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AC Servo System UserManual

1. Rev 1 0 4 10 2012 MSHD User Manual Task Screen Displays various interactive screens for viewing setting and testing parameters and drive configurations These screens are described in detail in other sections throughout this manual Status Bar het ne P Displays the status of the drive e Progress bar Some tasks may take more than a few seconds to execute such as connecting to the drive if so a green bar shows the progress of the action Faults This segment of the status bar is green as long as no faults exist it is red whenever a fault exists Click Faults to open the Enable amp Faults screen Warnings This segment of the status bar is green as long as no warnings exist it is yellow whenever a warning exists Click Warnings to open the Enable amp Faults screen Messages Notifications from ServoStudio that do not require immediate attention They are saved and displayed upon re quest you can continue normal work without viewing them Click Messages to see the full text For more information about warnings and faults refer to the chapter Troubleshooting 4 1 2 Schematic Diagrams ServoStudio uses schematic diagrams in many of the configuration and tuning screens to help you visualize and correctly set values for required parameters Some of the fields in these screens are read only Their values are entered automatically accord ing to the motor defined in the Motor screen and or settings define
2. arenrnnnnnnnnnvnnnnnnnennnnnnnnnnnnnnnnnnnnnnnennennennennnne 39 3 6 5 Connect Controller ee 40 3 6 6 AZONMECE WANS Wi ONS crete cancers cece e 42 36 7 NN NE 43 3 Set the Drive Address rrrnurrnnrnnrnnnvnrnnernnrennavnnvnernereenennennenneneeneenene 45 0 CONNEC TO PO nn 45 3 9 ServoStudio Software Installation rrarvrrnrvrnnrnnrnnnnvnvnnvnvnenavnenenn 47 3 10 Power Use 47 4 ServoStudio anvannunannnnnnnnnnnunnnnnnnunnnnnnnunnunnnnunnunnunnnnunnunnnnunnunnunn 48 4 1 Overview rmnrrnnarnnnunnennnnnrnenevnennnnernenavnenennernenavnennnnennnnnnnenannernnnenene 48 4 1 1 Interface BENENE 49 4 1 2 Schematic DiagraMS seede isorinis raniti 50 4 1 3 Parameter Values r arrrnnunnrnnerennevnenennavnrnnenennernenevnennernensnneneenenusnnerenn 50 4 2 DashboardS ee 51 EET EE EE EE nunnana eee 51 172 SE 52 EG OSM EEE 53 4 3 WiIizardS earenannnnunnnnnnnnnvnnnnnnnnvnvnennnnvnnnenanannenenevavnnnenevannnnenenavnnnenenannnne 57 TSN 57 MDs A UNG EE Sr 4 4 Preferences rrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnenenunnnnnnnnennnnennenenuenenuen 57 Rev 1 0 4 4 10 2012 MSHD User Manual 5 GT 59 D1 MUITOQUCUON EEE 59 5 1 1 Configuration PANNE 59 LE NTP 59 TS ENE DN 61 5 2 Drive Configuration SeQuence rrrnrrnarnnarnnnrnannnernnnennnnnaennsennsennen 62 ND SN NT 64 5 4 Connecting to the DN 66 5 5 Drive Information ties ex cv cc etieeenncasetcomsennsonsrnestesesucionsscucessesenttdasees
3. lt cR gt JPP Drive Returns s lt CR gt lt LF gt lt DLY gt lt VvAL1 gt lt SP gt lt VAL2 gt lt CR gt UserEnters gt Drive Returns lt LF gt gt Displayed on terminal gt J gt nnnnn nnnnn ee Rev 1 0 4 10 2012 ie MSHD User Manual RA ele S a Example 4 Reading a Variable Value MPOLES single pole motor with value 2 Sequence 1 2 3 4 5 6 7 8 9 10 UserEnters M P Jof tef J Ee Drive Returns M P oO t E usereners s jem DriveRetums s ce a fv 2 eel 1 p useremes Drveretums o I e s t1lomlapforsl gt Displayed on terminal gt MPOLES 2 poles se Example 5 Defining a Variable Value ACC acceleration with value 50000 Sequence 1 2 3 4 5 6 7 8 9 10 UserEnters A c Je fa l5 DrveRetums A lcl J l5 UserEnters o 1 o o Jof lt cre gt DriveRetums o o CR UserEnters Drive Returns lt LF gt lt DLY gt gt Displayed on terminal gt ACC 50000 lt 5 Multi Drop Mode In Examples 6 and 7 MSHD parameter values are defined as ADDR 3 ECHO 1 MSGPROMPT 1 Example 6 Addressing a Daisy Chained Drive The range of values for ADDR is 0 to 99 A value other than 0 puts the system in Multi drop mode which results in a different prompt
4. MSHD User Manual 3 Installation 3 1 Installation Overview Perform the following steps to install and setup a MSHD system 1 Mount the MSHD 2 Connect the motor to P2 3 Connect safe torque off STO to P1 or use jumpers to bypass Refer to the section Connect STO 4 Connect regen resistor to pins B1 and B2 on P3 if required 5 Connect motor feedback to C4 6 Connect machine I Os to C3 and or controller I Os at C2 7 Connect AC input voltage Note This interface varies among models Refer to the section Connect AC Input Voltage 8 Set the drive address using the rotary switches 9 Connect the drive to the PC 10 Power up the drive and the PC 11 Install ServoStudio software 12 Using ServoStudio configure and test the drive 3 2 Preparation 3 2 1 Hardware Requirements The following hardware is required for installation e Mating connectors and the associated crimp pins for interfaces P1 P2 P3 and P4 all mod els and P5 only for MSHD 008 MSHD 010 and MSHD 013 e Mating connectors for interfaces C2 C3 and C4 e Connector C2 Controller I O Plug 3M 10136 3000PE and shell 3M 10336 52F0 008 e Connector C3 Machine I O Plug 3M 10120 3000PE and shell 3M 10320 52F0 008 e Connector C4 Motor Feedback Plug 3M 10126 3000PE and shell 3M 10326 52F0 008 e Wires for connectors e Connector P1 26 28 AWG for all models e Connectors P2 P3 and P4 18 AWG for MSHD 1D5 and MSHD 003 16
5. Mating Connector type Crimp Housing PN F32FSS 04V KX STX PN CONr10000004 13 4x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector type Spring PN 04JFAT SBXGF I STX PN CONr10000004 19 Regeneration P3 JST J300 1 B1 DC BUS 2 B2 Regen BUS Mating Connector type Crimp Housing PN F32FSS 02V KX STX PN CONr10000002 10 2x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector type Spring Not Available AC Input P4 JST J300 L1 AC Phase 1 L2 AC Phase 2 L3 AC Phase 3 L1C Logic AC Phase 1 5 L2C Logic AC Phase 2 Mating Connector type Crimp Housing PN F32FSS 05V KX STX PN CONr10000005 03 5x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 B W NM Mating Connector type Spring PN 05JFAT SBXGF I STX PN CONr10000005 04 Optional check ordering information Manufacturing setting STX MOONS RS232 Daisy Chain C8 10 PIN CT 4p4c 0 1 IDC Female 1 Rx NELTRON 4401 10SR OR 2 GND ISO COXOC 304A 10PSAAA03 3 TX STX PN CONr00000010 67 4 USB C1 Mini B e a lt lt IT ee a n ee l gr lt lt ee aay a we Y f a f i o e 5 gt Feedback C4 MDR 26 Plug 1 Incremental encoder A 14 Incremental encoder
6. encoder 5 VDC supply for the secondary encoder Digital Opto isolated programmable 16 Digital Opto isolated programmable input 9 digital input Read using IN9 input 10 digital input Read using IN10 Digital Fast opto isolated Digital Opto isolated programmable programmable digital digital output Read using input Read using IN11 op input 11 Rev 1 0 4 10 2012 MSHD User Manual Fast opto isolated se Opto isolated programmable Digital ea Digital digital output Read using OUTS gt output 6 Programmable digital g an g P output Read using OUT6 User supplied 24V for I O 24 VDC Return of the usersupplied Fault relay Terminal 1 of the dry contact Fault relay Terminal 2 of the dry 10 20 1 fault relay 2 contact fault relay 3 6 7 Connect AC Input Voltage Note The AC Input interfaces and connectors vary among MSHD models e MSHD 1D5 and MSHD 003 One connector for bus power and logic power uses interface P3 e MSHD 006 One connector for bus power and logic power uses interface P4 e MSHD 013 Two connectors a connector for bus power uses interface P4 and another con nector for logic power uses interface P5 Make the following connections 1 Connect L1 L2 and L3 for bus power e Ifthe main voltage is from a single phase source connect line and neutral to L1 and L2 e Ifthe main voltage is from a three phase source connect the phases to L1 L2 and L3 2 Connect the AC input vo
7. AC Servo System User Manual Rev 1 0 AMP amp MOONS Automation MSHD User Manual Important Notice All rights reserved No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of Disclaimer The information in this manual was accurate and reliable at the time of its release MOONS re serves the right to change the specifications of the product described in this manual without notice at any time Trademarks All marks in this manual are the property of their respective owners Customer Service is committed to delivering quality customer service and support for all our products Our goal is to provide our customers with the information and resources so that they are available without delay if and when they are needed In order to serve in the most effective way we recommend that you contact your local sales repre sentative for order status and delivery information product information and literature and applica tion and field technical assistance If you are unable to contact your local sales representative for any reason please use the most relevant of the contact details below For technical support contact info moons com cn Part Number For ordering the MSHD refer to the following diagram MSHD 006 2A AF 1 XX Custom specifications If applicable Analog Input 1 One Analog input 16bit 2 Two Analog 14bit Benes Interface
8. Peak Output Current A rms for 28 28 28 2 seconds Peak Output Current A peak for 39 56 39 56 39 56 2 seconds vwaw 1 fr vaaz 1 f oo PWM Frequency KHz s p p Soft Stan PowerCreuttss w pf pf f Total Powertoss wo f 1 1 Harawre pp 1 35 Nm 1 35 Nm 1 35 Nm Wire Siz Votagetip pf pf mm Rev 1 0 K 4 10 2012 MSHD User Manual Normally operates at quarter power Yes Yes Yes when temperature exceeds high speed fan trigger temperature operates at full power Power Module Over Temperature Fault 80 80 80 Regulated C Power Module Over Temperature Fault 100 100 100 Non regulated C 100 100 100 Power Module Over Temperature Fault C are for High Speed Regen External Regenera tive Resistor B1 B2 External Shunt Regulator dependent dependent dependent Application Information VHYS Rogn Great Tum Off VDC VMAX Regen Circuit Turn On VDC Rev 1 0 4 10 2012 i MSHD User Manual 2 2 3 Control Specifications Table 2 4 Control Specifications All 200 VAC Models Rotary servomotors Motors Automatic self configuration of motor phasing and wire set Auto configuration tings EE ET Serial or analog current torque Serial or analog velocity p serial or Pulse and Direction position Update rate 31 25 us 32 kHz Output waveform sinusoidal Current Torque Control PDFF Standard pole placement Advance pole place
9. Pin Label Function GND ISO Transmit Unused O Rev 1 0 4 10 2012 ao MSHD User Manual 3 9 ServoStudio Software Installation 1 Install ServoStudio software on the host computer 2 When installation is complete start ServoStudio from the Windows Start menu or the shortcut on your desktop 3 10 Power Up 1 After completing the hardware connections turn on power to the drive Note If logic and bus AC supplies are separate it is recommended that logic AC be turned on before bus AC 2 The first time the drive is connected to the host computer on the USB port Windows detects the device and displays a Found New Hardware wizard Browse to and select the Drivers folder The path will vary depending on the computer s operating system and the location selected for software installation for example Program Files x86 ServoStudio Drivers Program Files ServoStudio Drivers The wizard will automatically select and install the driver file STX MSHD inf from the folder 3 Look at the 7 segment display on the MSHD front panel Upon initial power up the status display shows a flashing e indicating a Parameter Memory Checksum Failure This fault will be cleared once the drive is configured and the parameters are saved in the drive s non volatile memory Figure 3 16 7 Segment LED Status Display The digital display provides various indications of drive operation such as operation modes drive e
10. 1 0 ee 4 10 2012 MSHD User Manual 5 14 Enable Disable 5 14 1 Drive Enable Caution Enabling the drive might cause the motor to move The Enable amp Faults screen graphically shows the conditions required for the drive to be enabled It allows you to clear faults and turn on Software Enable As long as any light in the diagram is red the drive remains disabled When all lights are green the drive is enabled Enable amp Faults Faults te Clear Faults ja oftware Enable Enan Enable C Software enable on power up Faults amp Warning Fault History lean Display Fault Name Description Action Required Figure 5 17 Enable amp Faults Screen The Enable amp Faults screen includes the Faults panel which displays a list of all faults and warn ings currently in effect and a list of faults that have occurred in the present working session For more information about warnings faults and status messages refer to the chapter Troubleshoot ing Three conditions are required for enabling the MSHD drive e No Faults The drive can be enabled only when no faults exist Once all faults are cleared the drive is ready for activation READY The Software Enable switch must be on This can be executed in one of the following ways The commands EN Enable and K Disable toggle the state of Software Enable The Enable Disable button in ServoStudio toggl
11. FLTHIST in the drive s non volatile memory so that the fault history is not lost when power is removed from the drive e Warnings are not considered faults and do not disable operation The system automatically clears the warning state when the condition that generated the warning no longer exists e Faults occur when settings or conditions may cause improper operation of the drive motor and or equipment damage Faults automatically disable the drive and a fault status is indi cated on the drive s display and in the software interface The drive fault status is generally latched and the drive cannot be enabled until the fault status is explicitly cleared Only if the fault condition no longer exists can the fault status be cleared It is done by either of the fol lowing Toggling the drive enable This is done either by executing a drive disable com mand K followed by the enabled EN command or by toggling the Remote Enable line REMOTE e In some systems a specific drive input is defined as Alarm Clear In this case tog gling this input will clear the fault e Some faults are referred to as fatal faults since they disable almost all drive functions in cluding communications and prevent the drive from being enabled This condition is typical of faults due to internal failures such as a watchdog event or a failure of an internal power source Fatal faults require intervention by technical support 8 2 Fault amp Warning I
12. Feed Function back I O selection configuration Motion setting tuning Fault history display Setup wizard Expert view Revolutions Counts Degrees User defined Rotary Units Velocity rps rom deg s user s Acceleration Deceleration rps s rom s deg s2 user s Rev 1 0 4 10 2012 19 MSHD User Manual 2 2 4 Protective Functions and Environmental Specifications Table 2 5 Protective Functions and Environmental Spec All 200 VAC Models Under and over voltage Over current Drive and motor over temperature Foldback Feedback lost Safety function STO Compliance Standard CE Low Voltage Directive 73 23 EEC IEC61800 5 1 STO Safe Torque Off compliance testing in progress Ambient temperature Operation 0 45 C Storage 0 70 C Humidity 10 90 Environment Altitude lt 1000m If gt 1000m derate 5 per 330m Vibration 0 5g Protection class IP20 pollution degree 2 as per IEC 60664 1 Do not use in the following locations corrosive or flammable gasses water oil or chemical dust including iron dust and salts Configuration Book mounting 2 2 5 Communication Specifications Protection class Pol lution degree Table 2 6 Communication Specifications All 200 VAC Models Specification CAN CANopen CiA 301 application layer and the CiA 402 device profile for drives and motion control Baud rate 0 5M 1M bit s RS232 ASCII based ServoStudio HyperTerminal Baud rate 9600 to 11520
13. MSHD User Manual lowed by lt CR gt the Enter key 10 5 Data Control The MSHD can process approximately 16 characters per millisecond at 115200 baud rate The operating system recognizes backspaces and resets upon receipt of an ESC character The following VarCom variables allow you to configure communication responses between drive and host Enables disables the serial port character echo If echo is enabled characters received via the serial port are echoed back to the serial port and displayed on the computer monitor ECHO 0 Serial port echo disabled ECHO 1 Serial port echo enabled ECHO allows the host to check the validity of the information received by the drive MSGPROMPT Defines whether asynchronous messages and the prompt from the drive are sent to the serial port and to the host computer 0 Messages and prompt disabled 1 Messages and prompt enabled CHECKSUM Enables disables checksum protection on the message 0 Message checksum disabled default 1 Message checksum enabled The checksum is an 8 bit value displayed within brackets lt gt For example Ox1F checksum is displayed as lt 1F gt at the end of the message before the Carriage return 10 6 Message Format The message format is the structure by which the MSHD processes ASCII coded messages Messages from the host to the drive are used to send commands to set variables or to query the drive Messages from the drive to the host
14. One of the Pulse amp Direction signals is not connected Action required Check that all signals to the P amp D inputs are properly connected to the drive Re Displayed in sequence Tamagawa Abs Operational Fault Active disable Description Several faults are indicated by the feedback device and include one or more of the following battery low error over speed counting error multi turn error Action required Check the battery voltage and feedback wiring Make sure the motor did not move at a high velocity during encoder initialization Description One of the motor phases is disconnected The current of one of the motor phases is effectively zero for more than 160 electrical degrees while the current com mand is greater than 100 Action required Check the wiring of the motor phases KJ R ee Description The drive could not detect the proper gain setting or sampling point for the sine cosine signals Action required Check resolver wiring and gain value 128 MSHD User Manual E MO Description One of the primary feedback signals is not connected This fault occurs in incremental encoder resolver and sine encoder feedback types Action required Check whether all signals from the primary feedback device are properly connected to the drive no Displayed in sequence Index Line Break Active disable Encoder index line is not connected Action required Check that the drive is configured for working with the inde
15. Samples Samples The total number of points to be recorded Up to 2000 data points for up to six 32 bit non position variables or three 64 bit position variables can be recorded simultaneously Continuously reads and records data from the drive and displays on screen Does not have a trigger Does not have a defined number of sampling points Time Interval The rate at which data is recorded The interval value is specified in multiples of the drive s basic sampling rate which is 31 25 us For ex ample an interval of 5 means data is recorded once every 5 samples that is every 156 25 us 5x31 25 156 25 Rev 1 0 4 10 2012 i MSHD User Manual Record Variables Name of a variable that can be recorded Refer to Varcom RECLIST To add a variable to the list type the name of the variable in the blank cell in the first row and press Enter To define the variables that will actually be recorded select or clear the check boxes Up to six 32 bit non position variables or three 64 bit position variables can be recorded simultaneously Offset An offset value on the X axis that serves to separate overlapping traces on the chart or to move traces closer together for easier viewing and compari son Whenever an offset is in effect a plus sign is displayed next to the variable name in the legend Multiply Enlarges a trace that may be too small to view properly because the chart is scaled to the
16. The MSHD product line offers a number of options as of January 2012 200VAC rating Continuous current of 1 5 3 4 5 6 8 10 or 13 Arms for the 200 V models One 16 bit or two 14 bit analog inputs Various interface options including analog voltage pulse train and CANopen Refer to the part number diagram at the beginning of this manual for the various ordering options for the MSHD drive The primary 200 V product models are shown in Figure 2 1 Figure 2 1 MSHDProduct Models 200V 2 2 Technical Specifications Rev 1 0 L 4 10 2012 MSHD User Manual 2 2 Technical Specifications 2 2 1 Dimensions The various models of the MSHD are housed in one of three frames The exterior dimensions of the MSHD are shown in Figure 2 2 Figure 2 3 and Figure 2 4 2 Holes for M4 of 8 Screws Figure 2 2 MSHD 1D5 MSHD 003 Dimensions in mm Note MSHD 003 shown here MSHD 1D5 does not have fan M4 2p1s for screws M4 UN 8 4 5 for Screw M4 or Imp 8 195 185 TOO fol for Figure 2 4 MSHD 008 MSHD 010 MSHD 013 Dimensions in mm Rev 1 0 12 4 10 2012 MSHD User Manual 2 2 2 Mechanical and Electrical Specifications Table 2 1 Mechanical amp Electrical Specifications MSHD 1D5 MSHD 003 ange and Three P hase S pecification MSHD 1D5 MSHD 003 Ratings pp Line Frequency Hz Input Power Circuit L1 L2
17. computers mechanics and safety practices The MSHD utilizes hazardous voltages Be sure the drive is properly grounded Before you install the MSHD review the safety instructions in this manual Failure to follow the safety instructions may result in personal injury or equipment damage 1 2 1 Safety Symbols Safety symbols indicate a potential for personal injury or equipment damage if the recommended precautions and safe operating practices are not followed The following safety alert symbols are used on the drive and in the documentation Caution ISO 7000 0434 2004 01 Warning Dangerous voltage IEC 60417 5036 2002 10 Protective earth protective ground IEC 60417 5019 2006 08 Caution hot surface IEC 60417 5041 2000 10 gt DSS Rev 1 0 8 4 10 2012 MSHD User Manual 1 2 2 Safety Instructions Read all available product documentation before assembling and commissioning Incorrect handling of this product may cause personal injury and or damage to equipment Adhere strictly to the installation instructions and requirements All system components must be connected to ground Electrical safety is provided through a low resistance earth ground connection Protective Class 1 according standard EN IEC 618005 1 This product contains static sensitive components that can be damaged by incorrect handling Avoid contact with high insulating materials artificial fabrics plastic film etc Place the prod uct on a
18. ee STO Power Supply VDC 24 10 Continuous Output Current A rms 1 5 Continuous Output Current A peak Peak Output Current A rms for 2 esoo ooo seconds e vAatizovac 1280 140 gt PWM Frequency kHz Powercicuttoss w pp Total Powerloss wooo O SooSo Hardware Oooo Unit Weight Connection Hardware PE Ground Screw Size Torque M4 1 35 Nm Control Circuit AWG up to 3 meters 24 28 Main Circuit Motor Lines AWG Main Circuit AC Inputs AWG PE Ground Screw S ide to S ide mm Top Bottom mm Wire Size Clearance Distance UT UT Voltage Trip O O Under Voltage Trip Nominal VDC Over Voltage Trip VDC D N O K NO UT oe o UT OO CO I UT Rev 1 0 4 10 2012 MSHD User Manual Se USMS Specification MSHD 1D5 MSHD 003 Power Temperature KE Normally operates at quarter power when No Yes temperature exceeds high speed fan trigger temperature operates at full power Power Module Over Temperature Fault 80 Regulated C Power Module ao Fault 100 Non regulated i eerie for High Speed Fan C Regen External Regenerative Resistor B1 B2 Minimum ENG E pendent pendent Application Information Internal Bus Capacitance uF Bus Voltage Nominal VDC Bus Voltage Nominal 120 VDC 170 170 Bus Voltage Nominal 240 VDC VHYS Regen Circuit Turn Off VDC VMAX Regen Circuit Turn On VDC External
19. trol loop current velocity or position and a source of the command being recognized analog or serial input Analog Velocity mode for example indicates that the primary control loop is velocity and the drive will respond to a 10 VDC analog command applied to the main analog input The operation mode is set using the variable OPMODE The mode in effect is indicated on the 7 segment display by a steadily lit single digit as shown in the table below Table 6 1 Operation Modes Profile Position control Use the Motion screen to choose the operation mode and to set the relevant motion settings Motion Operation mode 2 Senal Current Current 2 Serial Current 3 Analog Current 4 Position Gear Mode 0 Senal Velocity 1 Analog Velocity A Fosition Figure 6 1 ServoStudio Motion Screen The Motion screen allows you to execute motion and to view the actual values of current velocity and position This is not real time data however and the update rate depends on such factors as the host computer processing power and the drive mode of operation The schematic diagram and information displayed in the Motion screen varies according to the selected Operation mode Rev 1 0 4 10 2012 ee MSHD User Manual 6 2 Analog Current Mode In the Motion screen select Operation Mode 3 Analog Current to display the schematic and variables that affect the Analog Current command In Analog Current mode OPMODE 3 on
20. 12 STO 3 Safe Torque OFF 13 Ground P1 Molex 31 IN3 4 JMP to 1 ns to 2 aoo o 15 NG 33 OUT 2 1 24V STO 16 OUT3 Mating Connector type Crimp 0 34 AX4 Housing PN 436450400 17 AX4 STX PN CONr1000004 09 35 ANIN2 4x Crimp PN 0430300001 18 ANIN2 STX PN PINr43030000 00 36 ANOUT Mating Connector type Solder 3M solder Plug connector PN 10136 3000PE STX PN CONr0000036 01 Motor 3M solder plug Junction shell P2 JST J300 PN 10336 52F0 008 J i 1 PE Protective Earth STX PN HODr00000036 00 au U Phase Mating Cable 3 v V Phase f STX PN CBLrxM900036 00 4 W W Phase Va x 1 2 3 meter Mating Connector type Crimp E Housing PN F32FSS 04V KX i STX PN CONr10000004 13 Machine I F 4x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Ss MDR 20 Plug econdary encoder A Mating Connector type Spring gt 11 Secondary encoder A PN 04JFAT SBXGF I 2 Secondary encoder B 12 Secondary encoder B Feedback 3 Secondary encoder Z 5 C4 MDR 26 Plug 13 Secondary encoder Z AC Input and 1 Incremental encoder A 4 Secondary encoder 5V Regeneration 14 Incremental encoder A 14 Secondary encoder GND 2 Incremental encoder B 5 IN7 P3 JST J300 15 Incremental encoder B 15 IN8 1 B1 DC BUS 3 Incremental encoder Z 6 INQ 2 B2 Regen BUS 16 Incremental encoder Z 16 IN 10 3 L1 AC Phase 1 4 Hall U 7 IN 4 L2 AC Phase 2 17 Hall V al ura 5 L1C Logic AC
