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User Manual - MEI`s Technical Support

1. 9 System Operation 9 1 Powering Up One of the characteristics of SynqNet drives is that at power up the drive DSP is held in a RESET state by the SynqNet FPGA in the drive The DSP reset is only released when a SynqNet RESET command is issued from the controller Once this is done the drive will come up The SynqNet RESET can be done in two ways Using MotionConsole Click on the RESET button in the Controller Summary window on the ACTIONS tab Using a DOS command o Open a DOS PROMPT window in the XMP Bin WinNT folder o Type RESET at the command prompt 9 2 SynqNet Utilities A set of SynqNet utilities is installed in the XMP BIN WINNT folder These utilities can be used to perform many drive configuration operations over SynqNet This manual references many of these utilities but provides for the purposes of legibility only an abbreviated description of their syntax The complete syntax is found on the Motion Engineering support web site at http support motioneng com Reference should be made to the web site for complete syntax information 9 3 Rotary Switch Configuration The PicoDAD is equipped with a 16 pole rotary switch accessible from the top of the unit The switch has no functional use for either the drive or the network It can be used at the application level to identify specific nodes on a network Caution The switch must be set to a non zero value Setting it to zero causes the SynqNet RESET to
2. Ambient Humidity 10 to 90 1 PWM saturation affects the useable bus voltage With a 48V input and with PWM saturation set to 92 5 the effective bus voltage is 44 4V This affects the maximum achievable speed PicoDAD SN User Manual Page 16 of 130 Danaher Motion Kollmorgen January 30 2006 63 VO Analog Inputs Maximum Voltage 12 5 V differential Operating Voltage Range 10 V differential Input Resolution 12 bit Sensitivity 6 1mV Input Impedance CMR gt 10 K ohms 50 dB Frequency Response LPF at 3 8Khz Repeatability Bus Voltage Measurement Filtering LPF at 3Hz Drive Temperature Measurement Filtering LPF at 1 5kHz General Purpose Digital Inputs Input circuit characteristic Opto coupler Over Travel and Home Remote Enable Input voltage 5 24Vdc Delay Output circuit characteristic Opto coupler open General Purpose Digital Outputs seine Sik configuration Maximum saturated voltage 2V Fast Inputs Input Signal Characteristic RS422 Maximum frequency 2 5MHz Fast Outputs Output format RS422 Maximum frequency 2 5MHz 25V full span 4096 12 bit PicoDAD SN User Manual Page 17 of 130 Danaher Motion Kollmorgen January 30 2006 6 4 Encoder Feedback Encoder power Encoder supply Voltage 5VDC supply Quadrature Encoder Signal Characteristics Po Differential RS422 Halls Differential single ended or o
3. short 16 bits C unsigned short 16 bits upper word lower word r AutoScale MV During Acquire During Display Divisions 0 Num Divs 0 Auto 0 Y Intercept Edit Trace Properties Name Analog Input 2 Address 0x100014c hex BitMasking V Masking Enabled Mask Oxffff0000 hex Counts Counts Sec Counts Sec 2 MilliSecs Millivolts Degrees Real complex Imag complex Decibels None Data Type long 32 bits C float 32 bits C unsigned long 32 bits short 16 bits unsigned short 16 bits upper word lower word AutoScale During Acquire Il During Display Divisions 0 Num Divs 0 Auto 0 Y Intercept Cancel Cancel Figure 9 7 Defining New Traces in MotionScope Since the monitor data is in a 32 bit word and the data itself is 16 bits wide the address must be masked e The data for channel A is masked by applying the mask value Oxffff This masks out the upper 16 bits which belong to monitor channel B e The data for channel B is masked by applying the mask value OxffffO000 This masks out the lower 16 bits which belong to monitor channel A e The data returned from the drive is a signed 16 bit value and so the Data Type short is selected The analog inputs will now appear as traces on MotionScope Note The actual addresses will vary according to which motion controller is being used and on which node and axis the data are be
