voltage Recommended Resistance 12 18VDC 2 2kOhm 0 25W 18 24VDC 3 3kOhm 0 25W 24 30VDC 4 7kOhm 0 25W 32 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 3 7 User Inputs This diagram is used if an NPN output is connected Inductive i sensor Power Supply or similar 5 30VDC T um Power Running Error P NPN Output Current T gt 75 C O HM O PL O NL O son O INs O IN7 O ING O INS n 1 O IN3 O IN2 O IN1 IN Output 1 p e PEDe Power Supply 5 30VDC Inductive sensor or similar lt gt User Inputs User Inputs 00000 ir OE O o8 O 07 O 06 O 05 O 04 O n TT0511GB Opto coupler 2 2nF Sharp PC357 T Filter tenker LED on front panel 100nF 3 7 1 General The Controller is equipped with a total of 8 digital inputs Each input can be used for a variety of purposes depending on the basic mode of Controller operation selected The Inputs are optically isolated from other Controller circuitry All of the Inputs have a common ground termi
256. ulse s ME e 0ps 1 0us 2us 1 0 5 Bi gt le sHs vi p edem _ Pulse _ _ Direction Direction Direction Motor Motor Motor Direction Direction Direction TT0510GB 3 11 3 Pulse Input Format The Pulse Inputs can be set to 3 different configurations See above illustration These configurations are selected using the PIF command See Pulse Input Format PIF page 138 The 3 configurations have the following function For further details see Gear Mode I page 52 3 11 4 Input Format 1 This format is normally used if the Controller is used in a system as an electronic gear An incremental encoder is connected to the input to read the motor movement The GEAR command is set to select the required gear ratio and the PIF command is used to set Input Format PIF I The input circuitry will then decode the incoming pulses ac cording to the above illustration See also the PRM command 3 11 5 Input Format 2 This format is normally used if the system receives pulses from a PLC or PC controller module The Controller functions as in a step motor system and the motor will move a specified amount each time a pulse is applied to the XI input The voltage level at Yl de termines the direction of motor movement 3 11 6 Input Format 3 This format corresponds to Format 2 but the direction of motor moveme
257. up The motor initialisation is the sequence that locks the electrical angle to the mechanical angle 3 different initialisation formats are available 0 Fixed field initialisation This format is only recommended for motors without hall feedback The initialisation is done by applying a fixed current to the motor This current forc es the motor to move into a predictable position When the motor is stable the commutation position is set to zero and the current is removed The motor com mutation is now initialised Note that the motor will move a certain distance when this type of initialisation is used Use type 2 Hall if it is important that the motor remains stationary I Reserved for future use 2 Use Hall element for initialisation This initialisation type will make sure that the motor remains stationary under ini tialisation This initialisation requires a motor with integral hall sensors The hall sig nals can be different formats and can be connected to either the normal hall inputs or integrated in the encoder signals The hall register specifies this see Hall ele ment Type HALL page 114 Continues next page 122 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description Initialisation type INITTYPE Continued Usage INITTYPE Read actual inittype setup INITTYPE n Set inittype to n type Example INITTYPE 2 Setinitialisation type to Hall element Use Hall element to initialise
258. upply terminals Ul VI or WI or if the Controller is supplied by a single phase supply the total power consumption of the mo tor is so high that the internal DC voltage sometimes drops below 00VDC Correction Check that the mains supply fulfils the voltage requirements listed in Technical Data page 182 If only a single phase supply is used as the mains supply consider using a 3 phase supply However ensure that the actual motor is rated for the higher voltage which will be present when using 3 supply phases instead of a single phase See Power Supply page 25 for details 172 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 12 Error Messages E48 Error initializing motor The controller have not been able to determine the position of the motor rotor after power up or an initialization A typical error source is the Hall signals If an invalid code on this signals appears the E48 message will be shown The error message only appears when an active mode is selected Mode to 5 Correction Check the Hall Encoder cables or verify that the Hall setup is done correct See also Setting the Hall Element page 196 E49 Serial Encoder failed This message only apears if a serial encoder is used The message indicates that the serial communication with the encoder could not be established Correction Check the encoder cable and make sure that the right encoder type is chosen See also En