21. 128 pre trigger points and a time interval of 1 Since there will not be 128 points of pre trigger motion the record data will be packed with zeros zero velocity command before the motion Rev 1 0 bal 4 10 2012 MSHD User Manual 6 14 2 Scope Toolbar Move Record and Plot Executes the command defined in the Motion Fn Continuous Record and Plot Toggle Zoom to Cursor Et Record and Plot Triggers the recording and plots the re sponse Does not start or stop the drive screen triggers and stops the recording plots the response and stops the motion Reads the data last recorded in the drive and displays a trace on screen Continuously records and displays a trace of the currently defined record data Does not have a trigger Does not have a defined number of sampling points The number of data points and variables that can be recorded depends on several factors Refer to the section Samples Toggles Zoom In and Zoom Out view of graph When Zoom In is selected a minus sign appears on the button Using the left mouse button click and drag to select an area on the graph for magnification Cancels the cursor zoom Hides displays cur sor line s When cursor is displayed use left mouse button to select and position the cursor on the graph Variable values at the cursor point are dis played in a floating box Use the Measure tab to view additional variable values at the point marked
22. 2 Incremental Encoder the encoder type and resolution must be defined Encoder Type Select one of the following options 0 A B and index channels and Halls 1 A B and index channels commutation initialization upon command 2 A B and index channels commutation initialization upon command or upon first enable 3 A and B channels commutation initialization upon command 4 A and B channels commutation initialization upon command or upon first enable 6 A and B channels and Halls 11 A B and index channels and Halls and Tamagawa Refer to Varcom MENCTYPE If modified CONFIG is required Lines Per Revolution The resolution of the motor encoder Refer to Varcom MENCRES If modified CONFIG is required Halls The current state of the Hall commutation sensors Read only Re fer to Varcom HALLS Phase Find Pro Find Phase Activates the automatic motor phasing routine Refer to cess Varcom PHASEFIND Index Initializa Find Index Activates the automatic index location routine Refer to tion VarCom INDEXFIND For more information refer to the section Encoder Index Electrical Degree The encoder index position Refer to Varcom MENCZ POS Encoder Init Status The state of the index search and initialization pro cedure Read Only Refer to VarCom INDEXFINDST Note If the motor has an index but the index is not being used for com mutation for example if the encoder ty
23. 9 3 Variables A variable is defined by an assignment statement lt VarName gt lt Value gt lt Operator gt lt Value gt Where lt Value gt is a variable name drive command or decimal number Variable values can be the output of drive command or the result of a calculation These values can be compared in a condition statement lt Condition gt lt Value gt lt Condition Operator gt lt Value gt Where lt Condition gt is if or while Rev 1 0 4 10 2012 ae MSHD User Manual 9 4 Commands The following commands are recognized by the ServoStudio script engine Var Syntax Var lt VarName gt HVar lt VarName gt lt Value gt Variables lt VarName gt variable name lt Value gt number or drive parameter name Operation Declares the variable Declares the variable and sets its initial value Label Syntax Label lt LabelName gt Variables lt LabelName gt the label name Operation Sets a label to be referred to by HIf and Goto commands Goto Syntax Goto lt LabelName gt Variables lt LabelName gt the name of the label for the Goto Operation Jumps to the label name Syntax HIf lt Condition gt lt Label Name gt Variables lt Condition gt canbe lt gt l lt LabelName gt the name of the label for the Goto Operation Evaluates a condition if true jumps to the label name While Syntax While lt Condition gt HENd While Variables lt Condition
24. AWG for MSHD 4D5 and MSHD 006 14 AWG for MSHD 008 MSHD 010 and MSHD 013 Rev 1 0 EN 4 10 2012 MSHD User Manual e Connector P5 only for MSHD 008 MSHD 010 and MSHD 013 16 AWG e Connectors C2 Controller I O C3 Machine I O and C4 Motor Feedback 24 28 AWG Crimping tools if you are not using ready made cable assemblies e Connector P1 Molex crimper 0638190000 e Connectors P2 P3 P4 P5 JST crimper YRF 1070 If a crimp pin extraction tool is needed use JST extraction tool EJ JFAJ3 M4 ring or spade terminal A small slotted screwdriver for setting the drive address switches For connection to the host computer use one of the following e USB 2 0 A to Mini B cable USB interface e 4p4c plug and cable RS232 interface Crimping Prior to crimping strip 2 mm at the end of wire as shown in Figure 3 1 BRUSH BELL MOUTH INSULATION CRIMP LENGTH Figure 3 1 Stripped Wire in Crimp Pin 3 2 2 Computer System The following computer system and software are required 2 GHz CPU 1 MB RAM 1000 MB available on hard drive after net 4 is installed USB port for connecting to the drive Operating system Windows XP SP3 or Windows 7 ServoStudio the graphical software interface for configuring and testing the drive Download from the MSHD product page on the website Net4 for details refer to NET Framework System Requirements If NET 4 is not installed on the computer Servo
25. All to select or clear all variables listed Use this field to enter the name of the drive variable whose value you want Command to monitor Click the header Command to sort the list alphabetically Once alphabetized click the header to reverse ascending descending order The value of the watched variable is displayed in this field Select the format that is used for displaying the value default Binary Deci Display Format mal or Hexadecimal Use this field to enter a value that will be logically ANDed with the param eter value 4 2 2 Scope The Scope screen enables you to configure recording settings record data from the drive and display the data according to your preferences It also allows you to generate motion in order to record data related to that specific motion Commands can be sent to the drive via the Terminal tab Refer to the section Non Linear Position Control Loop for detailed information Rev 1 0 4 10 2012 p MSHD User Manual Scope E Samples gt p mA Y Baa d Baw Ee Samples 1000 0 075 a Time Interval s0 PE x 31 25 ps 1562 5 ms 0 050 Trigger Setup a Name IMM ooo 0 025 Dir Up C Down Level fi 0 000 Pre Points 10 v 0 025 Record Variables Sel Name x a 0 250 500 750 1000 1250 1500 Milliseconds Motion Terminal Parameter Table Measure Operation Mode 8 Position v Position SP FET en eT Motion arg osnion ruis
26. Os The Digital I Os screen enables you to configure functionality and polarity of the digital I Os and to monitor the state of all digital I Os Digital Os Digital Inputs State Name Mode Inversion Connector User Notes G nui 0 dde g c3 User Hote 1 muz 0 dde g C 20 User Hote 2 mus 0 ddie g cs User Note 3 nors 0 dle go C 14 User Hote 4 mus 0 dde go C32F User Hote 5 mus 0 dde g C15F User Hote 6 G input 0 ide o M5 User Hote 7 input 0 ide go M 15 User Hote 8 impus 0 ide g M6 User Hote 9 o input 10 0 ide go M 16 User Hote 10 G mun 0 ide g MIF User Note 11 Digital Outputs State Name Mode Inversion Connector User Notes o Output 1 0 dde ad c2 User Hote 1 o Output 2 0 idle C C 33 User Note 2 o Output 3 0 ddie F C16F User Hote 3 e Output 4 0 ddie a M 17 User Hote 4 e Output 5 0 4dle go M8 User Hote 5 re Output 6 0 dde go M 18 F User Hote 6 Faut Relay Mode 0 Close when no faults M1020 User Note 6 Figure 5 14 ServoStudio Digital I Os Screen Rev 1 0 4 10 2012 Er MSHD User Manual Digital Inputs The MSHD has eight regular opto isolated inputs and three fast opto isolated inputs The functionality of each input can be set using the variable INMODE This is necessary for ex ample to make the drive recognize a Remote Enable signal The inputs can be read individually by the variable IN or they can be read all together by the vari able INPUTS The polarity of the inputs can be set using
27. Phase 1 I 5 Hall W 6 L2C Logic AC Phase 2 11 5V supply 8 OUT 5 i 18 OUT 6 Mating Connector type Crimp 24 Ground Housing PN F32FSS 06V KX 2p TA 12 Motor Temperature sensor 9 User supplied 24V a ey 2p 25 Motor Temperature sensor 19 Return user supplied 24 VDC 5x Crimp 7 P2 10 Fault Relay 1 13 5V supply y STX PN PINrSF3F71GF 00 BE Sv 20 Fault Relay 2 Mating Connector type Sprin R 1 14 Mating Connector type Solder Mating Connector type Solder PN OGJFAT SBXGE 1 EN Protective Ground 3M solder Plug connector 3M solder Plug connector Terminal M4 PN 10126 3000PE PN 10120 3000PE STX PN CONr0000026 31 STX PN CONr0000020 28 3M solder plug Junction shell 3M solder plug Junction shell PN 10326 52F0 008 PN 10320 52F0 008 14 26 STX PN HODr00000026 00 STX PN HODr00000020 00 Optional check ordering information Mating Cable Mating Cable Manufacturing setting STX PN CBLrxM900026 00 STX PN CBLrxM900020 00 STX MOONS x 1 2 3 meter x 1 2 3 meter Figure 2 5 Pin Assignments on MSHD 1D5 MSHD 003 Rev 1 0 ER 4 10 2012 MSHD User Manual STO Safe Torque OFF P1 Molex JMP to 1 JMP to 2 24V RTN 1 24V STO Mating Connector type Crimp Housing PN 436450400 STX PN CONr1000004 09 4x Crimp PN 0430300001 STX PN PINr43030000 00 NJ o P Motor P2 JST J300 1 PE Protective Earth 2 U U Phase 3 v V Phase 4 W W Phase
28. Sequence 1 2 3 4 5 6 7 8 9 10 1 UserEnters 13 frp PP gt Drive Returns 3 lt cR gt lt F gt lt gt 3 gt Rev 1 0 i 4 10 2012 MSHD User Manual RA ele S Displayed on terminal gt 3 Se Example 7 Reading a Variable IMAX drive current limit Sequence 1 2 3 4 5 6 7 8 9 10 UserEnters m Jaf xX fsc Drive Returns 1 M Ja x CR UserEntes PP Drive Returns lt LF gt 1 5 6 9 7 lt cr gt lt LF gt lt DLY gt User Enters Drive Returns 3 gt Displayed on terminal gt IMAX 3 gt 15 697 3 5 gt Serial Checksum Example 8 Variable In this example MSHD parameters are defined as ADDR 0 CHECKSUM 1 ECHO 1 MSGPROMPT 1 ACC acceleration with value 25000 Sequence 1 2 3 4 5 6 7 8 9 100 UserEntes A Cc lef 2 gt DrveRetums a lc Jc 20 UserEnters 15 llb b f b gt DriveRetums 5 lo b b k gt User Enters r 18 P fpe I Drive Returns F lse CR I ASCII Value 6 Rev 1 0 4 10 2012 MSHD User Manual Checksum 0xFF amp 0x41 0x43 0x43 0x3d 0x32 0x35 0x30 0x30 0x30 OXFF amp OxO1FB 0xFB Note Enter the last two characters of the HEX VALUE sum before the lt CR gt Between brackets lt gt Displayed on terminal setting the checksum gt
29. The screen will change accordingly enabling you to set the relevant feedback properties The Feedback screen also allows you to activate the encoder simulation output and set its resolu tion Note Many motors have a predefined feedback device Once you select a motor in the Motor screen some of the fields in the Feedback screen will have values entered automatically Feedback Select Feedback Rotary Feedback 2 direc Encoder Encoder Encoder Type Lines Per Revolution 2500 LFR Hall signals type 0 Man feedback single ended mputs Halls at encoder power up Hu Hr Hw o di 0 inversion MO Index Initialization Electrical Degree 110 Sectrical degree Ind Inger Mechanical Angle E5536 rev Position Tounts Position Offset 0 000 Counts Encoder Simulation Mode 0 Disabled Zero Resokdion LPR Zero Procedure Current 0 4100 A iy On Figure 5 9 ServoStudio Feedback Screen Rev 1 0 4 10 2012 ee MSHD User Manual More information about the feedback devices and parameters defined in this screen appears later in this section Feedback Select the type of feedback being used in the application 1 Resolver Please contact us for more information 2 Incremental Encoder 3 Sine Encoder Please contact us for more information 4 Sanyo Denki PA Absolute Encoder Please contact us for more information Refer to Varcom FEEDBACKTYPE Zero Procedure Current The current used for the Zero procedure Ref
30. The text file can be edited using Notepad or any other text editor Restore Opens an Open dialog box Loads parameters from a file on the PC to the drive RAM Rev 1 0 4 10 2012 a MSHD User Manual A Parameter Table appears in various ServoStudio screens such as Scope and Motor It displays a list of values relevant to the task screen or operation mode in effect For each parameter the tables displays the present value in the drive working memory and allows you to modify the value The tooltip on the parameter Name shows the corresponding Varcom mnemonic Refer to Varcom SAVE LOAD and RESTOREDEFAULTS 5 1 3 Enabling the Drive Caution Enabling the drive might cause the motor to move Three conditions are required for enabling the MSHD drive e No faults e The Software Enable switch must be on The commands EN Enable and K Disable toggle the state of Software Enable The Enable Disable button on the toolbar also toggles the Soft ware Enable switch e The Remote Enable signal must be on This signal is controlled by one of the digital inputs in the Controller I O connector If no input is configured for this function the Remote Enable Signal remains on and the drive can be enabled and disabled solely by the commands EN Enable and K Disable The following elements provide visual indications of the drive s Enabled or Disabled status The Enable Disable button in the ServoStudio toolbar indicates the sta
31. Varcom IFOLDTHRESH Drive Foldback Warning Threshold Refer to VarCom IFOLDWTHRESH Drive Peak Current Hard coded in drive Read only Refer to Varcom DIPEAK Rev 1 0 4 10 2012 MSHD User Manual 5 12 2 Motor Foldback Motor Foldback Current Refer to Varcom MIFOLD Read only Motor Continuous Current This value is obtained from the motor datasheet It can be manipulated Refer to Varcom MICONT If modified CONFIG is required Motor Foldback Fault Threshold Refer to Varcom MIFOLDTHRESH Motor Foldback Warning Thresh Refer to Varcom MIFOLDWTHRESH old Motor Peak Current This value is obtained from the motor datasheet It can be manipulated Refer to Varcom MIPEAK If modified CONFIG is required Motor Foldback Delay Time Refer to Varcom MFOLDD Motor Foldback Time Constant Refer to Varcom MFOLDT Motor Foldback Recovery Time Refer to Varcom MFOLDR Motor Foldback Options to enable and disable the Motor Foldback function Refer to VarCom MFOLDDIS 5 13 Inputs and Outputs The MSHD supports programmable digital and analog inputs and outputs I Os The drive has both regular and fast I Os which are characterized as follows e Regular I Os have a propagation delay in the range of several microseconds to several tens of microseconds e Fast I Os have a sub microsecond propagation delay The I Os can be configured using the Digital I Os and Analog Os screens in ServoStudio 5 13 1 Digital I
32. a plus sign is displayed next to the vari able name in the legend Hide Trace Right click on a specific trace and select Hide Trace to hide just one trace Show All Hidden Traces Displays all traces on the chart that were hidden by the Hide Trace option Reference Previous Set Show Reference Displays the trace previously saved as a reference Set Show Previous Set Displays the previously displayed trace in addition to the currently dis Save as Reference Saves the trace currently displayed on screen as a reference Set Keep Reference as Keeps the reference trace displayed on screen as a background Shift Set Position Allows you to move a set of traces along the X axis to separate overlap ping traces on the chart or to align the trigger points on different traces File Save As Exports a recording to a CSV file so that it can be viewed and ana lyzed in Microsoft Excel Loads recorded data that was saved in a CSV file 109 Rev 1 0 4 10 2012 MSHD User Manual 6 14 3 Motion Terminal Parameter Table Measure Panel Motion Tab Refer to the section Operation Modes Terminal Tab Refer to the section Terminal Parameter Table Tab The Parameter Table displays and allows you to modify a set of variables related to the mode of operation in effect The mode is shown in the Motion tab Measure Tab The Measure tab presents several measurements from the data currently displayed in the chart The
33. are set too low the Tuning Wizard might not produce the optimal result 1 Do either of the following to set velocity and current limits e Select the suggested Low Medium or High values e Select User Defined and enter your preferred values 2 Click Approve to send the values to the drive For more information refer to the sections Current Limits and Velocity Limits Step 4 Move and Set Direction The Setup Wizard simplifies the process of defining the rotation direction for a positive command Otherwise VarCom instructions are required For more information refer to the section Motor Direction and to VarCom MPHASE and DIR 1 To verify motor motion direction click Left or Right N Left and Right enable the drive and move the motor 2 To reverse the direction to match your system click Inverse Direction 3 To continue click Approve Direction Step 5 Save It is recommended that you save parameters to the drive s non volative memory and to a file on the host computer for backup 1 Click Save to Drive 2 Click Save to File Next Step Once the Setup Wizard is completed the Current control loop is configured at a basic level You are prompted to press the Next arrow to continue to the Tuning Wizard It is recommended however that you first complete the configuration sequence as shown in Fig ure 5 3 This includes tuning the drive for optimal performance in a Current control loop by means of the Current Loop Tu
34. checksum is invalid default param eter values which are hard coded in the drive s firmware are loaded into RAM and a Parameter Memory Checksum Failure fault is set Rev 1 0 p 4 10 2012 MSHD User Manual The following diagram illustrates the relationships among the different types of memory and com mands used for managing the drive parameters Hardcoded firmware and factory default parameter values ServoStudio Working memory L holds parameter lt values during online operation Non volatile ov user defined f NZ Fileson PC parameter values ave i SrA RS 1 mar i ff nar Drive Flash Memory FLASH Terminal Application Hardcoded firmware and factory default parameter values Working memory Servostudia holds parameter SEPLink values during HyperTerminal online operation Non volatile user defined parameter values Figure 5 1 Memory and Commands for Managing Parameters In ServoStudio drive parameters may be saved to non volatile memory at any time by clicking on the Save button on the toolbar Backup amp Restore The Backup amp Restore screen allows you to save and load parameters to and from files on the host computer Backup amp Restore Generale Repon Figure 5 2 ServoStudio Backup amp Restore Screen Opens a Save as dialog box Writes parameters from the drive RAM to a file on the PC The parameters are saved in a text file with either TXT or SSV extension
35. common mode or differential The commonmode conducted cur rents occur between each motor lead and ground line toground Differential radiated currents exist from one motor lead to another line to line The filtering of the lines feeding the motor provides additional attenuation of noise currents that enter surrounding cables and equipment I O ports in close proximity 3 3 6 I O Signal Filtering I O filtering may be desirable depending on system installation application and integration with other equipment To avoid unwanted signals entering and disturbing the drive system or other as sociated equipment place ferrite cores on I O lines 3 3 Additional EMI Suppression Recommendations Route power and control cables separately A distance of at least 200 mm is recommended and improves the interference immunity If input power and motor leads need to cross make sure they cross at 90 Feedback lines may not be extended since this would cause the shielding to be interrupted and possibly disturb the signal processing Splice cables properly If you need to divide cables use connectors with metal backshells Make sure that both shells connect along the full 360 of the shields No portion of the cabling should be unshielded Never divide a cable across a terminal strip For differential inputs for analog signals use twisted pair shielded signal lines connecting shields on both ends Rev 1 0 i 4 10 2012 MSHD User Man
36. conductive surface Ground yourself discharge any possible static electricity build up by touching an unpainted metal grounded surface Keep all covers and cabinet doors shut during operation Otherwise potential hazards may Cause personal injury and or damage to equipment During operation the product has electrically charged components and hot surfaces The heat sink can reach temperatures of 90 C Control and power cables can carry a high voltage even when the motor is not rotating To avoid electric arcing and hazards to personnel and electric contacts never disconnect or connect the product while the power source is energized After removing the power source from the equipment wait at least 5 minutes before touch ing or disconnecting sections of the equipment that normally carry electrical charges e 9 capacitors contacts screwed connections For safety measure the electrical contact points with a meter before touching the equipment Wait until the voltage drops below 30 VAC before handling components Provide a power mains disconnect device in according with local regulations Before testing and setting up the manufacturer of the machine must generate a hazard analy sis for the machine and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property Since the drive meets IP20 the end user must select an enclosure that permits safe operation of the drive The
37. gt can be lt Operation Repeats all commands between While and End_While as long as the con dition is true The While block may include any script commands including any number of nested While blocks Message Syntax Message lt VarName 1 gt lt VarName 2 gt Variables lt VarName 1 gt lt VarName 2 gt can be a script variable drive command or text string Opens message box to display the value of the variables and pauses execu tion of the script until user clicks OK Operation Print Syntax Print lt Var 1 gt lt Var_2 gt Variables lt Var 1 gt lt Var 2 gt can be a script variable drive command or text string Operation Prints the value of the variable s to the Output panel Rev 1 0 is 4 10 2012 MSHD User Manual Plot Syntax Plot Operation Plots a graph using recorded data from the drive Sewer sls ame ag presing he Pt butin on Scope seen toolbar SavePlotFile SavePlotFile Syntax HSavePlotFile lt Filename gt HSavePlotFile lt Name gt Variables lt Filename gt name of a file if not specified a default name is used lt VarName gt a script variable enables saving multiple files in the same script Saves data from the currently displayed Scope screen to a CVS file Delay Delay lt Var gt lt VarName gt a number or a variable Pauses execution of the script for the specified number of milliseconds ClearOutput ClearOutput Clea
38. largest value of another variable Whenever an enlarged trace is in effect an asterisk is displayed next to the vari able name in the legend When using Terminal the syntax for the comparable VarCom instruction is RECORD sample time num points var1 var2 var3 For example RECORD 32 100 VCMD V ICMD Records 100 points for VCMD V and ICMD every 1 milliseconds Note that variables must be preceded by a quotation mark Trigger Setup Name of a variable that will trigger the recording Refer to VarCom REC TRIGLIST The following variables can also trigger the recording IMM Starts the recording immediately CMD Starts the recording as soon as the next command is sent to the Defines whether the trigger occurs when value of the variable goes above the threshold Up or below the threshold Down The threshold value for the trigger The number of points to be recorded prior to the trigger point When using Terminal the syntax for the comparable VarCom instruction is RECTRIG var level pre trig above below Note If the specified number of pre trigger points is greater than the number of points actually recorded prior to the trigger the pre trigger segment of the recording will include the value of the variable before motion began For example record a Jog J that goes to 1000 rpm starting from zero with an acceleration of 10000 rmps s2 specify the record level at 1 rom the direction as Up
39. mode configuration is complete x i a If working in a If working in a Position operation mode Velocity operation mode I I N f Tuning Wizard Velocity Loop Tuning Figure 5 3 Recommended Sequence for Drive Configuration Rev 1 0 4 10 2012 MSHD User Manual Notes for Configuration Sequence Power Rating Motor Feedback The Setup Wizard assumes the bus voltage setting is 320 If the drive is being powered by 220 VAC per phase you can skip this step If the drive is being powered by 110 VAC per phase you must change the setting to 160 Refer to the section Power Rating The Setup Wizard assumes that the motor model number indicates a particular type of feedback If this is not true for your motor you must define the motor feedback before starting the Setup Wizard Refer to the section Motor Feedback Refer to the section Connecting to the Drive Optional Refer to the section Drive Information Current Limits Velocity Limits Motor Direction The Setup Wizard configures the motor phasing See note for Motor Feedback above Refer to the section Motor The Setup Wizard suggests values for low medium or high current limits user defined values can also be entered Refer to the section Current Limits The Setup Wizard suggests values for low medium or high current limits user defined values can also be entered Refer to the section Velocity Limits The Setup Wizard simpli
40. of motor current motor velocity and motor position Rev 1 0 4 10 2012 MSHD User Manual 6 6 Gear Mode In the Motion screen select Operation Mode 4 Gear to display the schematic and variables that affect the Gear command In Gear mode the MSHD s current velocity and position loops are active and the drive responds to incremental position pulses received from the controller or PLC Motion Operation mode 4 Position Gear Mode z External Input h gt i le COL Gear Input Gear Filter Mode Ratio Controller NF C2 Gear filter mode 0 Transparent no filter v Gear Multiplier i Incremental Encoder AqB Gear Divider 1 4 Depth ms Pulse And Direction P amp D UpiDowrn Machine IF C3 Acceleration FF Incremental Encoder AB Gear Acceleration Threshold rps s Pulse And Direction P amp D Vel Acc filter depth nes External Resolution 2048 Multiplier O ves No Engaged O ves No Actual Values Motor Current 0 A Velocity rpm Position rev Figure 6 6 ServoStudio Motion Screen Gear Mode The MSHD supports a several types of Gear modes The variable GEARMODE instructs the MSHD which particular gear mode to activate 6 6 1 Gearbox Regardless of the GEARMODE used the input signal is subject to gearing calculations that allow you to set the ratio of input pulses to encoder counts Gearing sets up a relationship between the number of input pulses HWPEXT counts and the po