4. either the torque force constant can be set using the MKT parameter or the back EMF constant can be set using the MBEMF parameter MBEMFCOMP Sets the amount of BEMF compensation This variable affects the amount of back EMF compensation that is applied to the motor command You can consider the BEMF of the motor as a disturbance to the current loop The drive has the capability to estimate the amount of BEMF and to inject feed forward correction MBEMFCOMP 0 means no BEMF compensation MBEMFCOMP 100 means that BEMF compensation equals to the estimated BEMF Typical values of MBEMFCOMP are 50 to 80 Parameter Index 0x01 Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Percent Range 0 to 130 Default 0 EEPROM Yes MKT Sets the motor s torque or force constant MKT is part of the Back EMF compensation algorithm This parameter can be set in place of MBEMF in cases where the torque or force constant is specified The conversion from back EMF constant to torque constant is done as follows Rotary MKT MBEMF 16 55 where MBEMF is in units of V 1000RPM Linear MKT MBEMF MPITCH 16 55 60 SQRT 2 where MBEMF is in units of V m s To convert from units of lb in Amp to N m A multiply by 0 1130 When this variable is set the drive enters a no comp state requiring a CONFIG command Parameter Index 0x0B Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Rotary N m 1000
5. rather than the No Configuration fault is shown 10 3 2 Using the sqNodeFlash Utility The sqNodeFlash utility can be run either on the host PC or when an eXMP is being used on the eXMP itself When using an eXMP it is recommended to run the utility from the eXMP and not from the host When using a host PC the utility should be run from a DOS window under the XMP BIN WINNT folder The syntax for sqNodeFlash when downloading the FPGA image is as follows SqNodeFlash node x file lt filename gt where x is the node number Nodes are numbered from 0 filename is name of the file containing the image When running under the LINUX operating system the syntax is SqNodeFlash node x file lt filename gt Example SqNodeFlash node O file COFEO035_0343 sff This command will download the FPGA image contained in file COFE0035_0343 sff to the first node on the network The syntax for sqNodeFlash when downloading drive firmware is as follows SqNodeFlash node x drive y file lt filename gt where x is the node number Nodes are numbered from 0 y is the drive or axis number on that node Drives are numbered from 0 filename is name of the file containing the image For the PicoDAD the firmware does not need to be loaded to both Drive 0 and Drive 1 it needs to be loaded only to Drive 0 PicoDAD SN User Manual Page 101 of 130 Danaher Motion Kollmorgen January 30 2006 10 4 Resuming Operation 10 4 1 Verify the VERSIO
6. 0 8 DIPEAK 32767 0 8 DIPEAK 32767 32767 1 25 DIPEAK Figure 9 1 Current Scaling 9 5 PWM Saturation The PWM saturation level is 92 5 This affects the useable bus voltage With a 48V input and with PWM saturation set to 92 5 the effective bus voltage is 44 4V This affects the maximum achievable speed 9 6 Drive Parameters The drive functionality is set using various drive parameters and instructions which are communicated over SynqNet Parameters may be subject to read only access or may be available for read write access The parameters can be stored in non volatile memory in the drive to be used on each power up Examples of read only parameters are amplifier current rating absolute current limit and analog input values Examples of read write drive parameters are motor current rating application current limit and encoder resolution Drives are shipped from the factory with motor parameters set to zero and application parameters set to their default values Parameters are identified both by their mnemonics and by an index It is the index that is used when accessing a parameter over SynqNet A list of parameters appears in Section titled Instruction Set Drive parameters are implemented for particular drive models and firmware versions the supported parameter set may be different for different version of firmware The MPI library contains a general drive parameter interface able to handle any set
7. 0x0008 Motion Profile Reduce value of INITGAIN If the settling time of the WNS process step response is above threshold this bit is set 0x0010 Too little motion Increase value of IENCSTART Minimum movement of 4 5 electrical degrees is and or increase value of INITGAIN required This prevents cases of locked motor or not enough current to move the motor 0x0020 Encoder initialization failed This bit is a summary bit of bits 0 to 5 0x0040 Encoder initialization has been executed but not necessarily succeeded In case bit 2 3 or 4 were set the user should modify the WNS gains INITGAIN IENCSTART PicoDAD SN User Manual Page 72 of 130 Danaher Motion Kollmorgen January 30 2006 9 12 6 Evaluating the Commutation Initialization Process The process makes two velocity jumps The first velocity jump varies in size and direction depending on initial location By examining the nature of the velocity during the commutation initialization we can come to certain conclusions regarding the validity of the tuning parameters that were used The following plot shows what form we are looking for in the velocity We see that the velocity is smooth more or less and we see that there is no oscillation Figure 9 3 Commutation Initialization Velocity Response In the plot above we see some velocity instability at the end of the deceleration Ideally the parameters IENCSTART and INITGAIN should be tuned such tha