259. uring transfer of a program to the Controller A check is made to ensure that the individual commands and operators exist that absolute values are not too large etc A check is also made to ensure that com mands are used in the correct context For example the following program line AC H will result in the error message Error This command must not be included in an equation The H command is not of the register type When a program is transferred via the Mo toWare program editor and an error occurs transfer is interrupted and the line contain ing the error is highlighted When a program is interpreted during execution any syntax errors are found while the program is in use During testing therefore it is important to use MotoWare with the On Line editor window open During execution the Controller will automatically transmit any error messages The following is an example VM 500 This line has incorrect syntax IF VM 600 VM 900 The above program segment will result in the error message Error in line Des Syntax indicating a syntax error in line number VM 500 R4 14 AC VM IF VM gt 600 OR AC lt gt 800 Right closing bracket missing after 600 The above program segment will result in the error message Error in line 3 Des Right parenthesis expected indicating that a closing bracket is missing in line 3 Remember that line numbering begins with line 0 If syntax errors occur program exec
260. ut not changed has effect 5 for AMC2xP the program will also be stopped This command is used to stop the motor instantaneously regardless of velocity decel eration etc For the AMC2xP this command will also stop execution of the Controller program The stop is done with the deceleration specified in ACH register for further details see Deceleration under a Halt Condition ACH page 81 Note that the deceleration is nearly instantaneous since the ACH default is 100000 RPM second When a Halt has been executed it can be released again by using the Unhalt command UH for further details see Unhalt UH page 158 The halt and unhalt commands can be used in all modes In mode 2 a positioning com mand i e SR or SP will automatically release the halt state H Halt motor Sent to Controller H Halt the motor Received from Controller The controller has accepted the command JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 113 4 11 Command Description 4 11 68 Description Usage Hall element Type HALL and Description Min Max msec 0 2 bm gt fos x Can be set verified but no effect Has effect can be set verified Can be verified but not changed has effect The Controller can be initialised either with or without the use of Hall elements in the motor Normally the Hall element is not necessary if the
261. ution is stopped The third type of error is those that occur during normal operation of a program that otherwise functions These are not program errors as such but errors for example in the use of registers Assigning a value which is too great or too small to a register during on line control will normally result in the error message E2 Out of range During program execution however this type of error will not generate error messages on the RS232 in terface Instead information about previous errors is stored in a register which can be read using the ES command These types of error can thus be handled during program execution and therefore do not require the program to be stopped The following ex ample illustrates how such errors can be avoided RI 50 Clear any error messages AC 100000 Set acceleration to 100000 IF ESO gt 0 f error ESO is greater than 0 50000 Set acceleration to 50000 resulting in the acceleration being set to 50000 72 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 8 Program Execution in the AMC2xP 4 8 10 4 8 11 Jumping to Program Lines and the Use of Labels The Jump command provides a facility for program control by jumping to a specified program line number The Jump command can only be understood correctly by the Con troller when it is used together with an absolute value for example 50 jump to line number 50 Using absolute line num
262. uts re ere PA BED CGU DOE eren 34 Home Reset Input tr rettet t o p TR VE E Ue AU ee ee DEED 35 User Outputs 36 Pulse cte 37 Pulse ae nE PH 40 Analogue Inputs secs se T suites cat EEA chosen ENEE E k ene 4l Power D mp Outp t nite gc qe io e rr Lee P RE IEEE UE EYES HERE CASERO CER 42 RS232 Interface MEER 43 RS485 Interface dm EE 46 JV E Bus lriterface in the AM Q2XP rene titer ttr Ea ee n E rie Fe i EHE ER o PETENDA PET 47 SN seede Use of R 232 Commands iuter ro rer E e Hir POE Dre ere obe rte herois 50 Operating Modes General Description n E 51 Gear Mode I E ces 52 Positioning Mode MO 2 dt 53 Register Mode MO 3 aperte tere e rer rn e TR dea E n PR FA CHEST QA IAN EE XXE ARENIS EE OU el 54 Velocity Mede MO 4 nte eR teer et pte Pep HE E UR d e ERU e e eerte etr dees 59 Terque Mode 5 cor eth eet rose ie eta eta re Pci oo drerit iue 60 Program Executioriin the 2 tre tre rien pa ve et o e EP e ela dva d Pe eve eot es Sauen AAS 61 Mechanical Reset nee satt grep reU er ORI E 75 Adjustment of Analogue Input eese e