41. position rotary switches accessible from the front of the unit The switches are used to set the drive address When there is more than one drive on a daisy chain or CANbus network each drive must have a unique address to enable its identification on the network Use the two rotary switches to set the drive address for both CAN and serial communication For Ethernet based motion buses the switch has no functional use for either the drive or the network lt can be used at the application level to identify specific drives on a network Each switch has 10 positions e The upper switch positions are set as tens 10 20 30 90 e The lower switch positions are set as ones 0 1 2 9 Note If two or more drives are connected to the network address 0 cannot be used A singular drive may have the address 0 Figure 3 13 Drive Address Rotary Switches 3 8 Connect to PC To connect the drive to the host computer use either one of the following interfaces e USB port The interface is labeled C1 on all MSHD models Use a USB 2 0 A to Mini B cable Figure 3 14 USB Port Rev 1 0 4 10 2012 MSHD User Manual The first time the drive is connected to the host computer on the USB port Windows will detect the device and display a Found New Hardware wizard Refer to the section Power Up e RS232 port The interface is labeled C7 on all MSHD models Use a 4p4c plug Figure 3 15 RS232 Port Table 3 13 RS232 Interface
42. screen individually to access and define specific drive functions Rev 1 0 4 10 2012 a MSHD User Manual 4 1 1 Interface Elements The ServoStudio application has four function areas Toolbar Contains quick access buttons for frequently used functions ee 0 e 0 Line Disabled Config Configuration Triggers the internal drive configuration The CON FIG command is required after certain variables are modified Refer to VarCom CONFIG When the 7 digit display shows 1 CONFIG is required Enable Disable Enables and disables the drive and indicates the state of the drive Refer to the section Enabling the Drive Refer also to VarCom EN and VarCom K Offline Online Toggles the drive between online and offline states and indicates the state of the drive Refer to the section Connecting to the Drive Save Saves the parameters currently displayed on screen to non volatile memory Refer to the section Managing Parameters Sidebar Contains a navigation menu to the various ServoStudio screens The sidebar can be hidden or displayed using the Arrow button Wizards Enable Disable Setup Wizard Tuning Wizard Drive Configuration Connection Power Rating G Motor Feedback Motion Units Limits Current Foldback Digital ls Analog Is Disable Mode Enable amp Faults Tuning Motion Current Loop Velocity Loop Position Loop Dashboards Expert Terminal Scope General Preferences Backup amp Restore
43. termination sent without any additional information Complete Message Format with Checksum The CHECKSUM block is used only when CHECKSUM command is set The drive is configured to accept incoming messages with or without checksum and to append checksum to outgoing message according to the CHECKSUM variable Checksum is represented by two ASCII digits within brackets lt gt preceding the lt CR gt The complete message format is shown in the following figure Rev 1 0 4 10 2012 ae MSHD User Manual Parameter kineumonic Termination Figure 10 5 Units Within a message or command units are enclosed in brackets For example e Message to drive mpoles e Message from drive 4 poles When a command from the host contains units the drive ignores the unit information 10 7 Asynchronous Error Messages The asynchronous error message function is enabled by the variable MSGPROMPT e lf this function is enabled and an error or fault occurs the drive transmits a brief error mes sage to the host e If the function is disabled the error message is transmitted after a lt CR gt message termination is detected by the drive This occurs whenever the host sends a message to the drive The variable MSGPROMPT also controls the prompt sent by the drive at the endof a message e If echoing is enabled the characters in the message are all echoed before the error message is transmitted E
44. the STO connector P1 is wired correctly KJ S ee Description The preset current limit for regen current has been exceeded Action required Increase the value of the regen resistor re Description o o Actionrequired o le ashing o O Over Voltage Fault The bus voltage exceeded the maximum value Action required Check whether a regen resistor is required for the application 124 MSHD User Manual Cos spaednsemuene The internal 15 V supply is out of range Action required The drive probably needs repair Contact technical support 05 oseyan seene O o The internal 15 V supply is out of range Action required The drive probably needs repair Contact technical support KJ NN O Description Over current at the drive output has been detected The drive allows this fault to occur up to 3 times in succession After 3 faults the drive forces a delay of 1 minute before it can be reenabled Action required Check for a short circuit on the motor connection Check for excessive overshoot in the current loop rn Displayed in sequence Sine Feedback Communication Fail Active disable Description Communication problem between the drive and the EnDat encoder Action required Check that the data and clock signals to the EnDat encoder are connected properly The cable must be shielded rd Displayed in sequence Sine Encoder Quadrature Fault Fault No Description Mismatch between ca
45. the variable ININV The following table shows the identification of the inputs their type and their location on the I O connectors ast Machine W O pin 6 Digital Outputs The MSHD has four regular opto isolated outputs and two fast opto isolated outputs The function ality of each output can be set using the OUTMODE variable This would be necessary for example to make the drive switch on an output when there is a fault alarm The outputs can be read individually using the OUT variable or they can be read all together us ing the OUTPUTS variable The polarity of the outputs can be set using the OUTINV variable The following table shows the identification of the outputs their type and their location on the I O connectors OUT 4 Machine I O pin 17 OUT 5 Machine I O pin 8 OUT 6 Machine I O pin 18 Rev 1 0 i 4 10 2012 MSHD User Manual 5 13 2 Analog I Os The Analog I Os screen lets you set various properties of the analog inputs such as offset level low pass filter and deadband range It also allows you to monitor the state of the analog inputs For instructions on using the schematic interface refer to the section Schematic Diagrams Analog Input 1 The MSHD supports either one 16 bit analog input or two 14 bit analog inputs One of the digits in the part number indicates whether the drive is assembled to support one or two analog inputs Both analog inputs are differential The primary an
46. transmitted over the communication bus The terms variables and parameters are used interchangeably drive parameter set refers to the set of variables that are specifically defined for a particular application Commands and variables are identified by a mnemonic VarCom name For example MPOLES is the mnemonic used to read and write the setting for the number of motor poles VarCom instructions which are used with serial communications are detailed in the MSHD VarCom Reference Manual Some variables are read only while others allow read write access Variables can be stored in the MSHD s non volatile flash memory for use at each powerup In general drives are shipped from the factory with motor parameters set to zero and application parameters set to their default values 5 1 2 Managing Parameters Drive Memory The MSHD drive has two types of memory for storing the drive s parameters e Flash Non volatile memory It holds the drive s default parameter values contained within the drive s firmware as well as the saved set of parameters e RAM Volatile memory The drive s working memory Parameter values are maintained in RAM while you configure and test the drive and adjust parameters If power to the drive is discon nected any unsaved changes in the parameters will be lost During power up the MSHD loads parameter values from the non volatile memory to RAM and a checksum of these parameter values is calculated If the
47. turn has a high frequency ground strap connection to the enclosure frame or earth ground Rev 1 0 A 4 10 2012 MSHD User Manual 3 3 2 Grounding System grounding is essential for proper performance of the drive system The AC input voltage ground wire must be connected to the PE terminal located on the MSHD front panel This is necessary for both safety and EMI reduction Use a single point ground for the system start wiring to avoid ground loops It is strongly recommended that the MSHD be mounted to a metallic back panel and that a high frequency ground be provided to connect the back panel to earth ground Provide an electrical connection across the entire back surface of the drive panel Electrically conductive panels such as aluminum or galvanized steel are recommended For painted and other coated metal panels remove all coating behind the drive The objective is to provide an extremely low impedance path between the filters drives power supplies and earth ground for highfrequency signals that might cause EMI Use a flat braid or copper bus bar to achieve high frequency grounding When con necting high frequency grounds use the shortest braid possible Ensure good connections between the cabinet components Connect the back panel and cabinet door to the cabinet body using several conductive braids Never rely on hinges or mounting bolts for ground connections Ensure good ground connection from cabinet to proper earth
48. user designed application or a basic terminal 10 1 General Information Specifications Data bits 18 Stop bits 11 8 bit checksum Control Code Definitions Name Symbol OA Delay lt DLY gt Indicates delay due to internal drive pro cessing of information Communication Summary Character echoes e Commands ECHO Prompts e Variable values MSGPROMPT Variable values e Variable queries CHECKSUM Error fault messages 10 2 Data Transmission Format To enable proper serial communication between the MSHD and the host they must both use the same data transmission format Rev 1 0 el 4 10 2012 MSHD User Manual e Full duplex e 8 bits per character e No parity e 1 start bit e 1 stop bit e Baud rate 115200 bps e Hardware RS 232 or USB serial port 10 3 Drive Addressing The MSHD can be addressed and controlled on a single line RS 232 C7 connector or ona daisy chained RS 232 C8 connector or USB C1 connector line The MSHD has two 10 position rotary switches which are used to set the drive address Refer to the section Set the Drive Address Single Line Configuration In a single line RS 232 configuration the drive is connected to the C7 connector and assigned address 0 by setting both rotary switches to 0 By default the rotary switches are set to 0 and the drive assumes a single line configuration Daisy Chain Multi Drop Configuration In a daisy chain RS 232 configuration al
49. values displayed change as you drag the cursors to different locations on the chart X axis time in ms value of trace at the point crossed by cursor X axis time in ms value of trace at the point crossed by cursor Time difference between the two cursors Cursor 2 Cursor 1 Max Highest recorded value in the trace Mn Lowest recorded value in the trace PK The total span between the highest and lowest recorded values in the trace The standard deviation of the trace Mean The mean value of the trace 6 14 4 Recording Data Using VarCom Instructions Terminal To record data in the MSHD perform the following steps 1 Use the command RECORD to define the variables to be recorded the recording interval and the number of points to record 2 Use the command RECTRIG to define the variable and conditions that triggers the recording 3 Use the variable RECDONE recording finished and or RECING recording in progress to determine whether recorded data is available 4 Set variable GETMODE to 0 Then use the command GET to retrieve the recorded data in a comma separated variable CSV ASCII format Activation Commands e RECORD defines the variables to be recorded and the recording time span and sample time e RECTRIG defines the triggering condition for starting a recording and also pre trigger dura tion e RECOFF turns active recording off Utility Information e RECLIST lists all the variables that ca
50. 0 bit s Daisy Chain Up to 8 axes Axis address setting from 0 99 using two rotary switches Maximum cable length 10 m Some features are not available on all models Check the ordering options at the front of the manual or contact your supplier Rev 1 0 4 10 2012 ii MSHD User Manual 2 2 6 I O Specifications Table 2 7 I O Specifications All 200 VAC Models Specification First Analog Input Voltage Range Analog 10 VDC differential 16 bit 14 bit on version with two analog inputs nput Resolution Input Impedance 8 kQ when using two analog inputs 20k Q Second Analog Input Voltage Range Analog 10 VDC differential 14 bit optional Input Resolution 14 bit Input Impedance 20 kQ Equivalent Encoder Output Signal A quad B and marker differential RS 422 line transmitter 8x Digital Inputs Signal Configurable opto isolated compatible with sink ing output 24V 10 mA 1 ms Voltage Max Input Current Propagation Delay Time 3x Fast Digital Inputs Signal Configurable opto isolated compatible with sink ing output 24V 10 mA 1 us Voltage Max Input Current Propagation Delay Time 4x Digital Output Signal Configurable open collector opto isolated sink ing output 24V 40 mA 1 ms Voltage Max Current Propagation Delay Time 2x Fast Digital Output Signal Configurable open collector opto isolated sink ing output 24 V 10 mA 1 us Voltage Max current Propagation De
51. 00 and DISTIME is set to 1 ms After the motor speed remains below 1000 for 100 consecutive background cycle and the time defined by DISTIME elapses the drive is disabled and the motor coasts to a stop In this example approximately 110 ms elapse from the time the motor velocity goes below 1000 and the time the drive is disabled 2500 0 500 1000 1500 2000 2500 3000 Milliseconds Figure 6 10 Effect of DISSPEED and DISTIME on Active Disable Rev 1 0 4 10 2012 MSHD User Manual During the Active Disable ramp down the drive ignores any new motion commands If an additional disable command VarCom K is issued during the ramp down the ramp down process is aborted and the drive is immediately disabled Figure 6 11 shows the effect of a second disable command In this example DISSPEED is set to 1000 and a second disable command is issued before the motor speed has ramped down to that level 0 500 1000 1500 2000 2500 3000 Milliseconds Figure 6 11 Effect of Second Disable Command on Active Disable The diagram in the Servo Studio Disable Stop screen illustrates the behavior of Active Disable Disable Stop til AD Start Implicit change to velocity mode DB depending on DISMODE Brake i n Disable amp Back to original opmode Internal qualification Disabling Mode Active Disable Speed Threshold rps Active Disable Time ms Active Disable Deceleration rpasis Figure 6
52. 12 ServoStudio Disable Stop Notes e f one of the digital outputs is configured for brake control then the brake will be engaged as soon as the DISTIME timer begins counting Refer to the section Motor Brake Control e If the internal timeout which is calculated according to the actual velocity and DECSTOP expires the ramp down mechanism will also abort as indicated by 1 in the Disable Stop dia gram Rev 1 0 a 4 10 2012 MSHD User Manual 6 9 2 Dynamic Brake Dynamic braking is a mechanism by which the drive is holding the motor during Disable mode where only the motor s back EMF is used to apply the stopping current The variable ISTOP is used to set the maximum current allowed during the dynamic braking process Figure 6 13 illustrates motor coasting that is no Dynamic Braking and no Active Disable The velocity command is set to 0 as soon as the drive is disabled The actual velocity then decreases as a function of the system inertia and friction 1250 pm VCMD l 1000 V 750 250 0 250 0 250 500 750 1000 1250 1500 Miliseconds Figure 6 13 Motor Coasting Without Dynamic Braking Figure 6 14 shows what happens when Dynamic Braking is engaged As in thefigure above the velocity command is set to 0 as soon as the drive is disabled However the actual velocity ramps down as the braking is applied Unlike Active Disable the velocity does not ramp down according to a motion profile Th
53. 3 2 Tuning The Tuning Wizard takes you through a procedure to autotune the various control loops Refer to the section Tuning Wizard 4 4 Preferences The Preferences screen allows you to modify file names and locations runtime options and other ServoStudio default settings Preferences Startup Default Screen Drive Information Show Splash Screen 4 On O off Language Select Language ENG Load Language Configuration Files Hame File name Ember File ember a00 Map File map ke Drive map Hotes File txt Notes tut Runtime Options Refresh Rate of Data from Drive ms Turn On Intellisense in Terminal Auto Save Script Turn On IntelliSense in Script Auto Save Watch List Font Size In Script Medium Auto Sawe Record Variable List Font Size In Terminal Medium Detail Level Log file Minimal Project File Load Project CATENE Lela SSProject spj ServeStudio Version 1 0 3 5 Figure 4 6 ServoStudio Preferences Screen Rev 1 0 4 10 2012 MSHD User Manual Startup Default Screen The task screen that is displayed when ServoStudio is activated It can be any of the screens listed in the sidebar By default Drive Information is the default screen Show Splash Screen Defines whether the ServoStudio splash screen is displayed when ServoStudio is activated Configuration Files The names and locations of files used by ServoStudio For Expert users only Runtime Options Refresh Rate of Dat
54. A A 2 Incremental encoder B H 15 Incremental encoder B 3 Incremental encoder Z 16 Incremental encoder Z 4 Hall U 17 Hall V a 5 Hall W TEN 11 5V supply 24 Ground 12 Motor Temperature sensor 25 Motor Temperature sensor 13 5V supply 1 Va 26 Shield PE Mating Connector type Solder 3M solder Plug connector Protective Ground PN 10126 3000PE Terminal M4 STX PN CONr0000026 31 3M solder plug Junction shell 13 26 PN10326 52F0 008 STX PN HODr00000026 00 Mating Cable STX PN CBLrxM900026 00 x 1 2 3 meter 19 36 Controller I F C2 MDR 36 Plug 1 Return user supplied 24 VDC 19 User supplied 24V OUT 1 20 IN2 3 IN 1 4 Equivalent encoder output A 22 Equivalent encoder output A 5 Equivalent encoder output B 23 Equivalent encoder output B 6 Equivalent encoder output Z 24 Equivalent encoder output Z 25 Ground 8 ANIN 1 26 ANIN 1 9 Direction input 27 Direction input 10 Ground 28 Pulse input 11 Pulse input 29 Ground 12 30 13 Ground 31 IN3 14 IN4 32 IN5 15 IN6 33 OUT 2 16 OUT 3 34 AX4 17 AX4 35 ANIN2 18 ANIN2 36 ANOUT Mating Connector type Solder 3M solder Plug connector PN 10136 3000PE STX PN CONr0000036 01 3M solder plu
55. CHECKSUM 1 sending command to the drive with checksum appended SACC 25000 lt FB gt checking the actual value stored at the drive gt ACC the reply is appended by checksum 25000 000 rpm s lt 7E gt Rev 1 0 LG 4 10 2012 MSHD User Manual 11 Contacting MOONS Service Center i 86 400 820 9661 E Headquarters No 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107 P R China Tel 86 0 21 52634688 Fax 86 0 21 62968682 E mail info moons com cn MOONS Industries Europe S r l Via Torri Bianche n 1 20059 Vimercate MB Italy Tel 39 039 62 60 521 Fax 39 039 96 31 409 MOONS Industries South East Asia Pte Ltd 33 Ubi Avenue 3 08 23 Vertex Singapore 408868 Tel 65 6634 1198 Fax 65 6634 1138 E Shenzhen Branch Office Room 2209 22 F Kerry Center No 2008 Renminnan Road Shenzhen 518001 P R China Tel 86 0 755 25472080 Fax 86 0 755 25472081 E Beijing Branch Office Room 202 Unit 2 7th Building Huilongsen International Science amp Technology Industry Park No 99 Kechuang 14th Street Beijing 101111 P R China Tel 86 0 10 59755578 Fax 86 0 10 59755579 Qingdao Branch Office Room 10E No 73 Wangjiao Mansion mid Hongkong Road Qingdao 266071 P R China Tel 86 0 532 85879625 Fax 86 0 532 85879512 Wuhan Branch Office Room 3001 World Trade Tower No 686 Jiefang Avenue Jianghan District Wuhan 430022 P R China Tel 86 0 27 85448742 F
56. HERM indicates whether a motor over temperature fault exists e THERMODE defines how the drive responds to a motor over temperature fault If the motor does not have a temperature sensor or if the sensor is not wired set THERMODE to 3 so that the drive will ignore this fault Rev 1 0 4 10 2012 us MSHD User Manual e THERMTYPE indicates whether the sensor is type PTC positive temperature coefficient or NTC negative temperature coefficient When using a thermostat on off motor temperature sensor set THERMTYPE to 0 to define type PTC e THERMREADOUT reads the resistance of the temperature sensor The motor over tempera ture fault detection and clear mechanism is subject to a hysteresis mechanism The fault will trip when the resistance passes a certain value and can be cleared only when the resistance drops below a different value The variables THERMTRIPLEVEL and THERMCLEARLEVEL set the trip level and the clear fault level e Fora PTC thermistor the motor over temperature fault will trip when the resistance is equal to or greater than the THERMTRIPLEVEL The fault can be cleared when the resistance is equal to or less than the THERMCLEARLEVEL e Foran NTC thermistor the motor over temperature fault will trip when the resistance is equal to or less than the THERMTRIPLEVEL The fault can be cleared when the resistance is equal to or greater than the THERMCLEARLEVEL e If the motor temperature sensor is a thermostat the resistanc
57. Input 2 Analog Input 2 appears in the Analog I Os screen only when the connected drive has a second analog input The second analog input is connected at pins 18 and 35 of the Controller I O connector When the second analog input is set up using ANINZMODE to be an analog current limit then ANIN2SCALE sets the scaling of the current limit in units of amperes per volt Refer to the section Optional Analog Current Limit Analog Input 2 Anin 2 Mode 0 Genral v Set to Zero Analog Input Filter fi 000 Hz Analog Input Offset fo 000 Yy Analog Input Deadband fo 000 Y Analog Input Yalue 0 156 Yy Figure 5 16 ServoStudio Analog I Os Screen Analog Input 2 Defines the functionality of the second input Refer to Varcom ANIN 2MODE Analog Offset The DC voltage offset on the analog input Refer to Varcom ANIN2OFF SET Deadband The deadband range of analog input 2 This is useful for preventing the drive from responding to voltage noise near the zero point of the analog input Refer to Varcom ANIN2DB This value is a low pass filter applied to the analog input This is useful for filtering high frequency noise from the input or for limiting the rate of change of that signal Refer to Varcom ANIN2LPFHZ Analog Input The voltage at the analog input Read only Refer to VarCom ANIN2 Set to Zero Causes the value of the analog input 2 signal to become 0 by modifying the analog offset value Refer to Varcom ANIN2ZERO Rev
58. OS UNITSROTVEL and UNITSRO TACC For the options for Linear units refer to VarCom UNITSLINPOS UNITSLINVEL and UNIT SLINACC 5 10 Current Limits 5 10 1 Basic Current Limit The Current Limits screen contains a diagram that shows how the maximum current for the sys tem is determined and enables you to set the current limit for your application Rev 1 0 4 10 2012 Gi MSHD User Manual For instructions on using the schematic interface refer to the section Schematic Diagrams Cunrent Limits Motor Peak Current Drive Peak Current r Minimum Max Current Ho Figure 5 11 ServoStudio Current Limits Screen Drive Peak Current Hard coded in the drive Read only Refer to Varcom DIPEAK This value is obtained from the motor datasheet It can be manipulated motel Peeks EUGEN CONFIG isacauired only Refer to Varcom IMAX current limit Refer to VarCom ILIM 5 10 2 Optional Analog Current Limit When a second analog input is available on a MSHD unit this second analog input can be used as an analog current limit e The variable ANIN2MODE defines whether or not the drive is operating in analog current limit mode e The variable ANIN2ISCALE is used to scale the current limit The valid input voltage range for this functionality is 0 10 V since current and current limits in the drive are positive values only A negative analog input will be interpreted as zero e Effective d
59. Options AP Analog Pulse RS 232 Rating AF Analog Pulse Rs 232 CANopen USB Cont Peak A EC EtherCAT 1D5 1 5 4 5 003 3 0 9 0 AC Power 200V 4D5 4 5 18 0 Single Phase 115VAC 15 10 50 60Hz 006 6 0 18 0 Single Phase 230VAC 15 10 50 60Hz 008 8 0 28 0 Three Phase 120 240 L L VAC 10 15 50 60 Hz 010 10 0 28 0 013 13 0 28 0 Rev 1 0 4 10 2012 MSHD User Manual Contents 1 Moden 44444 8 DN 8 t11 ASTA TL 8 1 1 2 Documentation Set for MSHD scscteiteceonse EE 8 12 SUN Ne 8 Me SAN SNL 8 22 Safety Ne 9 1 3 Standards Compliance rrarnnrnannnnnnrvnnnnnnnnnnnrnennernernneneenunnuennennsnnnne 10 1 3 1 General Lg 0 00 Atl OU EE EEE 10 toz EGON Ne 10 EE ee 0 EEE NE 10 2 Product Description nxnnxnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnunnne 11 1 NM 11 2 1 1 General WCSCMOU OM EE EE 11 12 FONN 11 2 2 Technical SpecificationS rrrrarrarnnrvanvnrrnnvnnrnernernernneneennennennenunnene 12 221 DN 12 2 2 2 Mechanical and Electrical Specifications rrrarnnarnnnrnanenanenarnnnrnanennre 13 225 NENNE 19 2 2 4 Protective Functions and Environmental Specifications 06 20 2 2 5 Communication Specifications icctezicssnceanauaccvnameatoancannntacaxaceaonnadasadaausead 20 220 VO ENE 21 2 2 f Motor Feedback Specifications arrrarnanrnanennrnnnrnnnenannnnrnnnrnannnennnnennnen 22 2 3 System Wiring Pin Assignments rrrnrnnnrnarnrarnnrrnnnevarrnnennnennnnnnrn 23 2 4 Controll
60. Plug 1 Secondary encoder A 11 Secondary encoder A Machine UF M ole 3 2 Secondary encoder B 10 20 12 Secondary encoder B 3 Secondary encoder Z Main AC Input i Ky P4 JST J400 a C4 MDR 26 Plug Ed Bas 1 11 AC Phase 1 p 1 Incremental encoder A 4 Secondary encoder SV 2 L2 AC Phase 2 14 Incremental encoder A 14 Secondary encoder GND 3 L3 AC Phase 3 2 Incremental encoder B 5 IN7 Mating Connector type Crimp 15 Incremental encoder B 15 IN8 Housing PN J43FSS 03V KX 3 Incremental encoder Z 6l INQ STX PN CONr10000003 19 16 Incremental encoder Z 16 IN 10 3x Crimp PN SJ4F 71GF M3 0 4 I Hall U STX PN CRPrSJ4F71GF 00 7 IN 11 17 Hall V 17 OUT 4 5 Hall W 11 5V supply 8 OUTS 24 Ground 18 OUTS Logic powerAC Input P5 JST J300 1 L1C Logic AC Phase 1 2 L2C Logic AC Phase 2 Mating Connector type Crimp Housing PN F32FSS 02V KX STX PN CONr10000002 10 2x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 9 User supplied 24V 19 Return user supplied 24 VDC 10 Fault Relay 1 20 Fault Relay 2 Mating Connector type Solder Mating Connector type Solder 3M solder Plug connector 3M solder Plug connector PN 10126 3000PE PN 10120 3000PE STX PN CONr0000026 31 STX PN CONr0000020 28 3M solder plug Junction shell 3M solder plug J