8. 163 2 Height x 71 5 Width x 116 3 Depth mm 6 44 x 2 81 x 4 58 The Height dimensions specified here do not include the mounting flange PicoDAD SN User Manual Page 20 of 130 Danaher Motion Kollmorgen January 30 2006 7 2 1 Front View UoI adi 7 2 2 Side View PicoDAD SN User Manual Page 21 of 130 Danaher Motion Kollmorgen January 30 2006 7 3 Mounting Alignment The drive must be vertically mounted to allow for convection cooling At least 1cm of space must be left between adjacent drives PicoDAD SN User Manual Page 22 of 130 Danaher Motion Kollmorgen January 30 2006 8 Wiring 8 1 Wiring Diagram KOLLMORGEN Pico DAD MO Feedback Machine I O ERSE M1 Feedback Control I O LLLI supply Bus In 48V 48V SynqNet RJ 45 Bus IN 48 V N PE o000000000000 o00000000000000000 0000000 Secondary Encoder 1 RS 422 z B T Secondary Encoder 2 by BY RS 422 gt Axis 2 Common W Power supply 5 24V Power supply Brake Relay 5 24V ry Brake Relay x 2 A 9 24VDC In Common 1 A Power m supply oome ST 5 24V In Common a M5 __ Power ing Subo hn In 8 8 24V Sut ommon ut oad Power Quiz fad supply Ours
9. A al Y 48V Eolo E _ e E Bus Power Supply 2 ue ol A k 1 a m E Falo E GND GND a T Connected to heat sink GND 8 6 Electrical Interfaces 8 6 1 Over Travel Limits and Home gt 3V3 Mx_Common lt lt Mx_in lt lt 2 4K 250mW Mx_in lt lt 2 4K 250mW PicoDAD SN User Manual Page 33 of 130 Danaher Motion Kollmorgen January 30 2006 8 6 2 Remote Enable 3V3 to FPGA DSP 2 4K 250mW Ena_M1 gt 2 4K 250mW to FPGA DSP 2 4K 250mW In X gt 2 4K 250mW 8 6 4 General Purpose Outputs Outx lt lt From FPGA PicoDAD SN User Manual Page 34 of 130 Danaher Motion Kollmorgen January 30 2006 8 6 5 High Speed Inputs Fast In lt lt 2 X gt To FPGA Fast In lt lt VCC lt VCC lt 8 6 6 High Speed Outputs Fast Out lt lt 150R Fast Out lt lt EN gt VCC 8 6 7 Analog Inputs The Analog inputs are differential but the common mode is limited The AGND pin should be connected to the ground of the analog command source GND Reference voltage PicoDAD SN User Manual Page 35 of 130 Danaher Motion Kollmorgen January 30 2006 8 6 8 Fault Relay RLY_C lt lt VCC 2 8 6 9 Brake Relay VCC A 1 1A resetable 8 6 10 Sine Encoder 8 6 11 Halls 8 6 12 Quadrature Encoder PicoDAD SN User Manual Page 36 of 130 Danaher Motion Kollmorgen January 30 2006
10. Access Read Write Data Type Long Integer Units Encoder counts mechanical Range 0 to 4 MENCRES motor rev 1 Default 0 EEPROM Yes attempt to drive the motor until the ENCINIT process has been completed Doing Y Caution If the encoder index offset is not know from a motor data sheet do not so may result in motor run away when the index mark is crossed 9 10 2 MENCOFF for Kollmorgen AKM Motors When using Kollmorgen AKM motors the value of MENCOFF can be calculated using the following equation MENCOFF MENCRESx4 MPOLES 2 x 240 360 Note that the value for MENCOFF needs to be set explicitly even when the MOTORTYPE parameter is set to the value 3 9 10 3 Encoder Index Initialization The drive has a procedure called ENCINIT using which the index position can be automatically determined The procedure is as follows e First issue the ENCINIT command The drive enters a mode in which it looks for the index mark The ENCINITST parameter will return 1 e Move the motor manually When the index is crossed the ENCINITST command will return 2 At this point MENCOFF is updated to the index location e Save the MENCOFF value by executing the SAVE command PicoDAD SN User Manual Page 64 of 130 Danaher Motion Kollmorgen January 30 2006 ENCINIT Parameter Index Data Access Units Default ENCINITST Parameter Index Data Access Units Default Execute the encoder initialization procedure in order
11. Complement RS 422 input wired to SynqNet FPGA 43 Motor 1 RS422 IN1 44 Motor 1 RS422 IN2 Complement RS 422 input wired to SynqNet FPGA 45 Motor 1 RS422 IN2 46 Axis 1 Analog Input 1 Differential analog Input 10Vdc 47 Axis 1 Analog Input 1 Complement 48 Axis 2 Analog Input 1 49 Axis 2 Analog Input 1 Complement Differential analog Input 10Vdc 50 Axis 2 Analog Input 2 complement Differential analog Input 10Vdc Paired with pin 25 8 2 7 SynqNet Connector Definition Connector Type RJ 45 Manufacturer Molex Part Number 85505 0001 Mating Connector Part Number Mates with industry standard FCC 68 plugs Pin Out Pin IN OUT 1 TDO RDO 2 TDO RDO 3 RDO TDO 4 TTERMO RTERM1 5 TTERM1 RTERM1 6 RDO TDO 7 RTERMO TTERM1 8 RTERM1 TTERM1 8 2 8 RS 232 Connector Definition Connector Type Male 9 pin D Sub Manufacturer e tec Part Number SSM 009 U908 02 R Mating Connector Part Number Pin Out Pin Description Comments 1 NC 2 Rx RS 232 Receive 3 Tx RS 232 Transmit 4 NC 5 DGND Ground Used for Hardware Ember PicoDAD SN User Manual Page 30 of 130 Danaher Motion Kollmorgen January 30 2006 6 NC 7 HW Ember Used for Hardware Ember 8 BRXD Daisy chain Receive 9 BTXD Daisy chain Transmit Note The