263. value specified here must be the resolution specified for the encoder Note that the Controller internally multiplies this resolution by a factor of 4 so that for example an encoder motor with a resolution of 500 lines per revolution effectively has a resolution of 2000 pulses per revolution If the motor is to rotate revolution the posi tioning command must be based on the effective resolution of 2000 pulses PR cannot be set to a value lower than the number of motor poles times 128 If PR is set lower the Controller responds with an error message E2 Out of range Usage PR x Set encoder pulses per revolution PR Show encoder pulses per revolution Example Sent to Controller PR Show the actual PR setting Received from Controller PR 500 The actual number of encoder lines per revolu tion is set to 500 which means that the total counts per revolution is 2000 142 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 4 11 Command Description 4 11 107 Print to External Module PRINT Only AMC2xP Description Usage Example 1 Example 2 Com Address 31 Register 65535 Value 65535 or text Address 0 PRINT Print to external module Register 0 Value 0 x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect The Print command is used to print out the contents of registers to external modules At present print out
264. will move in one di rection or the other and ultimately use of the BIAS function gives an easier adjustment of the complete system and thus a faster response time See Adjustment of BIAS page 22 for a complete adjustment description BIAS xx Set BIAS to xx BIAS Show current BIAS setting Sent to Controller BIAS 8 3 Set bias after the filter to 8 3 of full torque Received from Controller Y The controller has accepted the command bias is now changed Sent to Controller BIAS Show the actual bias setting Received from Controller BIAS 8 3 The actual bias is set at 8 3 JVL Industri Elektronik A S User Manual AC Servo Controller AMC20 21 22 89 4 11 Command Description 4 11 18 Description Usage Examples Average Rated Current CA Mods Com mand Description Max b 4 215 415 5 AMC20 The maximum allowable average CA 0 1 10 21 0 5 x ARMS Ph x Can be set verified but no effect Has effect can be set verified o Can be verified but not changed has effect To protect the motor from overload and to ensure that its operational lifetime is not re duced a maximum rated current value can be set The system will automatically shut down and report an error message E35 Average Current limit exceeded if the specified average current is exceeded The average current can be specified to 2 decimal places See also the CP command for limit
265. y the output can be configured to work as a general output with the same function as outputs 2 to 8 O2 O8 which means that Ol can be controlled through commands send via the RS232 interface or OUT commands implemented in a program only AMC2xP In this case the output will not be influenced when the motor is in position or not CBI5 0 Output can be used for general purposes CBI5 Output I is used as in position output Active high Default CBI5 2 Output is used as in position output Active low 4 11 35 CB16 Function of User Output 2 02 By default the user output 2 is set up to show when the Controller is in fully operational and no fatal errors have occurred CBl6 or 16 2 Alternatively the output can be configured to work as a general output with the same function as outputs and 3 to 8 Ol 03 08 which means that O2 can be controlled through commands send via the RS232 interface or OUT commands implemented in a program only AMC2xP In this case the output 2 will not be influenced when the Con troller is in a passive state or if a fatal error occurs CBI6 0 Output 2 can be used for general purpose CBI6 1 Output 2 is used as Controller OK Output Active high Default CBl6 2 Output 2 is used as Controller OK Output Active low 4 11 36 CB17 Function of User Output 3 03 By default the user output 3 is set up to work as a general output with the same function as outputs 1 2 and 4 to 8 Ol O2 04
266. y default set up the Controller will almost certainly report an error since the motor parameters POL PN HALL etc most likely will not correspond to the actual motor used The values originally keyed in can be re called using the MR Memory Recall command providing these were stored in the Con troller memory The factory defaults are listed in the individual command descriptions and in the Alpha betical Overview of Commands page 176 SD Recall factory default set up Sent to Controller SD Set all the registers in the Controller to default Received from Controller Y The Controller has accepted the command and has set all the registers to default values Use MS to save the default setting permanently Smooth Halt of Motor SH Mode Com mand Description Min Max __ srona fos x Can be set verified but no effect Has effect can be set verified Has effect This command is used to perform a controlled halt of the system The motor is stopped in accordance with the pre programmed deceleration acceleration parameter AC See also Acceleration AC page 80 Please note that after using the SH command the running status register RS will be set to 7 RS 7 To release this state use the UH command Unhalt see also Unhalt UH page 158 AMC2xP types Using the SH command will not stop program execution SH Smooth halt of motor Sent to Controller SH Make an immediate soft halt

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