61. Shunt Regulator Peak Current A Rev 1 0 4 10 2012 MSHD User Manual Table 2 2 Mechanical amp Electrical Specifications MSHD 4D5 MSHD 006 MSDH 013 Single and Three Phase 200V Specification MSHD 4D5 MSHD 006 Ratings pp Voltage VAC Line Line Nominal 10 1 Phase or 1 Phase or Cae Continuous Current 1 ph 3 ph A MOT Line Fuses FRN R LPN or equivalent 1500 VAC 1500 VAC Withstand Voltage Primary to Earth 2121 VDC 2121 VDC Control Circuit Input Power L1C L2C 120 or 240 VAC Logic Input Fuse Time 120 or 240 VAC A 1 Phase 1 Phase OT Delay STO Safe Torque Off STO Power Supply VDC 24 10 24 10 STO Fuse Time Delay 120 or 240 VAC A 1 5 Continuous Output Current A rms Continuous Output Current A peak 6 63 Peak Output Current Arms for 2 sec onds 8 48 a R o NIN gt A a o Oja D D O Oo pp Motor Output U V W Peak Output Current A peak for 2 seconds 25 45 25 45 5 gt erie NO AJN O o 5 gt OJO PWM Frequency kHz Sots Max Surge Soft Start Current A Soft Start Max Charge Time ms kg PE Ground Screw Size Torque Control Circuit AWG up to 3 meters Main Circuit Motor Lines AWG Wire Size Main Circuit AC Inputs AWG PE Ground Screw Side to Side mm Clearance Distance Top Bottom mm Voltage Trip Under Voltage Trip Nominal VDC Over Voltag
62. Studio will guide you through the installation but will not install it auto matically Rev 1 0 4 10 2012 EG MSHD User Manual 3 2 3 Servo System Wiring Daisy Chain RS232 Connection optional connection to PC Single Phase 230VAC p Rotary switches Drive addressing Circuit Breaker STO or Fuses Safe Torque Off Connect to 24VDC power supply OR use a bypass plug Line Filter dog optional p Connection to Host Controller Voltage reference input Pulse amp Direction input 6x digital inputs 3x digital outputs 1x analog output 5 Magnetic ugu v Contactor L o 2 A rat SG Connection to Additional IOs DS 5x digital inputs 2 3x digital outputs KE 1x fault relay Secondary feedback Brake output Motor brake Protective Earth optional 24VDC power supply Motor Power Motor Feedback Note Refer to section EMI Suppression in MSHD User Manual To be supplied by customer AC supply for the main power input L1 L2 and for the logic power input L1C L2C must be from the same AC phase input as show in the diagram Figure 3 2 MSHD 1D5 MSHD 003 Servo System Wiring Using Single Phase 230 VAC Rev 1 0 a 4 10 2012 MSHD User Manual Daisy Chain Mains RS232 Connection C Single Phase optional connection to PC N w lt dl O p Rotary switches Drive addressing Circuit Br
63. Terminal Not connected I Display Format a z 1 Default Default Figure 4 3 ServoStudio Terminal Dashboard ServoStudio provides two methods that reduce the need for command memorization and key board input e Autocompletion An autocompletion system Intellisense allows you to access commands and descriptions of their functions Intellisense can be disabled in the Preferences screen When you begin typing a command a list of available drive commands is displayed based on the characters typed Rev 1 0 a 4 10 2012 MSHD User Manual e History Use the Up arrow key to show a list of all command strings that have been sent to drive in the present session i e since ServoStudio was last opened When a command in the autocomplete or history list is highlighted e Press Enter to sends the command to drive e Press spacebar to edit the command Right click anywhere in the Terminal panel to access two additional functions e Clear Terminal Deletes the contents of the Terminal e Save to File Prompts you to save the contents as a text file Watch Panel The Watch panel is used to monitor drive variables The rate at which variables are updated is dependent on the load on the serial communications link and on the Refresh Rate of Data From Drive setting in the Preferences screen Select or clear an individual checkbox to start or stop monitoring a specific All variable Click the header
64. Version 25 FPGA Version 1 37 March 5 2012 Figure 5 6 ServoStudio Drive Information Screen Drive Name Allows you to assign a name to the drive The name may contain up to 15 alphanumeric characters Other valid characters are This field is optional but is useful when an application has more than one drive It is recommended that you provide a name for the drive that reflects the function it performs such as Axis 1 Refer to VarCom DRIVENAME Drive Details Hard coded in the drive Shows the drive model and serial number and version numbers of firmware control board power board and FPGA Refer to VarCom INFO Drive Settings Hard coded in the drive Drive Peak Current Refer to Varcom DIPEAK Drive Continuous Current Refer to VarCom DICONT Feedback Type Refer to Varcom FEEDBACKTYPE If modified CONFIG is required Download Firmware Activates an external application for installing new versions of firmware in the drive Refer to the chapter Firmware Upgrade Rev 1 0 a 4 10 2012 MSHD User Manual 5 6 Power Rating The Power Rating screen displays the drive s continuous and peak current ratings and allows you to set the bus voltage parameters Power Rating Current Rating Drive Continuous Current Drive Peak Current Vel Settings 9 Bus Voltage Limits Bus Voltage DC 313 Yy j Over Votage Threshold Y Under voltage Time 30 5 Under Woltage hode 0 immediate Faut Bus Vol
65. a from Drive Sets the rate at which variable values are refreshed on screen This includes both user defined watched variables and system defined variables which may trigger warnings or faults Defined in milliseconds Refer to the section Watch Panel Turn On IntelliSense in Terminal Activates autoselection and complete when working in Terminal panel Opens and displays list of available drive commands that can be selected based on the characters entered Turn on IntelliSense in Script Activates autoselection and complete when working in Script panel Opens and displays list of available drive commands that can be selected based on the characters entered Auto Save options For Expert users Selected elements will be auto matically saved and restored the next time ServoStudio is opened even if they were not explicitly saved before closing ServoStudio Font Size Defines the size of the text displayed in the Script and Termi nal panels Project File A project file contains all settings currently defined in ServoStudio and any autosaved data ServoStudio Ver The version of the ServoStudio software sion Rev 1 0 4 10 2012 ne MSHD User Manual 5 Configuration 5 1 Introduction This section presents the main concepts and functions related to theconfiguration and operation of the MSHD drive 5 1 1 Configuration Parameters Drive functionality is configured using various commands and variables which are
66. able 26 28 AWG 3 6 3 Connect Regen Regen uses interface P3 on all MSHD models Note On models MSHD 1D5 and MSHD 003 Regen and AC Input Voltage are combined on one connector If the application requires a regeneration regen resistor use the P3 interface Connect the regen resistor between terminals B1 and B2 Rev 1 0 a 4 10 2012 MSHD User Manual Figure 3 8 Regen Interface Table 3 5 Regen Interface Pin Pin Label Function S Table 3 6 Regen Interface Mating Connector MSHD 008 MSHD 4D5 MSHD 010 MSHD 006 MSHD 013 JST J300 JST J400 Housing and 2 pin F32FSS 02V KX and J43FSS 02V KX and crimp SF3F 71GF P2 0 SJ4F 71GF M3 0 Spring Not available Not available terminal 14 16 AWG 14 AWG Table 3 7 AC Input Voltage Regen Interface Mating Connector MSHD 1D5 MSHD 003 JST J300 Housing and F32FSS 06V KX and 4 pin crimp SF3F 71GF P2 0 Spring terminal O6JFAT SBXGF I Wire Gauge 6 AWG Rev 1 0 4 10 2012 a MSHD User Manual 3 6 4 Connect Motor Feedback Connect Motor Feedback Motor Feedback uses interface C4 on all MSHD models Wire the motor feedback interface according to the type of feedback device to be used in your ap plication Refer to the guidelines following the pinout table below Pins 1 2 14 and 15 have dual functionality Pins 11 and 13 for 5V to the encoder are used in digital board revision 0 Pin 18 can be used only in digital board revision 1 and late
67. alog input Analog Input 1 is connected at pins 8 and 26 of the Controller I O con nector It serves as the analog command for the Analog Current and Analog Velocity operating modes The functionality of this analog input cannot be changed Refer to the sections Analog Current Mode and Analog Velocity Mode Analog lOs Analog Input 1 Analog Offset er Analog Input es EN me BA Analog output Analog Out Mode D User Command Analog Quipu Value vots y Analog Out Command Vols 22 902 v Analog Output Torque Scaling 0 000 AN Analog Out Limit Command Volts 10 000 v Analog Output Velocity Scaing 0000 rem Figure 5 15 ServoStudio Analog I Os Screen Analog Input 1 Analog Offset The DC voltage offset on the analog input Refer to Varcom ANIN10FFSET Deadband The deadband range of analog input 1 This is useful for preventing the drive from responding to voltage noise near the zero point of the analog input Refer to Varcom ANIN1DB This value is a low pass filter applied to the analog input This is useful for filtering high frequency noise from the input or for limiting the rate of change of that signal Refer to VarCom ANIN1LPFHZ Analog Input The voltage at the analog input Read only Refer to Varcom ANIN1 Set to Zero Causes the value of the analog input 1 signal to become 0 by modifying the analog offset value Refer to Varcom ANIN1ZERO Rev 1 0 4 10 2012 ee MSHD User Manual Analog
68. arameters are in use as determined by MENCTYPE e The value of MICONT is very important since this value sets the limit for the current used dur ing the procedure e At the end of the procedure motion of more than two revolutions might occur This procedure is also started and stopped by using the Verify and Stop buttons in the Motor screen Refer to the section Motor Selection To execute the Motor Phasing procedure do the following 1 Disable the drive 2 Clear any faults in the drive 3 Enter the command MOTORSETUP 4 Enable the drive The procedure will begin and perform several steps Once the Motor Phasing procedure is initiated even when the drive is disabled the 7 segment display shows a flashing A When the setup finishes successfully the display returns to its nor mal state if the setup fails the display shows 5 To cancel the procedure enter the command MOTORSETUP 0 Any parameters that were modified by the MOTORSETUP procedure will be restored to their previous values To view the status of the procedure enter the command MOTORSETUPST 6 12 Motor Temperature Sensor The MSHD supports both thermostat on off and thermistor temperature sensitive resistance motor temperature sensors When the drive detects a motor over temperature condition the motor overtemperature fault is latched and the 7 segment display flashes H Several variables define how the drive interfaces and responds to the sensor e T
69. at have a predefined set of parameters in ServoStudio For most motors the motor catalog number is followed by a series of fields each of which represents a segment in the motor s complete ID number as shown on the motor s label In each field select the option that matches the information on the motor label If a field contains a sign you do not need to select an option as the field is not relevant to motion Different fields represent certain functions or capabilities of the motor which can be seen in the tooltip for each field Depending on your selections you may be prompted to define the output that releases the motor brake After selecting the motor click Write To Drive to write these parameter to the drive REVO 1 0 i 4 10 2012 MSHD User Manual 5 7 2 Motor Parameters Save Library Saves the entire contents of the User Motors library to a file Delete Model Deletes the currently displayed motor from the User Motors library Load from Drive Displays the values of the drive s motor parameters Write to Drive Writes all displayed parameters to the drive You can also modify a pa rameter value and press Enter to send the new value to the drive opy to User Library Copies the parameter values currently displayed to the User Motors library to enable modification Verify Activates an automatic procedure for setting commutation related vari ables The procedure involves finding the electrical phase and detecting the di
70. ax 86 0 27 85448355 E Nanjing Branch Office Room 302 Building A Tengfei Creation Center 55 Jiangjun Avenue Jiangning District Nanjing 211100 P R China Tel 86 0 25 52785841 Fax 86 0 25 52785485 Rev 1 0 4 10 2012 LG
71. by the cursor Select Cursor Displays a second cursor line Click on the graph to position the second cursor View in Excel Copies recorded data to a temporary CSV file and opens Microsoft Excel to display it Chart Options Refer to the section Chart Options Rev 1 0 4 10 2012 108 MSHD User Manual Chart Options The options in the Chart Options menu can also be accessed by right clicking anywhere on the chart Clear Chart Clears the displayed chart Chart Properties Set Background Opens the Colors dialog box and allows you to modify the background Color color of the chart Toggles the grid display on and off Also allows you to modify the grid X Axis Toggles the X axis grid line on off Y Axis Toggles the X axis grid line on off Dot Line Uses either dotted lines or solid lines for the grid Show Legend Show Legend Toggles the legend display on and off Trace Line Type Allows you to define how the trace line is displayed Line Spline or Points Freeze Scale Sets the Y axis to a fixed scale Normally the Y axis is scaled dynamically as the amplitude of the signals changes When Scale is frozen the letter F is displayed next to the Chart Options button on the toolbar When Scale is frozen the letter O is also displayed if part of the trace is out of view Reset All Trace Resets the value of all offset values in the Record Variables list to 1 Offsets Whenever an offset is in effect
72. contain the response to queries This message format has two main elements message unit and message termination as shown in the following figure The checksum utility is optional Note Start has no significance it Message Termination Figure 10 1 Rev 1 0 182 4 10 2012 MSHD User Manual Message Unit A message unit is a block of information that is transmitted on the communications link The basic message unit is shown in the following figure Figure 10 2 A message unit includes a header Varcom mnemonic with or without parameters The header defines the context of the parameters that follow it Messages sent from the host to the drives always have headers Messages from the drive to the host do not generally include a header When used parameters are separated from the mnemonic by either a space or an assignment operator Parameters must be separated by spaces The MSHD can receive only a single message unit in a message format Message Termination Message termination refers to the end of the message being sent Messages transmitted by the host are terminated by a carriage return CR ASCII character ODH Host hiessaqe Termination Figure 10 3 Messages transmitted by the drive are terminated by a carriage return line feed CR LF combina tion ASCII characters ODH OAH Drive Message Termination Figure 10 4 The drive also accepts a message
73. d Zoom Out view of graph Zoom When Zoom In is selected a minus sign appears on the button Using the left mouse button click and drag to select an area on the graph for magni fication Toggle Zoom to Cur Cancels the cursor zoom Hides displays cursor sor line s When cursor is displayed use left mouse button to select and position the cursor on the graph Variable values at the cursor point are displayed in a floating box Select Cursor Displays a second cursor line Click on the graph to position the second cursor View in Excel Copies recorded data to a temporary CSV file and opens Microsoft Excel to display it Rev 1 0 86 4 10 2012 MSHD User Manual 2 Optionally modify the Motion settings and or the Gain setting and repeat the test under differ ent conditions e Target Position e Cruise Velocity e Acceleration Deceleration e NLAdaptive Gain Scale Factor KNLUSER this is the global gain parameter for the Non Linear Position loop A higher gain value results in stiffer control and a lower value results in softer control Step 4 Save Do both of the following 1 Click Save to Drive to save the parameters to the drive s non volatile memory 2 Click Save to File to save the parameters to a backup file on the computer Rev 1 0 a 4 10 2012 MSHD User Manual 6 Operation 6 1 Operation Modes The MSHD can work in a number of operation modes Each operation mode has a primary con
74. d and you are unable to establish communication with the drive you need to use the Ember Hardware mode To activate the Hardware Ember mode use a small screwdriver or similar tool to press the Hard ware Ember switch This switch is located on the top of the drive next to the daisy chain connector C8 Refer to Figure 7 1 Pressing the switch sets the drive to serial communication Boot Up Mode All segments on the front panel 7 segment LED display light up and if it exists the fan rotates at maximum speed The fan speed will revert to normal after the firmware has been downloaded successfully and the drive has restarted Recessed Hardware Ember Switch Figure 7 1 Location of Hardware Ember Switch Rev 1 0 4 10 2012 UG MSHD User Manual 7 3 Upgrade Procedure 1 From the ServoStudio Drive Info screen click Download Firmware The Ignite dialog box opens Ignite manages the download of firmware to the drive It downloads the firmware file to the drive over a USB or RS232 serial communications link MOONS Firmware Path Status Advanced Ember Mode Comport Software Baudrate 115200 i Hardware PE Disable Optimization Restore Parameters Figure 7 2 Firmware Upgrade Interface 2 Browse to and select the firmware file and press Start Alternately click Advanced to expand the dialog box and modify settings Then press Start to begin the firmware upgrade process Firmware Path The path an
75. d elsewhere in the software Other fields in these schematic screen are configurable read write After entering or modifying a value press Enter to send the value to the drive For more information about working with con figurable fields refer to the section Parameter Values Hover over a parameter field to view its description and VarCom equivalent Pr ition Feedback S 4 1 3 Parameter Values Throughout ServoStudio you will work with fields containing configurable read write drive pa rameters Whenever you begin entering a parameter value the field turns blue Rev 1 0 4 10 2012 ee MSHD User Manual Once you press Enter the value in the field is sent to drive e Ifthe value entered is valid the field reverts to white The displayed format of the value might be slightly different than what you entered for example if you enter 10 the drive might return 10 00 e If the value entered is invalid the field turns red Fields that are gray are read only Their values cannot be modified Press F1 when a parameter field is selected to open the Help file for the parameter 4 2 Dashboards ServoStudio has several dashboards These screens contain a combination of function panes which allow you to work more efficiently 4 2 1 Terminal The Terminal screen allows you to send VarCom instructions to the drive and read the drive s responses It also includes a Watch panel that allows you to monitor parameters
76. d name of the file containing the firmware upgrade My Documents ServoStudio Ember Mode Ember is the process used for burning new firmware on the drive s flash memory Software Normally use the default Software option Hardware If the firmware loading process has been interrupted and you are unable to establish communication with the drive use this option Refer to the section Ember Mode Com Port The COM port of the host computer to which the MSHD is connected Make sure this COM port is not being used by any other application Baud Rate The rate must be set to 115200 Address When only one drive is connected to the host computer a drive address is not needed Ignite attempts to communicate with the drive that was communicating with the host before Ignite was launched Thus if the drive responds to serial communication Ignite will begin the firmware download When multiple drives are connected to the host in a daisy chain a drive address must be specified When a drive address is specified Ignite starts by sending the command which stops all drives connected to the selected serial port from responding to serial communication It then issues the command nn which instructs only the drive with address nn to respond Then it begins the firmware download Disable Optimization Ignite uses an optimization method to improve performance In rare instances this optimization may cause the procedure to fail In such an instance disab
77. e I Os Machine I Os uses interface C3 on all MSHD models Wire the machine inputs and outputs according to the requirements of your application Unused pins must remain unwired To preserve isolation of the digital I Os connect a 24 VDC source to pin 9 Connect the return of the 24 VDC supply to pin 19 which functions as the ground path for the outputs Note The 24 VDC supply and return can be connected on either the Controllerinterface C2 or the Machine interface C3 but it is not necessary to connect it to both Figure 3 11 Machine I O Interface Refer to the machine interface wiring diagram in Figure 2 9 Table 3 10 Machine I O Interface Seconda Low side of the secondary en coder input signal A RS422 or Y coder input signal A RS422 i l encoder A l l High side of the pulse signal or Low side of the pulse signal Low side of the secondary en coder input signal B RS422 or Low side of the direction signal Secondary coder input signal B RS422 or encoder High side of the direction signal B Secondary High side of the secondary en Secondary Low side of the secondary en encoder coder input index RS422 encoder Z coder input index RS422 Secondary Ground of the 5 VDC encoder supply for the secondary 5V ground encoder Digital Opto isolated programmable 15 Digital Opto isolated programmable input 7 digital input Read using IN7 input 8 digital input Read using IN8 Secondary
78. e Trip VDC 0 97 M4 1 35 Nm 24 28 0 97 M4 1 35 Nm 24 28 I R a OT NINI gt O O 0 O Ql O gt W 00 f O nm NO nm NO Rev 1 0 i 4 10 2012 MSHD User Manual Power Temperature O S S Normally operates at quarter power when temperature exceeds high speed fan trigger temperature operates at full power Power Module Over Temperature Fault Regulated C Power Module Over Temperature Fault C Power Module Over Temperature Fault C C Regenerative Resistor B1 B2 Peak Current A Minimum Resistance Non regulated External Shunt Regulator 0 2 Systemde Systemde W pendent pendent Internal Bus Capacitance uF 1 oo Bus Voltage Nominal VDC Application Information VHYS Regen Circuit Turn Off VDC VMAX Regen Circuit Turn On VDC Rev 1 0 4 10 2012 MSHD User Manual Table 2 3 Mechanical amp Electrical Specifications MSHD 008 MSHD 010 MSHD 013 Single and Three Phase Specification MSHD 008 MSHD 010 MSHD 013 200V aice EE eee Input Power Circuit GL Continuous Current 1 ph 3phA 16106 Withstand Voltage Primary to Earth 1500 VAC 1500 VAC 1500 VAC 2121 VDC 2121 VDC 2121 VDC Control Circuit Input Power 120 or 240 VAC 1 Phase 1 Phase 1 Phase L1C L2C Logic Input Fuse 120 or 240 VAC A 0 5 0 5 0 5 Time Delay Motor Output U V W Continuous Output Current arms fe o Ms
79. e handwheel The quadrature signals can be connected to either the Controller I O connector or to the Machine I O connector The GEARMODE variable indicates to the drive where the signals are connected to Note The Controller I O connector cannot supply voltage to the handwheel or the machine master encoder Only the Machine I O connector can supply this voltage pins 4 and 14 on connector C3 e Set GEARMODE to 0 to indicate to the drive that the signals are received on the Pulse and Direction inputs on the Controller I O connector C2 at pins 28 and 11 Quadrature A and pins 9 and 27 Quadrature B e Set GEARMODE to 3 to indicate to the drive that the signals are received on the Secondary Encoder inputs on the Machine I O connector C3 at pins 1 and 11 Quadrature A and pins 2 an 12 Quadrature B Rev 1 0 4 10 2012 a MSHD User Manual 6 6 4 Up Down Counting In an up down counting system pulses on one signal increment the motor position while pulses on the other signal decrement the motor position The signals must be connected to the Controller I O connector When the pulse signal is applied to the A channel the external position counter PEXT incre ments and rotates the motor in a CW direction The pulse signal applied to the B channel decrements the external position counter PEXT and rotates the motor in a CCW direction The line frequency and the gearing relationship determine the speed and amount of the shaft
80. e is zero in normal state and infinite in fault state 6 13 Tuning and Testing ServoStudio provides several methods for modifying and testing parameters that you can use to optimize and evaluate the drive s performance 6 13 1 Current Control Loop The basic current control loop tuning is derived from the motor properties and the bus voltage The Current Loop screen allows you to set additional current loop gains whose use might improve performance Motor Bemf a Constant ooo 000 Nominal KCFF i E gt a at Current Loop ermine a Gain i Nominal Proportional Gain e 000 Current Command A Current Feedback Figure 6 16 ServoStudio Current Loop Screen The additional parameters are best set using the current loop autotune function CLTUNE Click on the Current Loop Tuning button to start this procedure Use caution as the motor will turn during this process Note Current loop autotuning is best done with the motor disconnected from any gear and load Rev 1 0 4 10 2012 MSHD User Manual Caution Current loop tuning causes motion of a few revolutions for rotary motors and a few motor pitches for linear motors It should not be used for linear motors or rotary motor with movement limitation The light blue background in the schematic shows the actual velocity loop The other elements show pre and post processing options AN 6 13 2 Velocity Control Loop Four velocit
81. e of filter is determined according to the voltage and current rating of the system and whether the incoming line is single or three phase One input line filter can be used for multi axis control applications Rev 1 0 4 10 2012 ae MSHD User Manual Implementation of the input power filter must adhere to the following guidelines e Maintain separation of leads entering and exiting the mains filter e Filter must be mounted on the same panel as the drive e Filter must be mounted as close as possible to the drive to prevent noise from being capaci tively coupled into other signal leads and cables e When mounting the filter to the panel remove any paint or material covering Use an unpaint ed metallic back panel if possible e Filters are provided with a ground connection All ground connections must be tied to ground e Filters can produce high leakage currents Filters must be grounded before connecting the supply e Filters should not be touched for 10 seconds after removing the supply 3 3 9 Motor Line Filtering Motor line filtering using ferrite cores might be necessary for CE compliance of MSHD systems This additional filtering can increase the reliability of the system Poor non metallic enclosure surfaces and lengthy unbonded or unshielded motor cables that couple noise line to line differ ential are just some of the factors that lead to the necessity of motor lead filtering Motor lead noise may be either