12. Drive feedback signal name Drive feedback pin number S1 SIN RED Cosine 13 S3 SIN BLACK Cosine 14 S2 COS YELLOW Sine 4 S4 COS BLUE Sine 3 R1 REF RED WHT Ref 6 R2 REF BLK WHT Ref 5 8 4 Connector Kit A connector integration kit is available This kit contains mating connectors and crimp pins for the power connectors and cables with MDR connectors on the one end and flying leads on the other for the feedback and I O connectors The part number for this kit is CON KIT STX 2 The exact contents of the kit are as follows Item Description Quantity Motors feedback cables 26 pin Machine l O cable 50 pin Control I O cable Bus power 48V connector Logic power 24V connector Motors power connectors Crimp pins for motor power connector Crimp pins for bus power connector NO CO N N This connector kit is available from the Danaher Motion facility of Kollmorgen Servotronix only PicoDAD SN User Manual Page 32 of 130 Danaher Motion Kollmorgen January 30 2006 8 5 Grounding Tree PicoDAD Ground tree 3 3V 5V e 24V Filter 3 3VA DC DC DC DC Logic Power Supply 24V A Single Ground plane S GND 2D GND A _______ Connected to spacer 5 z 15y POPC o
13. RS 232 cable between a computer or terminal and the PicoDAD must have only pins 2 3 and 5 connected amp 8 3 Wiring a Motor to the Drive 8 3 1 Kollmorgen AKM Motors The motor phases and feedback signals must be wired as described in the following tables In addition set drive parameter MOTORTYPE to the value 3 Motor Phases Historically Kollmorgen motor phases have been designated with the letters A B and C for each of the 3 phase connections The AKM motors are labeled U V and W The relationship of these signals is shown in the following table Motor Phase Wire Color Drive Phase U BLUE C V BROWN B W VIOLET A Commutation Track Signals for the encoder motor Motor Signal Name Drive feedback signal name Drive feedback pin number U HALL3 9 U HALLS3 10 V HALL2 17 V HALL2 18 W HALL1 7 WM HALL1 8 Wiring of the commutation track signal complements is optional for improved noise immunity it is recommended to connect them Encoder Feedback Signals Motor Signal Name Wire Color Drive feedback signal name Drive feedback pin number A BLUE B 13 A BLUE BLK B 14 B GREEN A 3 B GRN BLK A 4 Z VIOLET Z 5 Z VIOLET BLK Z 6 PicoDAD SN User Manual Page 31 of 130 Danaher Motion Kollmorgen January 30 2006 Resolver Feedback Signals Motor Signal Name Wire Color
14. SN User Manual Page 66 of 130 Danaher Motion Kollmorgen January 30 2006 In addition the HALLS instruction is used to read the value of the halls sensor states The HALLS instruction can be executed from within a MotionLink terminal The HALL states can also be seen in Motion Console in the Motor Summary l O window The drive returns a 3 digit value with each digit being 1 or 0 and representing a hall state The left hand digit represents hall sensor C the middle digit represents hall sensor B and the right hand digit represents hall sensor A For example the halls sensor pattern 011 indicates that Hall C is 0 Hall Bis 1 Hall Ais 1 This section of the document makes use of a value of the halls sequence with the value being a decimal representation of the binary halls states In the above example where the HALLS instruction returns the value 011 the equivalent halls sequence value is 3 Similarly a HALLS pattern of 110 is equivalent to a halls sequence value of 6 Assumption wiring predefined Once the motor and feedback have been wired to the drive no change in wiring is allowed 9 11 3 1 Reset Parameters Set MPHASE 0 MFBDIR 0 MHINVx 0 9 11 3 2 Identify the direction of motor phases Disconnect motor leads from drive Use lab power supply with current limit capability Apply current the amount of current is the minimum that still locks the motor firmly from motor phase C c