82. e ramp down rate is a function of the maximum current allowed variable ISTOP and the system inertia and friction 1250 1000 meal 750 500 250 0 200 400 600 500 Milliseconds Figure 6 14 Dynamic Braking Rev 1 0 4 10 2012 vr MSHD User Manual Figure 6 15 shows Dynamic Braking with a very low value of ISTOP In this instance it takes lon ger to bring the motor to a stop 1250 ER a VEME 750 500 250 Figure 6 15 Dynamic Braking with Low ISTOP Value In DISMODE 4 and DISMODE 5 both Active Disable and Dynamic Braking are supported In these cases Active Disable is used to bring the motor to a stop and Dynamic Braking is activated after DISTIME 6 10 Motor Brake Control The MSHD can control a motor brake control circuit via a digital output To do this configure a digital output so that it is set to Brake mode Refer to Varcom OUTMODE The brake engage time is programmable When the drive receives a Disable command it first switches off the brake output and then waits for the engage time before actually becoming Dis abled The brake release time is not programmable When the drive receives an Enable command it simultaneously switches on the brake output and becomes enabled The drive needs a maximum of 1 5 milliseconds to become enabled while a brake typically takes tens of milliseconds to disengage Notes e The MSHD cannot directly control the motor brake e The pola
83. e variables ACC and DEC respectively The variable PCMD is used to read the position command The variable PFB is used to read the actual motor position Refer to VarCom ACC DEC PCMD PFB 6 7 2 Relative Motion Relative or incremental motion moves the motor relative to the current position Relative motion is always in reference to the current position of the load and motor shaft and is useful in index ing applications such as cut to length feeders and rotary tables The reference point defined internally to the drive is the current value of variable PFB Movement can be in either direction depending on the sign of the position value For example if the target position is 1 revolution the motor will turn one revolution from the start ing point Refer to Varcom MOVEINC 6 7 3 Absolute Motion Absolute motion is always relative to an absolute reference point The reference point defined internally to the drive is the point at which the value of variable PFB is 0 Refer to Varcom MOVEABS 6 7 4 Position Error The position error also called following error is the absolute value calculated as the difference between PCMD and PFB To read the position error use the variable PE To set the maximum allowed position error user the variable PEMAX When the position error exceeds the PEMAX value the drive will be disabled with fault j1 Refer to Varcom PE and to the section j1 6 7 5 In Position Indication The r
84. e ve ocity Command 1 60 Absolute Relative Acceleration 6000 000 rpms Deceleration 6000 000 rpms sot EN Figure 4 4 ServoStudio Scope Dashboard 4 2 3 Expert The Expert screen allows you to perform the following tasks e Send commands to the drive using the Terminal panel e Change operation mode and initiate motion using the Motion panel e Monitor parameters using the Watch panel e Set recording properties using the ScopeChart panel e Program and run scripts using the Script panel Rev 1 0 i 4 10 2012 MSHD User Manual MOONS Servo Studio Scope KER BASEL a Tad 0 075 PE i FR 0 050 HPrint Moving ool bar Delay 500 End While Goto Start 0 025 Label End Message Finished 0 000 5 MyFirstScript 6 Script2 EP Scripts 0 025 Clear 0 250 500 750 1000 1250 1500 Lal Milliseconds 0000 L E L Default Default Default 00000 oo er Se ee ea a oo A 4 O 4 4 4 AO 4 4 4 4 4 64 6 62 ar y m EE BG lt lt a e e e e e e e a a a a a R A 5 og Ni e lm a Ee a fem Ses fae fete Bite ile le ogo Oo Moving p GO terminal amp output O watch DataTable Emotion E Measure Figure 4 5 ServoStudio Expert Dashboard The Expert toolbar has two additional buttons Restore Resets the Expert screen to the default layout Return Closes the Expert screen and reopens the standard Se
85. e voltage at the analog input Read only Refer to VarCom ANIN1 Velocity Scaling When the first analog input is used as the command for the velocity loop it is important to set the scaling that is the ratio of the analog in put voltage to the command that the drive interprets Refer to Varcom ANINVSCALE Velocity Command The resulting Velocity command Refer to Varcom VCMD Actual Values Shows the actual values of motor current motor velocity and motor position Rev 1 0 4 10 2012 MSHD User Manual 6 4 Serial Current Mode In the Motion screen select Operation Mode 2 Serial Current to display the schematic and vari ables that affect the Serial Current command In Serial Current mode OPMODE 2 only the MSHD s current loop is active and the drive re sponds to instructions received via the USB or RS232 ports Motion Operation mode 2 Serial Current v Current Current command A Current Command Time Actual Values Motor Current LO A Velocity rpm Position rev Figure 6 4 ServoStudio Motion Screen Serial Current Mode Current Command Sets the value of the current Refer to VarCom T Sends the Current command to the motor Stop Stops the Current command Actual Values Shows the actual values of motor current motor velocity and motor position Rev 1 0 4 10 2012 MSHD User Manual 6 5 Serial Velocity Mode In the Motion screen select Operation Mode 0 Serial Veloc
86. ead only variable INPOS is 1 when the motor is in position and 0 when the motor is not in position The motor is in position when the value of PE is less than the value of the userdefined position er ror window variable PEINPOS Whenever PE is less than PEINPOS INPOS is set to 1 regardless of the state of the motion pro file 6 7 6 End of Motion The motor is considered settled when the position error variable PE has remained below the posi tion error threshold variable PEINPOS for a time defined by variable PEINPOSTIME The read only variable STOPPED indicates the end of motion While the position profile is being Rev 1 0 4 10 2012 MSHD User Manual executed STOPPED is set to 0 At the end of the profile STOPPED is set to 1 When the motor has settled STOPPED is set to 2 6 7 7 Position Offset The value of PFB can be modified or offset using the PFBOFFSET variable This is useful for manual homing or simply for testing incremental motion To set the current position to zero do the following 1 Disable the drive PFBOFFSET can be set only when the drive is disabled 2 Set PFBOFFSET to 0 zero 3 Read PFB 4 Set PFBOFFSET to the negative value of PFB When using counts as the position units PFBOFFSET can be set to a whole number integer only even though the actual position PFB is displayed as a real number with fractions of a count which is a result of internal interpolation being executed on t
87. eaker STO or Fuses A Safe Torque Off Connect to 24VDC pog power supply OR use d bypass plug Line Filter dogg optional ial FF Connection to Host Controller el ele al Voltage reference input Pulse amp Direction input 8 6x digital inputs D 3x digital outputs 1x analog output Magnetic Sies 2 Contactor 3 Connection to Additional IOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Brake output Ground 3 Motor brake Protective Earth e optional ADE power supply Motor Power 2 Note Refer to section EMI Suppression in MSHD User Manual To be supplied by customer AN AC supply for the main power input L1 L2 and for the logic power input L1C L2C must be from the same AC phase input as show in the diagram Figure 3 3 MSHD 4D5 MSHD 006 Servo System Wiring Using Single Phase 230 VAC Rev 1 0 4 10 2012 me MSHD User Manual Mains Single Phase Daisy Chain RS232 Connection optional connection to PC Circuit Breaker or Fuses Rotary switches Drive addressing a a Pr STO Safe Torque Off Connect to 24VDC power supply OR use bypass plug Line Filter optional Connection to Host Controller Voltage reference input Pulse amp Direction input 6x digital inputs 3x digital outputs 1x analog output Magnetic Contactor Regenerative resistor optional Connection to Additional IOs 5x digital inputs 3x digital outp
88. ed Action required Contact technical support Rev 1 0 4 10 2012 121 MSHD User Manual Rev 1 0 4 10 2012 ee Displayed in sequence board Drive cannot be operated Action required Contact technical support Displayed in sequence Power EEPROM Fault Fatal fault Active disable Not applicable Description A problem accessing the EEPROM on the power board Drive cannot be operated Action required Contact technical support Displayed in sequence Vbus Measure Circuit Fail Active disable Description A failure occurred in the circuit that measures bus voltage Action required Reset faults If the fault persists the drive probably needs repair Contact technical support Displayed in sequence Current Sensors Offset Out of Range Active disable of range Reset faults If the fault persists the drive probably needs repair Contact technical support FE Jie Foldback Warning Warning Not Applicable current Current foldback is active Action required Check the drive motor sizing This warning can occur if the drive is under sized under powered for the ap plication 122 MSHD User Manual Displayed in sequence Drive Foldback Type sf Fault Active disable Description Drive average current exceeds rated drive continu ous current It occurs after the Foldback warning has occurred Action required Check motor drive sizing This warning can occur if the drive is under sized und
89. ed the drive is ready for activation READY 5 14 3 Fault History The drive stores a log of the ten most recent faults Use the Fault History tab to view the fault log Refer to Varcom FLTHIST The Clear Faults History button is displayed when the log contains fault Refer to VarCom FLTHISTCLR 5 15 Tuning Wizard The Tuning Wizard executes an autotuning process for the Non Linear Position Controller The controller and the autotuning process are designed to minimize position error during motion and to minimize settling time at the end of motion Refer to the section Non Linear Position Control Loop The Tuning Wizard overrides the user s units settings and works in the following units e Position counts e Velocity rom s for rotary motors and mm s for linear motors e Acceleration deceleration rom s2 for rotary motors mm s2 for linear motors Step 1 Load Estimation 1 For automatic load estimation select Move and estimate load inertia or If you know the inertia of the load connected to the motor select Known Load Inertia and enter the value 2 Click Start Start enables the drive and moves the motor ServoStudio estimates the load currently on the motor and displays the results Rev 1 0 4 10 2012 MSHD User Manual 3 Click OK to send the calculated parameters to the drive 4 Click the Next arrow to continue Step 2 Gain Optimization 1 Use the Left and Right buttons to bring the load to a posit
90. ed Standard pole placement high frequency Pole place ment with active dumping Selectable Velocity Control Loops Velocity Control First order low pass filter Double first low pass filter Notch Filters High pass filter Band pass filter User defined polynominal filter Reference Command Analog 10 VDC Serial CANopen Input Output Position command Velocity command 7 Update rate 250 us 4 kHz Position Control Control loop PID and feed forward Reference Command Pulse and direction Serial CANopen Input Output Position command or Velocity command Current command Update rate 250 uS 4 kHz Non linear control algorithm provides very low tracking er ror zero or minimum settling time and smooth movement Control Loop includes an adaptive feed forward feature that is applied at HD Control end of movement end to achieve zero or minimum settling time Filters One second order low pass two notch and other filters to handle flexible and resonant systems NER Command Velocity command Analog 10 VDC Serial CANopen Position command Pulse and direction Serial CANopen Automatic inertia load measurement self tuning and optimi Autotuning zation of HD control loop parameters Optimal settling time up to 0 2 ms Method Control stops Dynamic brake Active disable Display Method 7 segment LED green display drive status oe User Interface ServoStudio Windows based application Setting connection Drive info Power display Motor
91. eeeeeeteeeseeeaes 138 10 5 Data COMM Ol cnicienccisansannannctstcainannesiiiianasibuncs phase suinensavesuntanslesnisinnaalows 139 10 6 Message Forimat cccccccscccscceecaseceeseeceeeceecaeeceesuesaeecueceesaeenes 139 10 7 Asynchronous Error Messages rrarrnrrnrvarnnrrnarnnrrnernarnnnnnernnnnnn 141 10 8 Examples of MSHD Serial Protocol rrarnrrnurnnrnurnnrnnrnnnnnrvnnvnnenn 141 11 Contacting MOONS ran nnennnnnnennnnnnnnnennnnnnennnnnnnnnennnnnnennunnn 146 Rev 1 0 4 10 2012 MSHD User Manual 1 Introduction 1 1 Documentation 1 1 1 About This Manual This manual describes the MSHD Servo Drive It provides the information required for installation configuration and basic operation of the MSHD unit This document is intended for persons who are qualified to transport assemble commission and maintain the equipment described herein 1 1 2 Documentation Set for MSHD This manual is part of a documentation set The entire set consists of the following e MSHD Quick Start Guide Basic setup and operation of the drive e MSHD User Manual Hardware installation configuration and operation e MSHD VarCom Reference Manual Parameters and commands used to program the MSHD 1 2 Safety Only qualified persons may perform the installation procedures You do not need to be an expert in motion control to install and operate the drive system However you must have a basic under standing of electronics
92. elocity Command Position Feedback T Saturation In J Saturation Out Figure 6 18 ServoStudio Position Loop Linear Screen Rev 1 0 4 10 2012 MSHD User Manual The Linear Position controller is a PID controller with feedforward and with the option to limit the integral saturation anti windup 6 13 4 Non Linear Position Control Loop The non linear position NLP control algorithm is designed to minimize position error during mo tion and to minimize settling time at the end of motion The NLP controller parameters should be initially set using the Tuning Wizard The parameters are shown in the non linear position control screen and can be modified as re quired by the application Position Loop Position controller method 1 Non Linear Acceleration Feedforward Spring Filter 7000 Hz Integral 0 000 Hz Processing Derivative Integral 0 000 Hz Flexibility Compensation oo i Proportional Global Gain Hz Position Feedback 1 000 Derivative Low Pass Notch Filter Rise Time Center 9 000 ms 100 Hz Damping Bandwidth Current Command OUT Figure 6 19 ServoStudio Position Loop Non Linear Screen NLP has four main parallel feedback functions each of which has a non linear characteristic These four functions change dynamically during movement in order to apply the optimal feedback gain while maintaining the stability of the sy
93. enclosure must meet at least IP54 made of metal or material with rating flam mability of 5 VA Since the leakage current to PE is greater than 3 5 mA compliance with IEC61800 5 1 re quires that either the PE connection be doubled or a connecting cable with a cross section greater than10 mm be used Use the PE terminal and the PE connection screws to meet this requirement Wiring of green color with or without one or more yellow stripes must not be used except for protective bonding Rev 1 0 4 10 2012 MSHD User Manual 1 3 Standards Compliance 1 3 1 General Information The MSHD has been successfully tested and evaluated according to standards IEC 61800 5 1 Conformance for UL 508C is in progress This testing outlines the minimum requirements for elec trically operated power conversion equipment frequency converters and servo amplifiers which are intended to eliminate the risk of fire electric shock or injury to persons UL 508C references UL 840 which describes the achievement by design of air and insulation creepage spacings for electrical equipment and printed circuit boards The MSHD provides over load protection and current limit control The drive is intended for operation in pollution level 2 environment The terminals on the controller are coded so they can easily be identified in the instructions The instructions identify the connections for the power supply load control and ground Integral solid state s
94. ent motor velocity and motor posi tion Rev 1 0 4 10 2012 MSHD User Manual 6 3 Analog Velocity Mode In the Motion screen select Operation Mode 1 Analog Velocity to display the schematic and vari ables that affect the Analog Velocity command In Analog Velocity mode OPMODE 1 the MSHD s current and velocity loops are active and the drive responds to a command from the primary analog input connected at pins 8 and 26 of the Controller I O connector The commanded velocity is subject to a limit on the acceleration defined by the variable ACC Motion Operation mode 1 Analog Velocity Signal GT Deadband Filter 4 4 p Analog Input goo 8 Velocity Scaling V elocity Command Actual Values Motor Current A Velocity rpm Position rev Figure 6 3 ServoStudio Motion Screen Analog Velocity Mode In addition to tuning the current and velocity loops certain drive variables need to be set Analog Offset The DC voltage offset on the analog input Refer to Varcom ANIN1OFFSET Deadband The deadband range of the analog input This is useful for preventing the drive from responding to voltage noise near the zero point of the analog input Refer to Varcom ANIN1DB This value is a low pass filter applied to the analog input This is useful for filtering high frequency noise from the input or for limiting the rate of change of that signal Refer to Varcom ANIN1LPFHZ Analog Input Th
95. er Interface Wiring rrarrnarrnnrnnnrranrrannnnrnnnrvannnnnnnnrnannnnnnnnen 26 2 5 Machine Interface Wiring ccccccecccseceeceseceeccuecaseceeeceesaeesaeesaees 26 3 MEAN Nene 27 3 1 Installation NNN 21 93 2 PO NN en 21 3 2 1 Hardware Requirements icisansccicardusadenensanmessvqetaainessemiaiesnscuteandvduunenn des 21 32A NT SN 28 32 9 SO SSN 29 3 3 EMI SUP ren 31 3 3 1 CE Fikering TECMAIQUES secseccssiysasceoseatarnonconeadomebedonedancwaroestsetetedatuncecotees 31 992 TM 32 3 Rev 1 0 4 10 2012 MSHD User Manual 39 9 SA BT 32 3 3 4 Input Power Filtering ev 32 3 9 9 MOTO LING EN 33 20 TSN E E Renn enen ee meee ne mee 33 3 3 7 Additional EMI Suppression Recommendations c cceeeeeeeeeees 33 3 4 Electrical System Considerations arrrarrnnrnnnnnannnernnnennnnnnrnnnennnnnnrn 34 JP PEN 34 3 4 2 Leakage Current Considerations cccccceccceeeseeseeeeeeceseeeeeeeeeeeeeaess 34 3 4 3 Residual Current Protective Device RCD rrarrnanennnrnnnnnvannnnnernnnnnnnr 34 3 5 Mechanical Installation aerrnrrornrvnrrernrvnnnannernnnnvnenernernenannerenneneenn 34 3291 NOTE ND ae coe sersesenedeacesendcanansxenatcacennnssaseaeeedetexenenenes ecesares 34 39 2 NNM NN 35 3 6 Electrical Installation rrarrernrrornrrnrrernarnnnavnernnnnvnenernernenannenenneneene 35 3 6 1 Connect 9 0 REE EE 36 G 0 Go e OE ce ER 36 I COMEC RENN 3 3 6 4 Connect Motor Feedback
96. er powered for the ap plication Check that the commutation angle is correct i e commutation is balanced eee Description Motor average current exceeds rated motor continu ous current It occurs after the Foldback warning has occurred Action required Check the drive motor sizing This warning can occur if the motor is under sized under powered for the application CH Fasting O Description Either the motor has overheated or the drive is not set up correctly for the motor temperature sensor Action required Check that the drive is configured properly using THERMODE THERMTYPE THERMTHRESH and THERMTIME and that the motor temperature sen sor is properly connected to the drive if needed If the drive is configured and wired properly check whether the motor is under sized for the application a Description Actual velocity exceeded 1 2 times the velocity limit The velocity limit is set using VLIM Action required Check that VLIM is set to match the application requirements Using velocity loop tuning check for excessive overshoot Rev 1 0 4 10 2012 MSHD User Manual Rev 1 0 4 10 2012 CA Baniayedinsowsence Description The position error PE has exceeded the position er ror limit PEMAX Action required Change drive tuning to improve position tracking or increase PEMAX to allow a greater position error ce Resting The STO signal is not connected Action required Check that
97. er to VarCom IZERO On Activates the Zero procedure which locks the rotor in place by passing current through two phases This is useful for determining the commutation offset MPHASE on motors that have a resolver or absolute encoder Refer to Varcom ZERO The graphic shows motor position within one revolution After setting the feedback resolution you can turn the motor by hand one revolution and use this graphic to verify that one revolution of position counts has indeed oc curred The graphic also shows motor direction and helps you verify that motion direction is as expected Mechanical Angle Read only The motor mechanical angle position Refer to Varcom MECHANGLE Position The value of the position feedback Read only Refer to Varcom PFB Position Offset A feedback offset that is added to the internal cumulative position counter to give the position feedback value Refer to VarCom PF BOFFSET Encoder Simula Enables the equivalent encoder output and sets the resolution Refer to the tion section Encoder Simulation Output Mode The state of the encoder simulation either Disabled or Active Refer to Varcom ENCOUTMODE Resolution The resolution in number of lines of the encoder equivalent output Refer to VarCom ENCOUTRES The other options in this screen will change according to the selected Feedback type Rev 1 0 ne 4 10 2012 MSHD User Manual If the selected feedback type is
98. es the Software Enable switch provided that no faults exist By default the drive powers up in the Software Enable off state It can be set to power up in the on state by the variable SWENMODE The variable SWEN returns the state of Software Enable Note For SWENMODE to take effect the variable COMMODE must be set to 0 Rev 1 0 4 10 2012 MSHD User Manual If Software Enable is on at power up the drive can be enabled and disabled solely by means of the Remote Enable signal e The Remote Enable signal must be on Remote Enable is a signal in the range of 5 24 VDC that is applied to one of the opto isolated digital inputs in the Controller I O connector If no input is configured for this function the Remote Enable signal remains on and the drive can be enabled and disabled solely by the commands EN Enable and K Disable The variable INMODE is used to configure the input that provides the Remote Enable function The variable REMOTE returns the state of the Remote Enable signal 5 14 2 Clearing Faults After a fault condition is removed the fault remains latched until cleared by any of the following methods e AClear Faults command e The Clear Faults button in the ServoStudio Enable amp Faults screen e The command CLEARFAULTS e Toggling the Enable state of the drive e Toggling the Software Enable button in the ServoStudio Enable amp Faults screen e Toggling the Remote Enable input Once all faults are clear
99. fies the defining of rotation direction for a positive command Otherwise VarCom instructions are required Refer to the section Motor Direction Motion Units Refer to the section Motion Units Current Foldback Refer to the section Foldback Digital Inputs Outputs Refer to the section Digital I Os Analog Inputs Outputs Inputs Outputs Refer to the section Analog Os Analog Inputs Outputs Refer to the section Refer to the section Analog I Os I Os Needed for clearing faults Refer to the section Enable Disable Current Loop Tuning The Setup Wizard tunes the Current Control Loop at a basic level This is sufficient for proceeding to Tuning Wizard To achieve optimal performance use the Current Loop Tuning option in the Current Loop screen Refer to the section Current Control Loop Velocity Loop Tuning Optional Refer to the section Velocity Control Loop Tuning Wizard Refer to the section Tuning Wizard Rev 1 0 aa 4 10 2012 MSHD User Manual 5 3 Setup Wizard The Setup Wizard provides the quickest and easiest method for getting the drive up and running It configures only the essential parameters It is recommended that you use the ServoStudio Setup Wizard when connecting the drive for the first time Setup Wizard Step 0 Connection Click Search amp amp Connect to connect to the drive automatically OR Enter the port settings and click Connect OR Click Go Offline to use the application
100. g Junction shell PN 10336 52F0 008 STX PN HODr00000036 00 Mating Cable STX PN CBLrxM900036 00 x 1 2 3 meter Machine I F da C3 MDR 20 Plug Secondary encoder A 11 Secondary encoder A 2 Secondary encoder B 20 12 Secondary encoder B 3 Secondary encoder Z 13 Secondary encoder Z 4 Secondary encoder 5V 14 Secondary encoder GND 5 IN7 15 IN 8 6 INQ 16 IN 10 7 IN 11 17 OUT 4 8 OUT 5 18 OUT 6 9 User supplied 24V 19 Return user supplied 24 VDC 10 Fault Relay 1 20 Fault Relay 2 Mating Connector type Solder 3M solder Plug connector PN 10120 3000PE STX PN CONr0000020 28 3M solder plug Junction shell PN 10320 52F0 008 STX PN HODr00000020 00 Mating Cable STX PN CBLrxM900020 00 x 1 2 3 meter Rev 1 0 4 10 2012 24 Figure 2 6 Pin Assignments on MSHD 4D5 MSHD 006 MSHD User Manual Controller I F RS232 Daisy Chain C2 MDR 36 Plug C7 4p4c C8 10 PIN 1 1 Return user supplied 24 VDC 1 Rx O71 IDO Female 19 User supplied 24V NELTRON 4401 10SR OR 2 GND ISO COXOC 304A 10PSAAA03 2 OUT 1 3 TX STX PN CONr00000010 67 20 IN2 4 3 IN 1 21 18 36 4 Equivalent encoder output A 22 Equivalent encoder output A 5 Equivalent encoder output B 23 Equivalent encoder outp
101. greater than10 mm be used Use the PE terminal and the PE connection screws to meet this require ment 3 4 3 Residual Current Protective Device RCD In compliance with standards IEC 60364 4 41 Regulations for Installation and IEC 60204 Electri cal Equipment of Machinery residual current protective devices RCD can be used provided the requisite regulations are met RCDs which are sensitive to all currents must be used in order to detect any DC fault current To protect against direct contact with motor cables shorter than 5 m it is recommended that each drive be protected individually using a 30 mA RCD which is sensitive to all currents 3 5 Mechanical Installation 3 5 1 Mounting the MSHD Using the bracket on the back of the MSHD mount the MSHD on a grounded conductive metal panel The panel must be sufficiently rigid Rev 1 0 4 10 2012 MSHD User Manual 3 5 2 Mounting Multiple Units When multiple MSHD units are mounted side by side within a cabinet or enclosure the recom mended spacing is 10 mm When mounting units top tobottom the recommended spacing is 50 mm for all models It is important to maintain an ambient temperature within the enclosure that does not exceed 45 C 3 6 Electrical Installation Figure 3 5 MSHD Front Panel Interfaces Rev 1 0 4 10 2012 MSHD User Manual 3 6 1 Connect Motor Motor uses interface P2 on all MSHD models Connect the motor interface Figu