15. The amplitude of the sine and or cosine may be out of range across the entire range of motion or perhaps only at certain points on the encoder For exposed linear encoders dirt can often coat the scale resulting in a decrease of sine cosine amplitude at that point Typically in a case like this the R 8 fault will occur at particular points along the motor travel PicoDAD SN User Manual Page 108 of 130 Danaher Motion Kollmorgen January 30 2006 11 4 2 Viewing the Sine and Cosine Signals The best way of troubleshooting the R 8 fault is to begin with recording the sine and cosine signals The PicoDAD provides the capability to monitor the sine and cosine value in real time and thus to view these signals using MotionScope Refer to the section on real time monitoring for more details on how to do this The user should monitor three signals the sine the cosine and the sine cosine out of range indication The last item is an on off indication of the fault Viewing all three traces will enable the user to identify where the fault is occurring relative to the travel Note The sine and cosine signals should never be saturated or clipped at the peaks If they are then the signal amplitudes should be verified with an oscilloscope 11 4 3 Adjusting the Allowed Range In some cases the sine and cosine signals may be out of the normal range simply because that s how the encoder is designed If the signal amplitudes are too low the R 8 f
16. When this variable is set the drive enters a no comp state requiring a CONFIG command Ox0D Firmware Version 0 0 1 Read Write Data Type Integer 10 Range 1 to 100 4 EEPROM Yes PWM frequency This value generally set by the drive according to the power stage being used 0x16 Firmware Version 0 1 6 Read only Data Type Integer KHz Range 16 16 kHz EEPROM No set by Hardware PicoDAD SN User Manual Page 51 of 130 Danaher Motion Kollmorgen January 30 2006 9 8 5 Phase Advance Parameters The torque based phase advance helps to achieve higher torque for a given motor current Usually it is applicable for buried magnet rotor as opposed to surface mounted magnet rotor For a surface mounted magnet rotor the MTANGLx parameters should be set to 0 However if MVANGLx parameters were not set optimally non zero MTANGLx parameters can help to get more torque MTANGLC sets the phase advance angle at motor continuous current MICONT in electrical degrees and MTANGLP sets the phase advance angle at motor peak current MIPEAK in electrical degrees Together with zero angle advance at zero current it creates two piece linear curve where the drive calculates the phase advance for a given motor current MTANGLC Sets the value of the torque related commutation angle advance at the motor s continuous current rating Parameter Index 0x12 Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Electrical degrees Ra
17. Write Data Type Integer Units N A Range 12 4096 counts per rev 13 8192 counts per rev 14 16384 counts per rev Default 14 EEPROM No RESBW Sets the bandwidth of software resolver mechanism As a general rule of thumb set RESBW to 4 or 5 times the velocity loop bandwidth Parameter 0x4C Firmware Version 0 1 6 Index Data Access Read Write Data Type Integer Units N A Range 200 to 800 Default 300 EEPROM Yes 9 8 4 Current Loop Parameters The Current controller gain is proportional to G I L V where gt lis the drive peak current rating as given by the DIPEAK parameter gt Lis the line to line inductance set by the MLMIN parameter gt Vis bus voltage set by the VBUS parameter gt Gis the adaptive gain set by the MLGAINC and MLGAINP parameters MLGAINC sets the adaptive gain at motor continuous current MICONT and MLGAINP sets the adaptive gain at motor peak current MIPEAK Together with unity gain at zero current they creates two piece linear curve where the drive calculates the adaptive gain for a given motor current The current based adaptive gain algorithm is a gain calculation method that increases current loop stability by reducing the current loop gain as the motor current increases there are motors that their magnetic flux decreases when the current increases and so their gain increases A value of 10 unity gain is a good starting point PicoDAD SN User Manual Page 50 of 130 Danaher Motion
18. YES Drive Firmware version B Drivelil Firmware version 1 6 1 6 Operating system Windows XP build 2600 Service Pack CP U x86 Family 15 Model 1 Stepping 3 Intel lt R gt Celeron R gt CPU 1 8 GHz2 Clock 1794 MHz ICIAMETNO3 82 G RMP BIN WINNT gt PicoDAD SN User Manual Page 110 of 130 Danaher Motion Kollmorgen January 30 2006 11 6 Drive Error Response If execution of a command failed an error value will be returned in the Read Data LSW The following table shows these possible error values Returned Error Description value Value entered is out of range Command parsing is erroneous serial i f 44 Record not active Command must be executed when record feature is active 45 EEPROM empty EEPROM doesnt contain any data Load was performed after clear eeprom command Argument not binary Variable accepts only binary values 47 Burnin active Command can t be executed when drive is in burnin mode Command can t be executed if drive is not in burnin mode 51 Not available Command not available for the current drive configuration Examples e Executing ENCSTART when the feedback type is Resolver Command can t be executed since drive is in zero mode 60 Motorin maton Command can be executed because motors movia 201 Config failed current Config process failed during current controller design controller design 202 Config failed invalid Config process failed due to in