102. ground Ground leads should be the same gauge as the leads to main power or one gauge smaller 3 3 3 Shielding and Bonding Motor and feedback cables must be shielded in order to minimize noise emissions and increase the immunity levels of the drive system The shield should be connected to ground at both ends The proper bonding of shielded cables to a grounded surface is imperative for minimizing noise emissions and increasing immunity levels of the drive system Its effect is to reduce the imped ance between the cable shield and the back panel It is recommended that all shielded cables be bonded to the back panel The motor and feedback cables should have the shield exposed as close to the drive as possible This exposed shield is bonded to the back panel using either non insulated metallic cable clamps or cable bonding clamps It is recommended to use a star point shield connection for example with a shielding busbar For cables entering a cabinet connect shields on all 360 of the cable Lines between servo drives and filters and external brake resistor must be shielded 3 3 4 Input Power Filtering The MSHD electronic system components require EMI filtering in the input power leads to meet the CE EMC requirements for the industrial environment This filtering blocks conducted type emissions from exiting onto the power lines and provides a barrier for EMI on the power lines Care must be taken to adequately size the system The typ
103. has failed Action required Check CLTUNEST for the failed step ne Definition Serial Velocity Mode ae B or Definition s_ Serial Current Mode ACUYE i Not applicable Not applicable 118 MSHD User Manual Definition Analog Current Mode Definition Gearing Mode Sooo B Definition Profile Position Mode Displayed in sequence Definition CAN Supply Fault Active disable Description A problem with the internal voltage supply for the CANbus Action required The drive probably needs repair Contact technical support Displayed in sequence Definition Motor Setup in Progress Description The Motor Phasing procedure is in progress Deset If the procedure fails the display will show 5 Rev 1 0 4 10 2012 119 MSHD User Manual Rev 1 0 4 10 2012 Displayed in sequence Definition Current Loop Tuning in Progress Active disable Not applicable Description The Current Controller Loop Autotuning procedure is in progress This procedure actively tests and modi fies the variables KCP KCI KCFF KCBEMF If the procedure fails the display will show 6 Action required Not applicable Definition Drive Locked Fatal fault Active disable Not applicable Description Security code and key do not match Drive cannot be operated Action required Contact technical support Betton __ PLL Phase Locked Loop Synchronization Failed Betton __ Fault Active disab
104. he encoder signal 6 8 Motor Direction When the motion command is positive the direction of motion can be explicitly reversed The posi tive direction for a rotary motor for example can be either clockwise or counterclockwise depend ing on the application requirements One of the steps in the Setup Wizard allows you to test and reverse the direction of motion Alternately use the VarCom variables DIR and MPHASE e Change the value of DIR to 1 if it is set to 0 or change it to O if it is set to 1 e Change the value of MPHASE by 180 Caution Both values must be changed at the same time before the drive is enabled otherwise the motor might run away 6 9 Disable Mode The disabling of the drive may be due to an explicit command from the motion controller or the drive s own response to a fault When the drive becomes disabled the Disable mode function can be used in certain cases to bring the motor to a fast stop before power to the motor is shut off This reduces the amount of motor coasting The variable DISMODE defines if and how Disable mode is used to stop the mo tor The Disable mode function consists of two mechanisms e Active disable by controlled deceleration and disable e Dynamic brake by controlled motor short circuit 6 9 1 Active Disable Active Disable prevents motor coasting while the axis is disabled The Active Disable mechanism brings the motor to a stop by means of a controlled ramp down to zer
105. hort circuit protection does not provide branch circuit protection Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes or the equivalent 1 3 2 CE Compliance The MSHD is designed to comply with the following European directives Formal certification is pending e EC Directive 2004 108 EC Electromagnetic Compatibility Standard EN 61800 3 2004 e LVD Directive 2006 95 EC Electrical Safety Low voltage directive Standard IEC 61800 5 1 2007 1 4 Unpacking The package contains the MSHD drive only 1 Open the package and remove all packing materials 2 Check to ensure there is no visible damage to the MSHD drive If damage is detected notify the carrier immediately Rev 1 0 4 10 2012 i MSHD User Manual 2 Product Description 2 1 Overview 2 1 1 General Description The MSHD is a full featured high performance servo drive featuring innovative technologies and industry leading power density Key features of the MSHD include Support for rotary Operation in current velocity and position control loops Eleven digital inputs six digital outputs together with an analog input and output to meet any I O requirement Various communication options Various motor feedback options Firmware customization to address special application requirements OEM motors predefined in user interface to enable immediate integration 2 1 2 Product Options
106. iaanvenen 67 50 FORM 68 NON 69 SA Motor NNN 69 PT NTP 70 5 8 MNF 11 NTE 15 OZ EON 75 RENN 15 5 8 4 Encoder Simulation Output sicccnnscncatasnssancaxaconntanesatnacsaeaanatneasieaneenaeniaas 76 5 9 Motion AES siese ee etountewannndaqvatsceseetiuavtalveadeatadiencmetstavecteasantennciescesent 76 5 10 Current Limits icentnnceectetear sccumttuncstemnucenonemapenmntrediasnietweseaaatict eisueandsmdenmmnades 76 5 10 1 Basic Nr 16 5 10 2 Optional Analog Current Limit rarrnnnrrnnnonanvrnnennnrnnnnnnnnnnnnenanennnnnnnnen TT Oe VAN HS Jen cf ST ONG AGI LL 19 TT NE FOO ACK erene E E EEE EE 19 SP MO 0 0 012 0 REE eee ee 80 5 13 Inputs and Outputs summere sukdersaavnsmaersmdnsvn 80 SHAD o ie E E A E E E E EE 80 OZ PIO NS E E EA E E EE EEE 82 5 14 Enable Disable r rrarnannarnnnnnnnnnnnnnnnnnnnnernnrnunnnrnnnnuennanunnnennsnnnnnsenere 84 STE DNG ENN eee 84 EEG 01110 Lg OE 85 EN PEN sist cs ceraccaps E E EEE EAEE 85 DI MN VIN 85 O er 88 6 1 Operation Modes rn 88 5 Rev 1 0 4 10 2012 MSHD User Manual 6 2 Analog Current MdG Lasses 89 6 3 Analog Velocity Mode rrarnarnannannnnnnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnannannnsnnne 90 6 4 Serial Current Mode rrarnarnarnannnrnnnnnnnnnenernennernennennuennenunnuenuenusnnene 91 6 5 Serial Velocity Mode ne 92 6 6 Gear Mode vr 93 bol FANN 93 6 6 2 Pulse and Direction Mode ccescerssacoteiosunddsesvesmaacetbenioies s saavecancenenauwies 94 6 6 3 Mas
107. ion at which the motor can safely make a full rotation in each direction 2 If necessary adjust the Speed setting 3 Click Start Start enables the drive and moves the motor repeatedly The motor moves back and forth continuously while ServoStudio tests values at intervals through out the range for each of the control loop parameters Once it achieves the best result it displays the optimal value in the parameter table The top bar shows the progress of the parameter currently being tested The lower bar shows the progress of the entire process 4 If necessary adjust the Move Command settings and click Start to repeat the test Step 3 Test Quality of Motion 1 Click Start Tuning Test to send a Current command to the drive and plot the step response Start Tuning Test enables the drive and moves the motor The graph shows the velocity command generated by the point to point position profiler PTPVC MD and the position error PE The wizard also displays the settling time and the position error window calculated by the system Note The velocity and the position error graphs are scaled so that both fit into the frame The Y axis is marked in units of position error counts The screen includes three buttons that let you examine the graph more closely and another but ton for exporting results to a spreadsheet The functions are also provided in the ServoStudio Scope screen Toggle Cursor to Toggles Zoom In an
108. ity to display the schematic and vari ables that affect the Serial Velocity command In serial velocity mode OPMODE 0 the MSHD s current and velocity loops are active and the drive responds to instructions received via the USB or RS232 ports The commanded velocity is subject to programmable acceleration and deceleration limits Motion Operation mode 0 Serial Velocity x Velocity Command Jog O Alternating Motion Profile Acceleration rpms Deceleration feo0 000 romis Velocity rpm Time Optional ij mS Velocity Time Actual Values Motor Current Velocity rpm Position rev Figure 6 5 ServoStudio Motion Screen Serial Velocity Mode Velocity Command Jog Moves the motor at a constant velocity Refer to VarCom J Alternating Moves the motor at two alternating velocities by issu ing two independent velocity command values with each running for a specified time Refer to Varcom STEP Acceleration Acceleration value Refer to Varcom ACC Deceleration Deceleration value Refer to Varcom DEC Velocity 1 2 If Jog is selected the velocity of the motion If Alternating is selected the command requires values for two velocity variables Time 1 2 If Jog is selected the duration of the motion If Alternating is selected the command requires values for two time variables Start Sends the Velocity command to the motor Stops the Velocity command Actual Values Shows the actual values
109. ives that may be daisy chained to the port Since this search can take a long time the Limit Address option allows you to define the number of addresses from 0 99 to be searched By default the limit is set to 5 addresses Rev 1 0 4 10 2012 ee MSHD User Manual The names and addresses of all drives found will be listed under IDs to connect e Manual Connection Set the COM port the baud data transfer rate and the address and Click Connect If you are using a USB connection check the Windows Device Manager to see which COM port is mapped to the Servo Drive USB device The port address can be any value from 0 to 99 The value you enter must match the drive ad dress defined by the rotary switches set during installation Refer to the section Set the Drive Address 5 5 Drive Information The Drive Information screen displays basic information about the MSHD such as current rating hardware version and firmware version It is important to provide this information to Technical Sup port when asking for assistance This screen also provides access to the Firmware Download utility Refer to the chapter Firmware Upgrade Drive Information Drive Name MOONS Drive Details Drive Settings Drive Model MSHO Drive Peak Current 25 4 A 18 Arms Serial Number 111L 0000580 November 2011 Drive Continuous Currert 63 A 5 Arms Firmware Version 108 Feedback Type incremental encoder ABAHalls Control Board Version 07 Power Board
110. l drives must be daisy chained through the C8 connector Each drive must have a unique address to enable its identification on the network A daisy chained drive can be assigned an address from 1 to 99 by setting the rotary switches on the drive When configuring a daisy chain address 0 cannot be used You can communicate with any or all drives on the daisy chain from any RS 232 or USB port on any of the daisy chained drives e To communicate with an individual drive in a daisy chain enter the following at the prompt x lt CR gt Where x 1 to 99 the address setting of the drive e To communicate simultaneously with all drives on the chain enter the following at the prompt lt CR gt This is called global addressing When using global addressing no character echo to the terminal Occurs 10 4 Variables and Commands Serial communication with the MSHD is by means VarCom a proprietary set of commands and variables used to configure control and monitor the drive e Commands instruct the drive to perform an operation e Read only variables are calculated and or set by the drive and are used to monitor the drive and its operational status To read a variable type the name followed by a lt CR gt The drive returns the value of the vari able e Read Write variables are used to configure and monitor the drive To set a variable type the variable name Varcom mnemonic a space or the value fol Rev 1 0 4 10 2012 18
111. lay Time Analog Output Signal Configurable analog output 0 10 V 8 bit 1 kQ A quad B and marker differential RS 422 line receiver Voltage Range Resolution Max Load Secondary Feedback Signal Max Input frequency 3 MHz before A quad B Functions Dual loop Master Slave or Handwheel Fault Output Relay Signal Configurable dry contacts Voltage 24V gt Max Current Rev 1 0 en 4 10 2012 MSHD User Manual 2 2 7 Motor Feedback Specifications Table 2 8 Motor Feedback Specifications All 200 VAC Models Motor Feedback Specification Supply Voltage from Drive 5 VDC 7 VDC Max Supply Current from Drive 250 mA General AWG 28 3 m Max Cable Length AWG 2 10m Velocity estimation n algorithm for velocity measure A quad B with or without marker Halls 8 Signal channel Tamagawa RS 422 or RS485 line receiver Differential Max Input Frequency Signal Signal Transformation Ratio Resolver eran for more information Sine Cosine differential with or without Halls Sine Encoder Signal Level 1 Vpp 2 5 V Please contact us Max Input Frequency 270 kHz for more information EnDat 2 1 Hiperface Input Impedance 120 O Maximum Drive Internal Interpolation 4096 SNE Differential data and clock for synchronous Signal encoders Please contact us Data only for asynchronous encoders for more information EnDat 2 2 BISS C other SS Motor Temperature Sianal Thermal resistor PTC o
112. lculated and actual encoder quadrature information Action required Check the feedback device wiring Make sure the cor rect encoder type MENCTYPE is selected Rev 1 0 i 4 10 2012 MSHD User Manual a eee Description The sine cosine calibration parameters are out of range This fault is related to resolver and sine en coder feedback Action required Re execute the sine cosine calibration process A6 Displayed in sequence Feedback 5V Over Current Fault No Description The current supplied by the drive on the 5V primary encoder supply has exceeded the preset current limit The drive allows this fault to occur up to 3 times in succession After 3 faults the drive forces a delay of 1 minute before it can be reenabled Action required The MSHD can source a maximum current of 250 mA to the primary encoder Check for a short circuit at the encoder Check if the encoder is drawing more than the current limit Displayed in sequence Secondary Feedback Index Break Fault Yes Secondary encoder index line not connected Action required Check whether the drive is configured for working with the index signal on the secondary encoder and check if the index signal is connected A8 Displayed in sequence Secondary Feedback A B Line Break Fault Yes Description One of the secondary feedback signals is not con nected Action required Check that all signals from the secondary encoder are properly connected to the dri
113. le Description Controller synchronization signal is missing or not stable The fault is detected only when synchroniza tion is enabled by SYNCSOURCE command Action required Check for controller synchronization signal Check the cable connection and wiring Displayed in sequence Definition CAN Heartbeat Lost Fault Active disable Description Drive identified a disconnection in CAN master drive connection Action required Reconnect master slave connection and power cycle Seona de mesen ane power orae 120 MSHD User Manual Parameter s Memory Checksum Failure Active disable Not applicable Description The non volatile memory used to store drive param eters is empty or the data is corrupted Action required Reconfigure the drive or download the parameter set and save the parameters Failure Writing to Flash Memory Fatal fault Active disable Not applicable Description An internal problem accessing the flash memory Drive cannot be operated Action required Contact technical support no Ember Mode Active disable Not applicable Firmware is being updated in the drive Action required Not applicable Displayed in sequence FPGA Config Fai Fatal fault Active disable Not applicable Description The code for the FPGA did not load Drive cannot be operated Action required Contact technical support en Displayed in sequence Description The power up self test failed Drive cannot be oper at
114. le the optimization and restart the firmware upgrade Rev 1 0 mu 4 10 2012 MSHD User Manual Restore Parameters Ignite stores all user parameters to memory before downloading the firmware and restores the parameters after the upgrade This option can be disabled This option is not available if host and drive are not communicating During the firmware upgrade process the 7 segment LED display shows a steadily lit E When the process is complete click the Exit button Ignite automatically restarts the MSHD when the firmware download process is complete 7 4 Resuming Operation 1 Go to the ServoStudio Drive Info screen in ServoStudio and check the drive firmware version to verify that the new firmware has been loaded 2 If the drive parameters were not restored by the Ignite program go the ServoStudio Backup amp Restore screen and click the Restore button 3 Check the version release note and set any parameters that may have been added to the new version 4 Save the parameters to the non volatile parameter memory either execute the SAVE command over the serial port or click the Save button on the ServoStudio toolbar 8 Troubleshooting Rev 1 0 4 10 2012 me MSHD User Manual 8 Troubleshooting 8 1 Faults and Warnings If the MSHD is connected to a host computer via the USB or RS232 ports it communicates fault codes to the computer by means of a text message This message is saved in a fault history log
115. log input 1 analog command input 10 VDC Low side of the direction signal RS422 or Low side of the master encoder signal B or Low side of the down count signal Direction input Direction input a High side of the pulse signal Pulse RS422 or High side of the input master encoder signal A or High side of the up count signal 29 Ground Digital ground ME Reserved for future use Digital Opto isolated programmable input 3 digital input Read using IN3 Ground Digital ground 31 Fast opto isolated programmable digital input Read using IN5 Digital Opto isolated programmable input 4 digital input Read using IN4 Digital input 5 OO NO Fast opto isolated program mable digital input Read using IN6 Fast opto isolated program mable digital output Read using OUT3 Digital input 6 Digital Opto isolated programmable output 2 digital output Read using OUT2 GT QD QD QD NO NO NO NO 00 O D QD Digital output 3 O OT IN N D wW N oO K Reserved for future use Low side of the second differential analog input 10 VDC Analog output referenced OD OT Reserved for future use High side of the second differential analog input 10 VDC Analog Analog output OO to digital ground 0 10 input 2 VDC La O Rev 1 0 G 4 10 2012 MSHD User Manual 3 6 6 Connect Machin
116. ltage ground wire to the PE terminal located on the MSHD front panel Use an M4 ring or spade terminal Figure 3 12 Ground Terminals 3 Connect L1C and L2C for logic power e If the main voltage is from a single phase source connect line and neutral to L1C and L2C e If the main voltage is from a three phase source connect any two phases to L1C and L2C Make sure the main voltage rating matches the drive specification Applying incorrect A voltage may cause drive failure Make sure that the AC supply for the main power input L1 and L2 and the logic pow er input L1C and L2C are from the same AC phase input as shown in Figure 3 2 Do not apply power until all hardware connections are complete Note On models MSHD 1D5 and MSHD 003 Regen and AC Input Voltage are combined on one connector Since these models support only singlephase AC they do not have a L3 terminal for bus power Rev 1 0 e 4 10 2012 MSHD User Manual Table 3 11 AC Input Voltage M noo0s Pim Pintabel Function G ic2 LogicAC Neutral vsupoos PM Pimtaboi Funeton MSHD 008 MSHD 010 Pin Label MSHD 013 Table 3 12 AC Input Voltage Interface Mating Connector tem MsHD 1D3MSHD 003 IST J300 Housing and 6 pin crimp F32FSS 06V KX andSF3F 71GF P2 0 aa Coo 1mspaDsmshpos SOOS SO MSHD 008 MSHD 010 MSHD 013 gt Rev 1 0 4 10 2012 MSHD User Manual 3 7 Set the Drive Address The MSHD has two 10
117. ly the MSHD s current loop is active and the drive re sponds to a command from the primary analog input connected at pins 8 and 26 of the Controller I O connector Motion Operation mode 3 Analog Current X Signal Analog Offset Deadband Filter Analog Input urrent Scaling urrent Command mm E Actual Values Motor Current A Velocity rpm Position rev Figure 6 2 ServoStudio Motion Screen Analog Current Mode In addition to tuning the current loop certain drive variables need to be set Analog Offset The DC voltage offset on the analog input Refer to Varcom ANIN10FF SET Deadband The deadband range of the analog input This is useful for preventing the drive from responding to voltage noise near the zero point of the analog input Refer to Varcom ANIN1DB This value is a low pass filter applied to the analog input This is useful for filtering high frequency noise from the input or for limiting the rate of change of that signal Refer to Varcom ANIN1LPFHZ Analog Input The voltage at the analog input Read only Refer to VarCom ANIN1 Current Scaling When the first analog input is used as the command for the current loop it is important to set the scaling that is the ratio of the analog input volt age to the command that the drive interprets Refer to VarCom ANINIS CALE Current Command The resulting Current command Refer to Varcom ICMD Actual Values Shows the actual values of motor curr
118. movement e Set GEARMODE to 2 to indicate to the drive that the signals received on the Pulse and Di rection inputs on the Controller I O connector C2 at pins 28 and 11 Up and pins 9 and 27 Down 6 7 Serial Position Mode The MSHD has a dedicated mode of operation OPMODE 38 for simple positioning applications over the serial port Serial commands are transmitted from a host computer through the serial port The command specifies the target position and the cruise velocity while additional motion profile information such as acceleration deceleration and profile type is set up using explicit variables In the Motion screen select Operation Mode 8 Position to display the schematic and variables that affect the Position mode motion setup Motion Operation mode Position Motion Profile Velocity Acceleration 600 000 rpms Deceleration 600 000 rpms Pip move Low Pass E C Copy Acc To Dec Motion Command Target Position Cruise Veloct O Absolute gt rev rpm Incremental alternating Actual Values Motor Current Velocity rpm Position Figure 6 7 ServoStudio Motion Screen Serial Position Mode Rev 1 0 4 10 2012 MSHD User Manual 6 7 1 Motion Profile Information The motion profile is determined by the acceleration deceleration and profile definitions Note Only trapezoidal velocity profiles are supported in this product release To set the acceleration and deceleration use th
119. n a script Scope Panel Refer to the section Data Recording Watch Motion Measure Panel Watch Tab Refer to the section Watch Panel Motion Tab Refer to the section Operation Modes Measure Tab Refer to the section Scope Script Panel ServoStudio includes a simple scripting language that allows the MSHD to perform logical and control tasks that can run independently Such tasks include e Send commands to the drive e Read and set values in the drive e Define variables and perform simple operations on their values e Issue commands according to status or conditions e Control program flow e Plot recorded data e Save and restore drive parameters The scripting language commands and syntax are described fully in Appendix Scripting Script Tab Each script opens in its own tab Any number of scripts can be open and in use The Script tab includes a toolbar with a number of buttons Rev 1 0 p 4 10 2012 MSHD User Manual Run Validates and then runs a script Stop Halts a running script Validate Checks the syntax of a script to make sure all script commands are valid Highlights any errors It does not check the validity of MSHD VarCom instructions File Click the arrow to access the file options Open Opens a saved script file Also Ctrl 0 Save Saves the script to a file Also Ctrl S Save As Saves the script under a different filename Dump Retrieves all parameters from drive mem
120. n be recorded by the record function e RECTRIGLIST lists all the options for triggering the recording Status Flags e RECRDY indicates that a recording is armed and ready Rev 1 0 4 10 2012 ity MSHD User Manual e RECING indicates that a trigger condition has occurred and that a recording is active e RECDONE indicates that the recording is completed Data Retrieval e GETMODE defines the format for the recorded data binary ASCIlI e GET retrieves the recorded data Rev 1 0 m 4 10 2012 MSHD User Manual 7 Firmware Upgrade The MSHD firmware can be upgraded using the ServoStudio software 7 1 Preparation Important Before upgrading the firmware do the following e Backup the drive parameters since parameter settings may be lost during the upgrade After the upgrade is completed the parameters can be reloaded restored To backup parameters from ServoStudio go the Backup amp Restore screen and click the Backup button Refer to Managing Parameters e Read the release note or other documentation supplied with the new firmware 7 2 Ember Mode Ember is the process used for burning new firmware on the drive s flash memory The drive must be in the Ember mode for the firmware to be loaded The MSHD has two Ember modes Software and Hardware Normally you can and should communicate with the drive in Software Ember mode for loading new firmware However if the firmware loading process has been interrupte
121. nable status and fault conditions For more information refer to the section Drive Status 7 Segment Display Rev 1 0 a 4 10 2012 MSHD User Manual 4 ServoStudio 4 1 Overview ServoStudio is a graphic user interface GUI provided with the MSHD to enable setup configura tion and tuning of the drive ServoStudio allows you to program the drive parameters specifically for the motor to which the MSHD is connected and for the particular operation that the drive will be performing in the ma chine 2 Ci Help About Task Sceen Setup Wizard Drive Information Tuning Wizard Drive Configuration Drive Name Connection Drive Information Power Rating Drive Model Drive Peak Current Motor Feedback Motion Units Firmware Version Feedback Type Limits Current Foldback Digital 1 Os Power Board Yersion Analog I Os Disable Mode Enable amp Faults Tuning Current Loop Velocity Loop Position Loop Dashboards Expert Terminal Scope General Preferences Backup amp Restore Drive Details Drive Settings Serial Number Drive Continuous Current Control Board Version j Figure 4 1 ServoStudio Software ServoStudio provides two primary ways for setting up the MSHD servo drive e Using the Setup Wizard which takes you step by step through the basic configuration pro cess The Tuning Wizard can be used after the basic configuration is completed to tune the non linear position control loop e Using each setup