19. Yes UVRECOVER Defines how the drive will recover from an under voltage UV fault 0 recover by executing Clear Faults procedure after the UV condition clears 1 automatically recover when the UV condition clears See also UVMODE Parameter Index 0x35 Firmware Version 0 1 2 Data Access Read Write Data Type Integer Units N A Range 0 1 Default 0 EEPROM Yes PicoDAD SN User Manual Page 60 of 130 Danaher Motion Kollmorgen January 30 2006 9 8 14 Motor Over Temperature Fault Processing A motor over temperature fault can be identified if the motor has a thermal sensor and if the drive is set up correctly to interface to this sensor The following instructions explain how this is done The following table defines the behavior of the sensor reading and of the fault as a function of the THERTYPE setting Motor over temp switch state THERMTYPE THERM Fault Closed 0 0 No Closed 1 1 Yes Open 0 1 Yes Open 1 0 No THERMODE Determines the operation of the drive when the Motor Thermostat Parameter Index Data Access Units Default THERMTYPE Parameter Index Data Access Units Default THERM Parameter Index Data Access Units Default Input THERM opens 0 disable drive and open fault relay immediately 1 ignore thermostat input Set this parameter to 1 if the motor does not have thermal sensor or if the thermal sensor is not wired The sensor should be wired between p
20. accuracy of the process depends on the sampling accuracy and on the matching of the sine and cosine values In order to prevent accuracy degradation due to electronic component tolerances the sine and cosine values must be gain and offset compensated The process of finding the gain and offset compensation parameters matches an amplifier to an encoder or resolver After the process terminates the gain and offset values are stored in the non volatile memory and are loaded each time the amplifier is powered on Note The calibration is automatic and is done at every power up Thus explicit execution of the calibration is not generally necessary The process includes finding 128 maximum and minimum Sine and Cosine peaks and calculating the average gain and offset values Due to accuracy restrictions the motor must be rotated at a slow speed so that the Sine Cosine waves generated will be at a frequency low enough for a valid result The speed must be such that the frequency of the Sine Cosine signals does not exceed 250Hz The maximum motor speed can be seen from the following table Motor Type Feedback Type Maximum Motor Speed Rotary Resolver 15000 RPM Rotary Sine Encoder 60 x 250 MENCRES x MSININT Linear Sine Encoder 250 x MPITCH MSININT x MENCRES where e MENCRES is the encoder resolution e MSININT is the sine encoder interpolation level e MPITCH is the linear motor pitch 9 14 2 The Process During cali
21. are disabled PicoDAD SN User Manual Page 98 of 130 Danaher Motion Kollmorgen January 30 2006 10 3 Update Drive Firmware 10 3 1 Using MotionConsole e Open the SqNode Summary window in MotionConsole To do this click on the icon labeled N The sqNode summary window is shown below ameno gt a el qNode Summary Cont DAR PT Sade FT lar Status 0x0o000003 V Enabled IY Enabled 4 16 6 12 OXDOOAAEBO oxon00000 0x00000000 Status OO O o Figure 10 1 SqNode Summary Window for Firmware Download PicoDAD SN User Manual Page 99 of 130 Danaher Motion Kollmorgen January 30 2006 e Click on the Binary Download button in the CONFIG tab The following dialog box appears Download Binary Image to SqNode s Select file s to download to the following SynqNet node s SqNode 0 Controller 0 COFEDO35_0343 sff Channel C MEI 03 02 00 XMP BIN COFEO035 0343 sft Drive Processor O Firmware Unspecified Drive Processor 1 Firmware Unspecified Clear Selected Clear All Browse Close e To select an FPGA image click on Node FPGA and click on BROSE to locate the file It should be located in the XMP BIN folder e To select drive processor firmware click on Drive Processor Firmware 0 and click on BROWSE to locate the file You must have placed this file beforehand in the XMP BIN folder Note The FPGA image and the drive processor firmware