122. ndicators The ServoStudio status bar continuously shows the status of the drive Fauults Warnings Messages This segment of the status bar is green as long as no faults exist it is red whenever a fault exists Click Faults to open the Enable amp Faults screen This segment of the status bar is green as long as no warnings exist it is yel low whenever a warning exists Click Warnings to open the Enable amp Faults screen Messages Notifications from ServoStudio about conditions that require attention Click Messages to see the full text The ServoStudio Enable amp Faults screen has a Faults panel This panel has two tabs e Faults amp Warnings Shows a list of faults that are preventing the drive from being enabled Alternately the variable FLT returns a list of faults latched by the drive Faults remain latched until cleared by CLEARFAULTS or EN provided that the fault condition has been removed Rev 1 0 oe 4 10 2012 MSHD User Manual Fault History Shows a list of faults that have occurred since the fault buffer was last cleared Alternately the variable FLTHIST returns this list FLTHISTCLR clears the fault history buffer Each tab presents the following information Icon oOo o A graphic image that indicates the type of fault Warning Fault Fatal Fault Display In Faults amp Warnings tab only A graphic replica of the code that appears on the drive s 7 segment display In Fault History tab onl
123. ning option in the Current Loop screen Rev 1 0 a 4 10 2012 MSHD User Manual You can then do either of the following e Tune the drive for operation in a Position control loop using the Tuning Wizard e Tune the drive for operation in a Velocity control loop using the Velocity Loop screen 5 4 Connecting to the Drive From the ServoStudio navigation sidebar click Connection The Connection screen is now displayed in the task area Connection Connection Auto Connection Manual Connection Offline Port Limit Address E Sap 115200 E Address Display Stop Stop Blink Display IDs to connect Connection Status Figure 5 5 ServoStudio Connection Screen The Connection screen includes a Offline option In addition the ServoStudio toolbar has an Online Offline toggle button e Offline mode ServoStudio does not attempt to communicate with the drive e Online mode ServoStudio continually communicates with the drive to read parameters and status Note It is recommended to switch to Offline mode before physically disconnecting the drive or powering off the drive To use ServoStudio without connecting to the motor click Go Offline To connect to the drive use either of the following options e Auto Connection Click Search amp Connect The software searches all COM ports on the host computer to locate the port to which a drive is connected Once the software identifies the port it searches for all dr
124. ntact us for more information e Sanyo Denki PA Absolute Encoder Please contact us for more information For technical details refer to the section Specification eee First Analog Input Voltage Range Analog 10 VDC differential 16 bit 14 bit on version with two analog mae Second Analog Input optional Equivalent Encoder A quad B and marker differential RS 422 Signal Output line transmitter 8x Digital Inputs Configurable opto isolated compatible with Signal ais sinking output Voltage 24 V Max Input Current Propagation Delay Time Configurable opto isolated compatible with sinking output Voltage Max Input Current Propagation Delay Time 4x Digital Output Configurable open collector opto isolated Signal er sinking output re Propagation Delay Time 2x Fast Digital Output a open collector opto isolated Signal sinking output Voltage QAV V Analog Output Rev 1 0 4 10 2012 Input Resolution 3x Fast Digital Inputs Signal 71 MSHD User Manual Secondary Feedback Sianal A quad B and marker differential RS 422 g line receiver Fault Output Relay Motor Feedback Specifications The variable FEEDBACK is used to define the type of motor feedback used in the drive applica tion The Feedback screen enables you to configure the properties of the motor s feedback device and to view the motor position To configure feedback select the feedback device from the Feedback options
125. ntroller interface wiring diagram in Figure 2 8 Rev 1 0 4 10 2012 ji MSHD User Manual Table 3 9 Controller I O Interface 24 VDC Return of the user supplied User supplied 24V for I O 2 Digital Opto isolated programmable output 1 digital output Read using OUT1 3 Digital Opto isolated programmable input 1 digital input Read using IN1 Equivalent Digital Opto isolated programmable input 2 digital input Read using IN2 aa Reserved for future use Equivalent High side of the equivalent encoder encoder output signal A output A RS422 High side of the equivalent encoder output signal B RS422 Channel High side of the equivalent Z out encoder output index RS422 20 21 ALow side of the equivalent encoder output signal RS422 NO NO encoder output A Channel Low side of the equivalent B out encoder output signal B RS422 Low side of the equivalent encoder output index RS422 Channel B out Channel Z out 7 NE Reserved for future use 25 Digital ground Low side of the differential High side of the differential analog command input 10 VDC High side of the direction signal RS422 or High side of the master encoder signal B or High side of the down count signal Digital ground Low side of the pulse signal Pulse RS422 or Low side of the input master encoder signal A or Low side of the up count signal Reserved for future use Analog input 1 Ana
126. o velocity and then disables the drive Note Active Disable works only when the drive is in a velocity mode OPMODE 0 or OPMODE 1 Figure 6 8 shows how motor coasting occurs when Active Disable is not used As soon as the drive is disabled the velocity command is set to zero The actual velocity then decreases as a functi eine fricti Rev 1 0 ut 4 10 2012 MSHD User Manual 1250 1000 y 750 250 0 250 500 750 1000 1250 1500 Miliseconds Figure 6 8 Disabling Without Active Disable Figure 6 9 illustrates what happens when Active Disable is engaged As soon as the drive receives the disable command the velocity command is ramped down to Zero and only then is the drive disabled Three additional variables that influence the behavior of Active Disable e DISSPEED defines the velocity threshold below which the motor is considered stopped and the Active Disable timer starts the countdown to disable The motor velocity must remain below this threshold for 100 consecutive drive background cycles Each background cycle is approximately 1 ms e DISTIME defines the continuous time the motor must remain below DISSPEED before the drive is disabled The DISTIME counter begins only after motor velocity has been below DIS SPEED for 100 consecutive background cycles e DECSTOP defines the deceleration rate of the ramp down Figure 6 10 shows the effect of DISSPEED and DISTIME In this example DISSPEED is set to 10
127. on the power board has exceeded the preset limit Action required Check if the ambient temperature exceeds the drive specification Otherwise contact technical support R Displayed in sequence IPM Over Temperature Active disable Description The temperature within the integrated power module has exceeded the preset limit Action required Check if the ambient temperature exceeds the drive specification Otherwise contact technical support B Displayed in sequence Definition Control Board Over Temperature Fault Active disable Yes Description The temperature on the control board has exceeded the preset limit Action required Check if the ambient temperature exceeds the drive specification Otherwise contact technical support 130 MSHD User Manual Description The bus voltage is below the minimum value If the value of variable UVMODE is 1 or 2 and the drive is enabled an under voltage warning is issued Action required Check that the main AC voltage supply is connected to the drive and is switched on The under voltage limit can be read with the UVTHRESH command Description The bus voltage is below the minimum value If the value of variable UVMODE is 3 and the drive is enabled an under voltage fault is issued Action required Check that the main AC voltage supply is connected to the drive and is switched on The under voltage limit can be read with the UVTHRESH command Rev 1 0 av 4 10 2012 MSHD Use
128. or the motor Current foldback is set independently for the drive and for the motor The current foldback mechanism protects the drive and or motor from overheating due to excessive current The Foldback screen allows you to set the foldback properties of the drive and motor and to acti vate the Motor Foldback function Drive Foldback is always activated For instructions on using the schematic interface refer to the section Schematic Diagrams Current Follback Drive Follback Drive Foldback Current A Drive Continuous Current exe f Drive Foldback Fault Threshold acco fw Drive Foldieack Varning Threshold fooo fa Drive Peak Current sass Motor Foldiback Motor Foldback Current Motor Continuous Current 6 354 5 Motor Foldback Fautt Threshold Motor Fokdback Varning Threshold 0 000 Drive ourrent foldback Drive peak p ym Woming threshold f Fault threshold F f Drive continous F f Motor current foldback Motor peak gm Warning threshold Hf 1 Motor Peak Current Fault threshold F f 1 Motor continous f Motor Foldback Delay Time MctorFoldback Tine Constant Motor Foldbeack Recovery Time 70 00 _ Motor Foldback CO Disable Enable Figure 5 13 ServoStudio Foldback Screen 5 12 1 Drive Foldback Drive Foldback Current Read only Refer to VarCom IFOLD Drive Continuous Current Hard coded in drive Read only Refer to Varcom DICONT Drive Foldback Fault Threshold Refer to
129. ory Can be used for viewing and modifying parameter values followed by Run to send new values to drive Refer to Varcom DUMP Copy Ctrl C Paste Same as Ctrl V Clean Script Selects and deletes all contents of script tab Close Script Closes script without saving contents Script file options can also be accessed by right clicking anywhere in a Script tab New Script Opens a new tab for a new script ServoStudio provides two methods that reduce the need for command memorization and key board input e Autocompletion An autocompletion system Intellisense allows you to access commands and descriptions of their functions Intellisense can be disabled in the Preferences screen When you begin typing a command a list of available drive commands is displayed based on the characters typed e History Use the Up arrow key to show a list of all command strings that have been sent to drive in the present session i e since ServoStudio was last opened When a command in the autocomplete or history list is highlighted e Press Enter to sends the command to drive e Press spacebar to edit the command Rev 1 0 4 10 2012 ae MSHD User Manual 4 3 Wizards ServoStudio includes two wizards or interactive utilities that guide you through complex tasks 4 3 1 Setup The Setup Wizard takes you step by step through the most basic setup and configuration process Refer to the section Setup Wizard 4
130. pe is 6 A B Halls then you do not need to specify or find the index position Resolver Displayed if selected feedback type is 1 Resolver Please contact us for more information Calibration Displayed if selected feedback type is 1 Resolver or 3 Sine Encoder Please contact us for more information Sine Encoder Displayed if selected feedback type is 3 Sine Encoder Please contact us for more information Communication Displayed if selected feedback type is 4 Sanyo Denki PA Absolute Encod Feedback er Please contact us for more information Please contact us for more information Rev 1 0 4 10 2012 a MSHD User Manual 5 8 1 Incremental Encoder Types and Resolution The MSHD supports various types of incremental encoders The variable MENCTYPE defines the type of encoder being used on the motor If this vari able is modified CONFIG is required The variable MENCRES defines the resolution of the encoder in number of lines per revolu tion of the motor If this variable is modified CONFIG is required For an incremental encoder the number of encoder counts per revolution is obtained by multiplying MENCRES by 4 The MSHD monitors all encoder signal wires and generates an A B Line Break fault lights r4 on the 7 segment display if any wire is broken Hall Signals The MSHD supports single ended or open collector Hall signals only Differential Hall sig nals are not supported The variable HALLS i
131. r Pin 25 for the motor temperature sensor is connected internally in the drive to MSHD ground Unused pins must remain unwired Feedback 13 26 Figure 3 9 Motor Feedback Interface Table 3 8 Motor Feedback Interface Incremental encoder B or SSI encoder clock e Encoder 5V supply Incremental encoder A pA or SSI encoder data Incremental encoder B id 15 or SSI encoder clock P 16 Incremental encoder Z a ee ae 1 aa Ground gt 25 Motor temperature sensor _ 26 Shield gt 39 Rev 1 0 4 10 2012 MSHD User Manual Wiring Guidelines e For incremental encoder with Halls use pins 1 14 2 15 3 16 4 17 5 11 12 24 25 26 3 6 5 Connect Controller I Os Controller I Os uses interface C2 on all MSHD models Wire the digital and analog inputs and outputs according to the requirements of your application Wire the digital and analog inputs and outputs according to the requirements of your application Unused pins must remain unwired To preserve isolation of the digital I Os connect a 24 VDC source to pin 19 Connect the return of the 24 VDC supply to pin 1 which functions as the ground path for the outputs Note The 24 VDC supply and return can be connected on either the Controller interface C2 or the Machine interface C3 but it is not necessary to connect it on both g hu he a kal Figure 3 10 Controller I O Interface Refer to the co
132. r Manual 9 Appendix Scripting 9 1 ServoStudio Scripts ServoStudio includes a simple scripting language that allows the MSHD to perform logical and control tasks that can run independently and simultaneously A script may contain any number of commands command may be either a drive command i e a VarCom instruction refer to the VarCom Reference Guide or a script command as described in this Appendix Any number of script files can be stored on the host computer and opened in ServoStudio Scripts are stored as text files which can also be edited in Notepad or any other text editor Multiple scripts can be executed concurrently Each script is executed in its own thread so that other program functions such as Terminal Scope and Watch can be simultaneously active for any number of scripts 9 2 Syntax and Special Characters Prefix for all variable names A variable name begins with the character followed by any combination of letters and digits Assigns a value to a variable for example Var Pos 3 Pos Pos 1 Marks the beginning of a comment Can be inserted anywhere in the line All text after the until the end of the line is ignored Comment text is displayed in green Brackets delineate a string of two or more arguments tokens which are thus sent to the drive as a single entity The script engine can handle only 3 variables Replaces name of a variable with an address from a map file MSHD map
133. r NTC User defined j fault threshold Some features are not available on all models Check the ordering options at the front of the manual or contact your supplier Incremental Encoder Signal Rev 1 0 4 10 2012 MSHD User Manual 2 3 System Wiring Pin Assignments For more information refer to the section Electrical Installation Controller I F C2 MDR 36 Plug f 4 19 RS232 Daisy Chain 1 Return user supplied 24 VDC C7 4p4c C8 10 PIN 19 User supplied 24V TE 0 1 IDC Female 2 OUT1 NELTRON 4401 10SR OR 20 IN2 2 GND ISO COXOC 304A 10PSAAA03 3 IN4 3 TX STX PN CONr00000010 67 21 4 18 36 4 Equivalent encoder output A 22 Equivalent encoder output A 5 Equivalent encoder output B 23 Equivalent encoder output B 6 i PEN Equivalent encoder output Z Fed 7 24 Equivalent encoder output Z E v gt 7 25 Ground 8 ANIN 1 26 ANIN 1 9 Direction input 27 Direction input E 3y PPT 10 Ground a gt nl SE n 28 Pulse input 11 Pulse input 29 Ground ola TIT
134. re 3 6 Motor Interface Table 3 1 Motor Interface Pin PinLabel Function 1 PE Protective ground motor housing 2 U MotorPhaseU gt 4 w MotorPhasew i Table 3 2 Motor Interface Mating Connector MSHD 008 MSHD 1D5 MSHD 4D5 MSHD 010 MSHD 003 MSHD 006 MSHD 013 JST J300 JST J300 JST J400 Housing and 4 pin F32FSS 04V KX and F32FSS 04V KX and J43FSS 04V KX and crimp SF3F 71GF P2 0 SF3F 71GF P2 0 SJ4F 71GF M3 0 SPAN 04JFAT SBXGF I 04JFAT SBXGF I Not available terminal 16 AWG 14 16 AWG 16 AWG 3 6 2 Connect STO STO uses interface P1 on all MSHD models Safe torque off STO is a safety function that prevents the drive from delivering power to the mo tor which can generate torque STO Enable and STO Return must be connected to enable MSHD operation The STO Enable signal voltage must be 24 VDC Connect the STO interface Rev 1 0 4 10 2012 pe MSHD User Manual Note If the application does not require STO control jumper pin 4 to pin 1 and pin 3 to pin 2 to bypass the STO JAV GND Figure 3 7 STO Interface Table 3 3 STO Interface Pin Pin Label Function S 24V STO Enable GND STO Return 24V Return provided by the drive for use with emer gency stop circuit 24V Supply provided by the drive for use with emer gency stop circuit Table 3 4 STO Interface Mating Connector tem SCS Moi Housing and 436450400 and 4 pin crimp 43030 0006 Spring terminal Not avail
135. rection of motor movement Hall switches and index crossing The drive s 7 segment display flashes the character A during this proce dure When the procedure finishes successfully the display returns to its normal state If the procedure fails the display shows 5 Refer to the section Motor Phasing and to Varcom MOTORSETUP Aborts the Verify process Progress bar Shows the progress of the Verify process which takes about 30 sec onds Click for Details Shows more information about the Verify process The Parameter Table displays the parameters of the selected motor as currently defined in the database or as read from the drive As soon as you change any Motor Model field the values in the Parameter Table change accordingly The Parameter Table presents the following information Name Name of the variable Value of the variable You can modify a parameter value and press En ter to send the new value to the drive Alternately use Vrite to Drive to send all displayed parameters to the drive Unit Unit of the variable Rev 1 0 4 10 2012 ne MSHD User Manual 5 8 Motor Feedback THE MSHD supports various motor feedback technologies and devices including e Incremental A quad B encoder with or without Hall sensors or commutation tracks e Resolver Please contact us for more information e Sine encoder Please contact us for more information e Communication encoder such as SSI encoders Please co
136. rity of the digital output can be altered to make the drive electronics match those of the motor control circuit 6 11 Motor Phasing Certain factors that affect the direction of motion such as motor phase direction A B swap index polarity and Halls wiring may be unknown or incorrectly set when the MSHD is connected to the motor for the first time In addition motor or feedback parameters such as the number of poles or encoder resolution may be incorrectly defined To overcome these problems the Motor Phasing procedure MOTORSETUP enables a fast initial connection of the MSHD to the motor Rev 1 0 ad 4 10 2012 MSHD User Manual The procedure involves moving the motor in forced commutation which does not require feed back The rotary motor will move forward backward about two mechanical revolutions during which it gathers data regarding the state of Hall switches index position and polarity order of phases and feedback resolution per electrical revolution Based on the collected data the drive updates the variables MFBDIR MPHASE MPOLES MEN CRES and MENCZPOS thereby allowing the user to begin working with the selected motor and wiring If the procedure fails that is the motor cannot be successfully commissioned by changing the drive parameters the original values of MFBDIR MPHASE MPOLES MENCZPOS and MEN CRES will be restored Notes e Not all parameters are updated by the procedure It depends on which p
137. rive current is limited to the minimum of ILIM and the analog current limit e The variable ILIMACT can be used to read the effective current limit minimum of ILIM and the analog current limit Refer to the section Analog I Os 5 11 Velocity Limits The Velocity Limits screen contains a diagram that shows how the maximum velocity for the system is determined and enables you to set the velocity limit for your system accordingly Rev 1 0 a 4 10 2012 MSHD User Manual For instructions on using the schematic interface refer to the section Schematic Diagrams Velocity Limits Motor Max Speed Maximum Value E 240 000 Minimum Max Velocity Figure 5 12 ServoStudio Velocity Limits Screen Motor Maximum Speed The motor maximum speed is obtained from the motor datasheet Refer to VarCom MSPEED If modified CONFIG is required Maximum Value The maximum speed that the MSHD is able to compute This value is hard coded in the drive Maximum Velocity The maximum allowed motor velocity is comput ed according to the values of the two preceding parameters Read only Refer to VarCom VMAX User Velocity Limit The maximum application velocity can be set up to the value defined by VMAX Refer to VarCom VLIM If modified CONFIG is required Rev 1 0 4 10 2012 an MSHD User Manual 5 12 Foldback Current foldback is a mechanism used by MSHD to limit the average current over time to the drive and
138. rs the contents of the Output panel 9 5 Sample Scripts Example 1 Record a Motion k opmode 0 VELCONTROLMODE 0 ace 5000 dec 5000 kvp 1 kvi 0 en record 16 1000 vemd v ig rectrig imm j 500 Delay 200 j 0 Delay 200 k Plot Example 2 Set Outputs According to Input Toggle out txt script First the script checks state of digital input 7 if digital input 7 equal to 1 then the script will toggle one by one digital outputs from output 4 to 6 Digital outputs setup Rev 1 0 4 10 2012 ve MSHD User Manual Pei GE Digital Outputs anit outmode 4 0 outmode 5 0 outmode 6 0 outinv 4 0 o tinv 5 0 outinv 6 0 Digital input setup PEEING neo sees Digital input 7 init inmode 7 0 ininv 7 0 Initialize output number counter Var Sout n sout_n 4 Infinite loop While 1 gt 0 HIF in 7 lt 1 end loop out SOUT n I Print outputs Delay 500 out Sout n 0 sout_n Sout n 1 HIE Sout n gt 6 reset out n Goto end loop Label reset out n out n 4 Label end loop End While Example 3 Set Speed According to Inputs Toggle velocicy txe SCripe The script checks state of digital inputs 7 8 and sets drive speed accordingly IN7 INS V Oo 0 O 1 0 200 0O 1 200 1 1 0 Digital input setup PPrING savsdsseme Digital Inputs Setup inmode 7 0 inmode 8 0 ininv 7 0 ininv 8 0 Variable for digital inp
139. rvoStudio inter face Alternately use the X at the top right for the Return function The Expert screen has dockable panels which can be visible hidden or floating Click to autohide the panel to the edge of the screen Small tab s remain visible Hovering over the tabs opens the panel eS Indicates the panel is hidden Click to keep the panel visible Double click the top border of a panel to make it float Double click again to re dock a floating panel Alternately click the top border of a panel and drag it to any location on the desktop If a panel has been dragged to a floating position it must be dragged back into position Clicking its top border causes it to close To restore the default layout of panels in Expert Studio use the Restore button on the Expert View toolbar To save a personalized layout of panels in Expert Studio do the following e From the ScopeChart toobar open the Chart Options menu or right click anywhere in the ScopeChart panel Rev 1 0 4 10 2012 p MSHD User Manual e Select Windows Layout gt Save Layout To load a saved personalized layout of panels in Expert Studio do the following e From the ScopeChart toobar open the Chart Options menu or right click anywhere in the ScopeChart panel e Select Windows Layout gt Load Layout Terminal Output Panel Terminal Tab Refer to the section Terminal Output Tab The Output tab shows data generated by the Print command i
140. s used to read the state of the Hall signals The MSHD monitors the state of the Hall signals and generates an Illegal Halls fault lights r6 on the 7 segment display if either the 000 or the 111 state is detected Encoder Index Encoders often have an additional channel referred to as a marker channel zero pulse or index channel these are different names for the same function This channel outputs one pulse per revolution and is typically an extremely narrow pulse equal to about one quarter of the width of an or B channel pulse but it can be wider The encoder index can be used for homing absolute position reference and for commutation alignment Caution When using Encoder Type MENCTYPE 0 1 or 2 the index pulse is used by the N drive for additional commutation correction In these instances the index position must be located and defined using the Index Initialization procedure INDEXFIND If the index value is not set correctly the motor might run out of control To determine the position of the index signal use the Find Index command in the ServoStu dio Motor Feedback screen or use the Varcom INDEXFIND command The MSHD monitors the index signal wires and will generate an Index Line Break fault lights r5 on the LED if any wire is broken 5 8 2 Sine Encoder Sine encoders are very similar to incremental encoders The difference is that sine encoders send the A and B channels to the drive as 1V peak to peak sinewave
141. s while incremental encoders gen erate digital pulses Please contact us for more information 5 8 3 Resolver A resolver is a rotary transformer that is used to measure the motor shaft position The resolver has a primary winding and two secondaries a sine and cosine in sync with the motor rotation The level of voltage on the sine and cosine waves correlates to the position of the shaft within one revolution Please contact us for more information Rev 1 0 a 4 10 2012 MSHD User Manual 5 8 4 Encoder Simulation Output An encoder simulation output also referred to as an equivalent encoder output EOO or a buff ered encoder output is available on the Controller I O connector e The variable ENCOUTMODE is used to turn the encoder simulation on or off and to set the functionality e The variable ENCOUTRES is used to set the resolution in equivalent linesper revolution of the encoder simulation 5 9 Motion Units The Motion Units screen lets you select the units used for defining position and velocity The se lected unit can be a user preference or a property of the type of motor being used For details refer to the section Control Specifications Motion Units Rotary Units Postion 1 court Velociiy 1 apm Ac Dec 1 pms Linear Units Position 1 count Velocity 1 mms Acc Det 1 mms Figure 5 10 ServoStudio Motor Units Screen For the options for Rotary Units refer to VarCom UNITSROTP