22. be bypassed and the drive will not function correctly on the SynqNet network 9 4 Current Scaling The torque command from the controller is multiplied by 0 8 in the drive and resultant value is used as the torque command within the drive That is Drive internal torque command Controller torque command 0 8 The reasoning is as follows The torque command from the motion controller is a value in the range 32768 to 32767 while currents in the drive are referenced to the drive peak current DIPEAK While DIPEAK represents the absolute maximum current that can be commanded by the drive the drive is designed to be able measure actual current 25 above DIPEAK This is done in order to be able to measure and control current overshoots Thus the maximum current that can be represented in the drive is DIPEAK 1 25 The torque command from the motion controller must be scaled to the maximum current that the drive can represent which is DIPEAK 1 25 However the controller should not be able to command current above DIPEAK Thus the torque command from the controller is multiplied by 0 8 PicoDAD SN User Manual Page 37 of 130 Danaher Motion Kollmorgen January 30 2006 A full scale torque command of 32767 is thus interpreted in the drive as 26213 and this value is equivalent to DIPEAK as shown in the following diagram Drive current command Controller current command DAC output 32767 32767 1 25 DIPEAK 32767
23. instruction to configure the drives internal loops 16 2 Parameters Parameters can be accessed individually using the SqDriveParamer SynqNet utility or an entire set of parameters can be accessed using the SqDriveConfig utility Index 0x21 Integer Add one electrical degree to MPHASE for debug ABSPOSMOD_ 0x40 RW NAa 0o J 1 integer Absolute position device data type ACTIVE ooe Wa o re e oo A f Moor energized i not energized PANING oia R mv 2000 12 000 Integer NA Analog input 1 PANIN2 oB RO mv 12 000 12000 _ Integer NWA Analog input 2 LANLPEHZ1 Ox6E__ RW Hz tooo Integer f Analog input 1 LPE frequency ANLPFHZ2 0x5F R W 10 000 Integer Analog input 2 LPF frequency Hz ANOFF1 5 w 5 000 Integer 0 Analog input 1 Offset PicoDAD SN User Manual Page 119 of 130 Danaher Motion Kollmorgen January 30 2006 Index ANOFF2 5 000 5 000 Integer O Analog input 1 Offset O TS A DICONT 0x02 Amperes 0 1 1 100 Integer Defined by Drive rated continuous current hardware DIPEAK 0x03 Amperes 0 1 20 2 200 Integer Defined by Drive rated peak current hardware ENCINIT 0x2 W NA E E ic a NA Mercot update look for index ENCINITST 0ox63 R NA 2 integer sd Encinit process status ENCSTART 0x49 N A Integer a ni put the drive into its Encoder Initialization state This can be used when MENCTYPE is set to 3 or 4 for encoder initialization without H
24. maximum velocity a E CEC ZERO osa Rw Nna NA integer NA Enables disables zeromode 16 3 Effect of RSTVAR and CLREEPROM Both the CLREEPROM command Direct Command 0x1F and the RSTVAR command Direct Command 0x1D return parameters to their default values The difference however is that RSTVAR does not affect motor or current limit parameters The specific parameters not affected by RSTVAR are Motor Parameters MIPEAK MICONT MPITCH MOTORTYPE MSPEED MKT MBEMF MENCRES MSININT MENCTYPE MENCOFF MPHASE MPOLES MBEMFCOMP MLMIN MLGAINC MLGAINP MTANGLC MTANGLP MVANGLH MVANGLF Current Limit Parameters PicoDAD SN User Manual Page 123 of 130 Danaher Motion Kollmorgen January 30 2006 ILIM ICONT Foldback Parameters FOLDD FOLDR FOLDT PicoDAD SN User Manual Page 124 of 130 Danaher Motion Kollmorgen January 30 2006 17 Appendix Upgrading Firmware over the Serial Port Firmware on the drive is updated using a process called EMBER Kollmorgen provides a program that downloads the firmware file to the drive over the RS232 serial communications link 17 1 Terminology EMBER Kollmorgen s terms for the firmware upgrade process IGNITE the name of the utility that you use to upgrade the firmware 17 2 Important Files Ember a00 The name of the file that manages the firmware upgrade and programs the DSP pdad_vvwv i00 The firmware file The file extension has no relevance to the firmware
25. non volatile memory Figure 5 1 Drive Memory Architecture PicoDAD SN User Manual Page 15 of 130 Danaher Motion Kollmorgen January 30 2006 6 Electrical Specifications 6 1 Input Power Drive Model 10A 20A Main Input Power Voltage DC Nominal 10 48VDC both axes KVA Continuous current Amps Peak Current Amps for 500 msec Peak Current Amps for 2 sec Line fuses Rated Output Power Continuous Power VA at 48VDC Input and 0 35 Per Axis 45 C 113 F Ambient Continuous Current Arms 10A foreach 10A for each axis axis Peak Current Arms for 500 mSec 10A foreach 20A for each axis axis Peak Current Arms for 2 Sec 10A foreach TBD axis PWM Frequency kHz PWM Motor Current Ripple kHz PWM Saturation 92 5 Logic Power 24 VDC Ext Logic Voltage volts 22 to 27 24 VDC Ext Logic Current amps sink 24 VDC Ext Logic Current amps max in rush 2A for 5msec and then 1 5A for 7msec 6 2 Protection and Environment Protective Functions Under Voltage trip User programmable from 12 to 36VDC Over Voltage Trip 60VDC FW versions up to and including 0 1 9 70VDC FW versions above 0 1 9 Over Temperature Trip 80 C 176 F Environment Operating Temperature 5 C 41 F to 45 C 113 F Storage Temperature 0 C 32 F to 70 C 158 F