142. sition increments of the motor shaft or ac tual motor position PFB The rate at which position increments of the motor shaft motor speed occur is determined by the gearing relationship and the line frequency of the pulse train The gear ing relationship is as follows GEARIN l GEAROUT XENCRES The direction of rotation is determined by the sign of the variable GEARIN The gearing function can be engaged or disengaged using the variable GEAR In addition to tuning the current velocity and position loops the following drive variables must be set XENCRES Resolution of the external pulse source Refer to the sections below for more information Gearin Numerator of the gearbox equation Refer to VarCom GEARIN Gear Out Denominator of the gearbox equation Refer to VarCom GEAROUT Acceleration Limit Refer to VarCom ACC Deceleration Limit Refer to Varcom DEC Rev 1 0 i 4 10 2012 MSHD User Manual 6 6 2 Pulse and Direction Mode In Pulse and Direction mode if the absolute value of GEARIN is equal to GEAROUT and if XEN CRES is equal to 4x MENCRES that is the motor encoder resolution after quadrature then one pulse on the input is equivalent to one count of the motor feedback As an example assume that the motor encoder has a resolution of 2500 lines per revolution Set ting GEARIN 1 GEAROUT 1 and XENCRES 10000 will result in the motor making one revolu tion for every 10000 pulses assuming the direc
143. stem NLP also includes an adaptive feedforward function that is applied at the end of movement in order to achieve a zero or minimum settling time Furthermore NLP provides low pass notch and other filters to handle flexible and resonant sys tems 6 14 Data Recording ServoStudio provides extensive recording and data graphing capabilities Recording is done by the drive in real time and sent to the host computer for display Recording can be set up to be triggered when a specified event or condition occurs In addition ServoStudio enables continuous data recording or a one time recording ServoStudio also allows execution of a motion command during recording This is useful and even necessary as a tuning tool Rev 1 0 we 4 10 2012 MSHD User Manual Scope Baa 80 Baa ae en flom s 4 ne Be PS Samples 1000 le Time Interval x STOPPED PTPVCMD x 31 25 p 250 ms Trigger Setup Name im v Dir Up Down Level fi Pre Points fro Record Variables Sel Name Vv 158 417 leo 598 238 275 439 821 0 0000 139 2960 60 0000 600 0000 0 0140 752 9620 60 0000 600 0000 0 0290 892 2580 289 0069 0 0033 Figure 6 20 ServoStudio Scope Screen 6 14 1 Recording Setup The Recorder Setup panel on the right side of the Scope screen allows you to define the vari ables and conditions for the data recording
144. t number and ServoStudio will prepare the appropriate motor and feedback parameters Select Write to Drive to send the parameters to the drive The screen also allows you to read parameters from the drive and save parameters Motoi Select Motor Family Moons Motors Moons database prototype version Vari i Motor Library Model 60SM 40 30 gt Der Der Value Motor Name G05M 40 30 Motor Type 0 Motor Continuous Cur 4 243 A peak Motor Peak Current 272 A peak Poles Torque Constant 0 304 Kra Rotor Inertia F Ka m 7 10 3 Inductance 3 5 mH commutation Offset Degrees Save Library FETE Motor Maximum Speed 3600 RPM Delete Model Write to Drive motor Over Temperatu Feedback Type ye Encoder Type 0 a SOP Lines Per Revolution 2500 Electric l Degree 120 Figure 5 8 ServoStudio Motor Screen 5 7 1 Motor Selection Motor Family ServoStudio has a database containing predefined sets of parameters for mo tors User Motors contains a list of motors whose parameter sets have been created by the user either by modifying a predefined set or by defining an entirely new set of parameters for a motor To add a motor to this list select Motor Family gt User Motors and then Motor Type gt New The Parameters Table then displays a list of motor properties that need to be defined Motor Model A list of all models in the selected Motor Family th
145. tage Value v Under volage Recovery GR able Auto Under Votege Threshold W Figure 5 7 ServoStudio Power Rating Screen Current Rating Hard coded in the drive Drive Continuous Current Refer to Varcom DICONT Drive Peak Current Refer to VarCom DIPEAK Voltage Settings Bus Voltage DC This setting is required for basic current loop tun ing Although the drive monitors the bus voltage you must enter the nominal bus voltage here Enter 320 for a drive powered by 220 VAC per phase Enter 160 for a drive powered by 110 VAC per phase Refer to VarCom VBUS If modified CONFIG is required Under Voltage Time Specifies the amount of time an under voltage condition will exist before latching a fault when working in Delayed Fault Under Voltage mode Refer to Varcom UVTIME Under Voltage Mode Defines how the drive will respond to an under voltage fault Refer to VarCom UVMODE Under Voltage Recovery Defines how the drive will recover from an under voltage fault by toggling the drive from disable to enable or by automatically recovering after the under voltage condition clears Refer to Varcom UVRECOVER Bus Voltage Limits Read only Shows the actual bus voltage of the drive Refer to Varcom VBUSREADOUT Rev 1 0 4 10 2012 ee MSHD User Manual 5 7 Motor The Motor screen allows you to select a motor from the ServoStudio database You can simply se lect the motor family and motor par
146. te of the drive e If lit the drive is enabled active Power is being applied to the motor e lf unlit the drive is disabled The decimal point on the drive s 7 segment display indicates the drive s Enable Disable state If the point is displayed next to the OPMODE code the drive is enabled The ServoStudio Enable amp Faults screen graphically shows the conditions required for the drive to be enabled It allows you to clear faults and turn on Software Enable For more information about enabling and disabling the drive refer to the section Enable Disable 61 Rev 1 0 4 10 2012 MSHD User Manual 5 2 Drive Configuration Sequence Disable the drive before manipulating motor and feedback parameters Many parameters can be modified while the drive is enabled Exercise caution how ever as motor behavior will change If a parameter cannot be modified while the drive is enabled ServoStudio will prompt you to disable the drive Important It is recommended that you perform the drive configuration according to the sequence shown in Figure 5 3 Refer to the notes that follow While setting parameters pay close attention to any warning or error messages that appear in ServoStudio and any flashing codes on the drive itself Power Rating Motor Feedback Current Foldback Digital Inputs Outputs Analog Inputs Outputs Disable Mode Enable Clear Faults If working in Current Loop Tuning Current operation
147. ter Slave Encoder Follower rrrrrnrrnarnnnnnnnrnnnnnanenennnnennnnnnnnnnnnnee 94 6 6 4 Up Down NNN 95 6 7 Serial Position Mode rrarrarnarnannnrnnnvnnnnnenernennennennernuenernuenuenuenusnnene 95 6 7 1 Motion Profile Information rarenrnnnnnnnnnnnrnrnnnnnnernennnnnvennennnnnnennenuenunener 96 6 7 2 RANN 96 or ASLE 96 bre PAIN ETT 96 Ef EP P I TE 96 Dick PNI NN saasceciccauanacces nnanavs cetioneniivasarnancivecqunsumuansascanraedmautenaecetans 96 bl Fl 97 6 8 Motor Direction arrarnarnarnnnnnvnvnurnernnnnnnnannennrnennnnnsnuennenennennsnnsnueneene 97 6 9 Disable Mode rrrrarnarnarnennnnnnnnrnnrnennennnnnenuenernennannennenernennannanusnueneene 97 6 9 1 Active Disable EE ET 97 o9 Dynami BIOKO sanaa E A O eeeeee caret 100 6 10 Motor Brake Control rrarrarnannnnnnnnnnnnnrnnnnernnnnnrnnrnunnnenunnnnnnsnnsnneene 101 OFT MOO PAASI G NE EN nsec ons 101 6 12 Motor Temperature Sensor r arrarrnrnnnnnvrnnrvernernurnernnennennennsnnenusene 102 6 13 Tuning and ISSUING cic ccccieacencesrananenssdeenntaeunteeadonesmaeicdateseecemecansaress 103 613 1 MN 103 6 19 2 Velocity Control LOOD Eee 104 6 13 3 Linear Position NNN 104 6 13 4 Non Linear Position Control Loop rrrrrrarenanrnnrrnnrnnnrnnnnnrnnnnnnnenenen 105 6 14 Data Recording rrrrarrarennrvarrnrrnernarnnernarvasnnernnenannnennasnnnnnernnsnnn 105 6 14 1 Recording Sedan 106 bl SETT 108 6 14 3 Motion Terminal Parameter Table Meas
148. tion is fixed during this time The pulse and direction signals can be connected to either the Controller I O connector or to the Machine I O connector The variable GEARMODE indicates to the drive where the signals are connected e Set GEARMODE to 1 to indicate to the drive that the signals are received from the controller or PLC on the Controller I O connector C2 at pins 28 and 11 pulse and 9 and 27 direc tion e Set GEARMODE to 4 to indicate to the drive that the signals are received on the Machine I O connector C3 at pins 1 and 11 pulse and 2 and 12 direction 6 6 3 Master Slave Encoder Follower In Master Slave mode the drive follows a quadrature encoder signal generated by a master device The direction of motion is governed by the phase of the quadrature signals A lead B or B lead A The master device can be for example a handwheel a machine master encoder that is connect ed to the main camshaft or the equivalent encoder output of another servo drive If the master device is a handwheel or a master encoder then setting XENCRES equal to the resolution of the encoder before quadrature and setting the gear ratio to 1 will result in the motor making one revolution for each revolution on the input As an example assume the handwheel resolution is 120 lines per revolution that is 480 counts after quadrature Setting GEARIN 1 GEAROUT 1 and XENCRES 120 will result in one motor revolution for each turn of th
149. ual 3 4 Electrical System Considerations 3 4 1 Fusing e US fuses Class RK5 or CC or J or T 600 VAC 200 kA time delay The fuse must be UL and CSA listed UR recognized is not sufficient e EU fuses Types gRL or gL 400 V 500 V time delay e Fuse holders Standard fuse blocks or finger safe fuse holders according to IEC 60529 For example e Bussmann CH Series modular fuse holders fuse size 0 to 30A class J 3 poles CH30J3 e Ferraz Ultrasafe fuse holders fuse size 0 to 30A class J 3 poles US3J3I 3 4 2 Leakage Current Considerations Leakage current via the PE conductor results from the combination of equipment and cable leak age currents The leakage current frequency pattern comprises a number of frequencies whereby the residual current circuit breakers definitively evaluate the 50 Hz current For this reason the leakage current cannot be measured using a conventional multimeter As a rule of thumb the following assumption can be made for leakage current on cables depend ing on the PWM frequency of the output stage e lleak n x 20 mA Lx 1 mA m at 8 kHz PWM frequency at the output stage e lleak n x 20 mA Lx 2 mA m ata 16 kHz PWM frequency at the outputstage where lleak leakage current n number of drives L length of motor cable Since the leakage current to PE is greater than 3 5 mA compliance with IEC61800 5 1 requires that either the PE connection be doubled or a connecting cable with a cross section
150. udio Type Specifies the type of status or fault indicated by the code Mode Warning Fault or Fatal fault Indicates whether the Active Disable function part of Disable mode can be triggered by the fault Rev 1 0 4 10 2012 ve MSHD User Manual The drive is inoperable until power is cycled Action required Contact technical support The drive is inoperable until power is cycled Action required Contact technical support Displayed in sequence CONFIG is required after the value of any of the fol lowing parameters is modified DICONT DIPEAK DIR KCBEMF KCDQCOMP KCFF KCFFSAT KCI KCP KCPISAT KCSAT MENCRES MENCTYPE MFBDIR MFBMODE MICONT MIPEAK MKF MKT ML MLGAINC MLGAINP MOTORTYPE MPITCH MPOLES MRESPOLES MSPEED VBUS CONFIG is also required after any of the following parameters is sent to the drive even if its value has not been changed FEEDBACKTYPE MVANGLF MVANGLH PWMFRQ VLIM Action required Set drive parameters and or and execute CONFIG Rev 1 0 me 4 10 2012 MSHD User Manual Rev 1 0 4 10 2012 Displayed in sequence Motor Setup Failed Active disable Description Motor Setup procedure failed MOTORSETUPST will show the cause Action required Check phase and motor wiring Make sure the correct feedback type is selected Check MOTORSETUPST for hints Displayed in sequence Current Loop Autotune Failed Active disable Description One of the steps in the Current Loop Autotune pro cess
151. unction shell 12 Motor Temperature sensor 25 Motor Temperature sensor 13 5V supply 26 Shield Protective Ground Terminal M4 13 26 PN10326 52F0 008 PN 10320 52F0 008 ae STX PN HODr00000026 00 STX PN HODr00000020 00 Optional check ordering information Manufacturing settin Mating Cable Mating Cable a E STX PN CBLrxM900026 00 STX PN CBLrxM900020 00 STX MOONS x 1 2 3 meter x 1 2 3 meter Figure 2 7 Pin Assignments on MSHD 008 MSHD 010 MSHD 013 Rev 1 0 R 4 10 2012 MSHD User Manual 2 4 Controller Interface Wiring tQ 8 lt HIGH EE EGG ANIN1 INPUT 10V lt 4 LOW lt HIGH i DX DK om ANIN2 OPTIONAL 10V al EQUIVALENT ENCODER OUTPUT e 8 PULSE amp DIRECTION lt PULSE o c OR SECONDARY ENCODER musen Figure 2 8 Controller Interface Wiring Diagram 2 5 Machine Interface Wiring 10_24V IH aal LTE id pp lt vm200m FT RLY1 me ag Mr i F Fault Relay or ke wm gt T FFI IND 8 2 7K EK a IN 10 a IN 117 AT o FE ke RS422 RECEIVER OUT 4 q EF Ea L fen P pek D B DIRECTION OUT 5 EE OK BDIRECTION DO KS SECONDARY ENCODE ak SA b a OR PULSE amp DIRECTIO ET GEN 4 sv OUT 6 3 a oe ag 14 ND C 24 RTN 19 Figure 2 9 Machine Interface Wiring Diagram3 Installation Rev 1 0 4 10 2012 oe
152. ure Panel 00 110 6 14 4 Recording Data Using VarCom Instructions Terminal 110 T Firmware Upgrade sasinciecnweisevadsasscaceecaseceesaenuersecaeeaneseemeneenereees 112 tl PONNI En 112 7 2 Ember Mode rrarnernnnnnnnnvnnvarnurnevnnvnnvnennenernennsnnsvnennenennennsnnsnuennnneene 112 Rev 1 0 6 4 10 2012 r Upgrade Procedure re 113 7 4 Resuming Operation rarranrnnnrnannnnnnnnrnannnnnnnnnnannnannnnnnnnrnnnnnnnnnnen 114 Troubleshooting axrannannnnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnunnunnunnuenn 115 ol Faulks IV re 115 8 2 Fault amp Warning Indicators rrarrrernnnrnarnrarrnnrnnnrnnnnnnnnnernnnnnnnnnen 115 8 3 Drive Status Segment Display rranrnannnnnnnnnnnnrnannnnnnnnrnnnnnnnnnnnr 116 9 Appendix Scripting rraxraxrannnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnennunnunnnenn 132 9 1 ServoStudio Scripts rrarrarvarvarrnrvnvnnrrnernvrnerneenernunnuenuenuennenusnunnnsenn 132 9 2 Syntax and Special Characters rranrranrnnnrnnnnnnrnannnnnnnnrnnnnnnnnnnnr 132 TD ANN E EEE E 132 TOMTEN 133 9 5 Sample ScriptS a rnananrnanrnrrnnnnnrnnrnnrnaranennrannnnnnanananannannnnnnnnnnnnnrnnen 134 10 Appendix MSHD Serial rrarrnunnunnnnnnnnnnnnnnnnnnnnnnunnunnunnunnennen 137 10 1 BEAN 137 10 2 Data fTransmission Format arrannnnrnnrnnrnnrnernarnarnernannnennannnnnnnnn 137 10 4 Variables and COMMANGG cccccecceecceeeeeeee eee ees
153. ut 7 8 state var Sin state Hvar in 7 var Sin 8 Rev 1 0 me 4 10 2012 MSHD User Manual Enter the drive to serial velocity loop k opmode 0 en Infinite loop While 1 gt 0 Read state of in 7 and in 8 Sin 7 in 7 Sin 8 in 8 2 Sin state Sin 7 sin 8 I Sin state 0 jog zero I Sin state 1 jog positive I Sin state 2 jog negative Label jog zero Print JOG zero jo Goto end loop Label jog positive Print JOG plus 200 J 206 Goto end loop Label jog negative Print JOG minus 200 j 200 Label end loop Delay 500 End While Example 4 Set Position Feedback to Zero Forced Homing pfboffset 0 Clear position offset Print pfboffset Print position offset pfboffset pfb Assign the inverse value of actual position PFB to the position offset Print pfboffset Print the new value of position offset Rev 1 0 4 10 2012 MSHD User Manual 10 Appendix MSHD Serial Communication Protocol The serial communication link enables the MSHD digital drive and host terminal PC or high level controller to communicate using ASCII coded messages transmitted over an asynchronous multi drop line When the host and MSHD are communicating through serial communication a set of commands and variables called VarCom are used to configure control and monitor the drive The communication interface can be a graphical software interface such as ServoStudio or a
154. ut B 6 Equivalent encoder output Z 24 Equivalent encoder output Z STO 7 Safe Torque OFF 25 Ground P1 Molex 3 _ ANIN 1 26 ANIN 1 4 JMP to 1 9 Direction input 3 JMP to 2 27 Direction input 2 24V RTN 10 Ground 1 24V STO 28 Pulse input Mating Connector type Crimp 11 Pulse input Housing PN 436450400 29 Ground STX PN CONr1000004 09 4x Crimp PN 0430300001 12 STX PN PINr43030000 00 30 13 Ground 31 IN3 Motor 14 IN4 32 IN5 P2 JST J400 15 IN 6 1 PE Protective Earth ci 33 OUT2 2 U U Phase 16 OUT 3 3 V VPhase 5 34 AX4 17 AX4 4 W W Phase EN 35 ANIN2 Mating Connector type Crimp 18 ANIN2 Housing PN J43FSS 04V KX 36 ANOUT STX PN CONr10000004 18 NN ra Mating Connector type Solder 3M solder Plug connector STX PN CRPrSJ4F71GF 00 hul PN 10136 3000PE STX PN CONr0000036 01 3M solder plug Junction shell PN 10336 52F0 008 STX PN HODr00000036 00 Mating Cable STX PN CBLrxM900036 00 x 1 2 3 meter Regeneration P3 JST J400 STX PN CONr10000002 14 2x Crimp PN SJ4F 71GF M3 0 STX PN CRPrSJ4F71GF 00 aj 1 Bi DC BUS 2 B2 Regen BUS 5 3 Machine I F Mating Connector type Crimp 4 44 Housing PN J42FSC 02V KX C3 MDR 20
155. uts 1x fault relay Secondary feedback gt PE l LIC e Q YS Brake output Ground Protective Earth Motor brake optional 24VDC power supply Motor Feedback Motor Power Note Refer to section EMI Suppression in MSHD User Manual To be supplied by customer AC supply for the main power input L1 L2 and for the logic power input L1C L2C must be from the same AC phase input as show in the diagram Figure 3 4 MSHD 008 MSHD 010 MSHD 013 Servo System Wiring Using Three Phase 230 VAC 3 3 EMI Suppression 3 3 1 CE Filtering Techniques The MSHD drive complies with the CE standards specified in the section Standards Compliance Proper bonding grounding and filtering techniques must be applied in order to meet this standard Noise currents often occur in two types The first is conducted emissions that are passed through ground loops The quality of the system grounding scheme inversely determines the noise ampli tudes in the lines These conducted emissions are of a common mode nature from line to neutral or ground The second is radiated high frequency emissions usually capacitively coupled from line to line and are differential in nature To properly mount the EMI filters the enclosure should have an unpainted metallic surface This allows for more surface area to be in contact with the filter housing and provides a lower imped ance path between this housing and the back plane The back panel in
156. ve Rev 1 0 4 10 2012 MSHD User Manual KJ R Ely MO Description The preset current limit for current supplied by the drive on the 5 V secondary encoder supply has been exceeded Action required The MSHD can source a maximum current of 250 mA to the secondary encoder Check for a short circuit at the encoder Check if the encoder is drawing more than the current limit a0 bsayedinseguene Description Communication with the feedback device did not initialize correctly Action required Check that the feedback device is wired correctly Check that the correct encoder type MENCTYPE is selected og 0 Description Communication with the Sanyo Denki feedback de vice did not initialize correctly Action required Check that the feedback device is wired correctly Check that the correct encoder type MENCTYPE is selected KJE amp 201 4 Phase Find Failed Fault Description Commutation initialization has failed This fault occurs in systems that do not have commutation information e g Hall signals in the motor feedback device Action required Check whether the motor feedback type and the phase finding parameters are set correctly for the ap plication Rev 1 0 ee 4 10 2012 MSHD User Manual Rev 1 0 4 10 2012 KJ RE ME Description The initialization process with the Tamagawa feed back device has failed Action required Check that the wiring to the encoder is correct KJ S C J
157. ven though an error has occurred and its message returned to the host the drive still accepts new incomingmessages and attempts to execute them e If echoing is disabled the error message is transmitted after the lt CR gt message termination is detected by the drive The drive must detect a new error or fault before transmitting an error message 10 8 Examples of MSHD Serial Protocol The following examples demonstrate serial protocol between the MSHD and a host Issuing a Command or Variable In Examples 1 through 5 MSHD parameters are defined as ADDR 0 CHECKSUM 0 ECHO 1 MSGPROMPT 1 Example 1 Command EN drive enable Rev 1 0 4 10 2012 MSHD User Manual Displayed on terminal gt EN gt Example 2 Command Variable Returns Multiple Lines of Values This type of command typically has a longer delay due to the large amount of data that is output to the screen DUMP return drive parameter values Sequence 1 2 18 4 15 16 17 Je 19 110 UserEnters JD fu IM If or Drive Returns 0 fu Im PCR UserEnters pp pp lt VAR1 gt lt VAL1 gt lt VAR2 gt UserEnters pp pp S o o Sequence User Enters Drive Returns lt cr gt Displayed on terminal gt DUMP gt varl vall gt var2 val2 gt varn valn Example 3 Command Variable Returns Multiple Values J jog Sequence 1 2 8 J4 15 16 7 18 9 fho UserEnters J
158. without connecting to the drive Connection Auto Connection Manual Connection Offline Port T Limit Address Address Display Stop Stop Blink Display IDs to connect Connection Status oO he Al f sStep0ofs Connection Info Motor Limits Direction Save Figure 5 4 ServoStudio Setup Wizard Screen Step 0 Connection Note Typically the Wizard begins at Step 0 If the drive is already connected the Wizard will be gin at Step 1 To connect to the drive do one of the following e Click Search amp Connect to connect to the drive automatically e Enter the port settings and click Connect For more information refer to the section Connecting to the Drive Step 1 Drive Information 1 Review the drive information 2 Enter a name for the drive For more information refer to the section Drive Information Step 2 Motor Selection 1 Select the Motor Family 2 Select the Motor Type Rev 1 0 4 10 2012 a MSHD User Manual 3 Select the characters that match the label on the motor means the field can be ignored 4 Click Verify to send parameters to the drive and test the motor configuration N Verify enables the drive and moves the motor For more information refer to the section Motor Step 3 Velocity and Current Limits Setup Wizard suggests values for Low Medium or High current and velocity limits which are rounded to 25 50 and 75 respectively of the maximum range Note If the limits
159. x signal using MENCTYPE and check if the index signal is connected Description The drive has detected either 000 or 111 state on the Hall feedback signals Action required Check that the Hall signals are all properly con nected While turning the motor read the Halls state using HALLS to see which signal is not connected If the feedback type is Tamagawa check that the feedback wiring is correct Gsmaednseuene o Description Feedback analog signal is out of range This fault is related to resolver and sine encoder feedback The drive checks that the amplitudes of the sine and co sine signals are correct based on the calculation sin2 cos2 1 Action required Check the amplitudes of the sine and cosine signals Rev 1 0 ee 4 10 2012 MSHD User Manual Rev 1 0 4 10 2012 o Gs aednseuene o Description The computed equivalent encoder output frequency exceeds the upper limit for this signal which is 4 MHz Action required Check the parameters used for setting up the equiva lent encoder output If using a sine encoder check the ENCOUTRES parameter settings they o ooo Description The temperature on the power board and or on the control board has exceeded the preset limit Action required Check if the ambient temperature exceeds the drive specification Otherwise contact technical support Aa Displayed in sequence Power Stage Over Temperature Active disable Description The temperature
160. y The internal runtime at which the fault occurred FaultName The system name of the fault Describes the status or fault indicated by the code Action Required Describes the recommended steps for correcting the fault 8 3 Drive Status 7 Segment Display The 7 segment display provides various indications of drive status such as operation modes drive enable status and fault conditions In general the display uses the following conventions e Decimal point indicates the drive s Enable Disable status if displayed the drive is enabled e Steadily lit digit indicates the operation mode OPMODE currently in effect e Steadily lit letter indicates a warning e Sequential display of letters and digits indicates a fault except for At1 and At2 Other Status Indications e At1 displayed in sequence indicates motor phasing MOTORSETUP is in progress e At2 displayed in sequence indicates current loop autotuning CLTUNE is in progress e Adigit flashing at half second intervals during encoder initialization indicates the operation mode OPMODE currently in effect In the event of concurrent faults only one fault code is displayed on the 7 segment display The display shows the code of the fault with the highest priority The 7 segment code descriptions are presented here in alphanumerical order in the following format picture code in text How displayed e g flashing of code Short name Used in ServoSt
161. y control loop options are available In the Velocity Loop screen select the controller method from the list at the top of the screen Velocity Loop 0 PI Control x Velocity controller method Controller Velocity Feedback Current Feedforward Output Filter Velocity command Acceleration limits IN gt 600 000 rpms Deceleration limits 600 000 rpms Integral Gain 0 000 Hz Proportional Gain Parameter 1 Hz Current Parameter 2 Hz command OUT lt _ 1 First order filte Velocitv The light blue background in the schematic shows the actual velocity loop The other elements show pre and post processing options Figure 6 17 ServoStudio Velocity Loop Screen A filter can be applied to the output of the velocity loop You can choose various options of low pass band pass high pass notch and user defined filters 6 13 3 Linear Position Control Loop Two position control loop options are available linear and non linear In the Position Loop screen select the controller method from the list at the top of the screen Position Loop Position controller method 0 Linear icceleration Feedforward to Current Loop eceleration Feedforward to Velocity Loop elocity Feedforward Proportional Gain y 2 x Velocity Limit Derivative Gain 0 000 Adaptive Proportional Gain Integral Gain Position Command 0 000 rev Position Error V

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