26. of drive parameters independent of the MPI library version It uses a drive parameter map file to determine the valid drive parameters Individual drive parameters can be set or read using MPI methods or the sqDriveParam utility program A list of drive parameters can be set or read using MPI methods or the sqDriveConfig utility program PicoDAD SN User Manual Page 38 of 130 Danaher Motion Kollmorgen January 30 2006 The following sections describe the syntax of utilities used when accessing parameters These utilities are typically executed from a DOS window in the XMP BIN WINNT directory For application programming methods please refer to the Motion Engineering support website http support motioneng com 9 6 1 Memory Operations on Drive Parameters As described in the section on the Drive Processor Memory Description the drive firmware runs using parameters stored in RAM These parameters can however be saved in non volatile memory E PROM from where they would be loaded into RAM upon power up The non volatile memory can also be cleared Parameters may be reset to their default values and a set of saved parameters may be loaded from the non volatile memory into the RAM The operations described above are executed using SynqNet Direct Commands The following table summarizes these commands The command mnemonic serves to identify the specific command lt also indicates the syntax of the command used when communicating wi
27. road 5 24V Fault Relay In Common 3 P Axis 1 Enable gt Ower Axis 2 Enable w supply 1 5 24V Fast on gt East Out 3 jad Fast Outputs Fast Out 4 gt RS 422 East Out 5 Fast Out 6 gt Fast In 1 z as Fast Inputs Fast In 3 Fast In 4 RS 422 Analog Inputs Power 24V In supply 24V NOTE Refer to the Macine I O NOTE Refer to the Control I O a o 2 5 Q a 5 DE od EE f 95 Oc oa o 2 p 3 2 S a 5 oe oo EE lt O Oc PicoDAD SN User Manual Page 23 of 130 Danaher Motion Kollmorgen January 30 2006 8 2 Connector Pin Outs 8 2 1 Logic Power Connector Definition Manufacturer Phoenix Contact Part Number MSTB 2 5 2 GF 5 08 Mating Connector Part Number MSTBT 2 5 2 STF 5 08 Pin Out Pin Description Comments 1 Logic Power 2 Logic Power return Refer to Grounding Tree 8 2 2 Bus Power Connector Definition Manufacturer Molex Part Number 42820 2212 Mating Connector Part Number 42816 0212 Housing 42815 0011 Pins 63813 0500 Manual Extraction Tool Pin Out Pin Description Comments 1 Bus Power 2 Bus Power return Refer to Grounding Tree PicoDAD SN User Manual Page 24 of 130 Danaher Motion Kollmorgen January 30 2006 8 2 3 Motor Power Connector Definition Manufacturer Molex Part Numbe
28. take any data 9 17 3 Examples of Direct Commands The following are some examples of commonly used Direct Commands showing the syntax of the sqCmd utility In all cases the following notation applies Read Faults sqCmd node x channel y memory 3 addr 0x08 read Clear Faults sqCmd node x channel y memory 3 addr 0x09 write Store parameters in non volatile memory sqCmd node x channel y memory 3 addr 0x1C write Read value from analog input 1 sqCmd node x channel y memory 3 addr 0x30 read data 0 Read value from analog input 2 sqCmd node x channel y memory 3 addr 0x30 read data 1 Drive parameter access Drive parameter access is done in two stages First the parameter index is set using Direct Command 0x19 Next the parameter is either read by using Direct Command 0x1A or written by using Direct Command 0x1A However a much easier way of accessing drive parameters is with the sqDriveParam utility To read a parameter the syntax is SqDriveParam node x drive y read lt parameter index gt To write a parameter the syntax is SqDriveParam node x drive y write lt parameter index gt data lt data value gt 9 18 Real Time Monitoring The SynqNet protocol provides for simultaneous real time monitoring of up to 3 16 bit data values The data is communicated from the drive to the motion controller in the cyclic upstream message Place for this data is always reserved
29. the PicoDAD Use mpiMotorConfigGet Set with the MEIMotorConfig Encoder type structure to set the primary encoder type 13 3 Drive Parameters The PicoDAD is shipped from the factory with all parameters cleared This is done because each application will have it s own unique drive parameter settings The application program should download the drive parameters at system initialization Individual drive parameters are accessed with the meiSqNodeDriveParamGet and meiSqNodeDriveParamSet for reading and writing respectively An entire set of drive parameters can be accessed using the meiSqNodeDriveParamListGet and meiSqNodeDriveParamListSet functions PicoDAD SN User Manual Page 114 of 130 Danaher Motion Kollmorgen January 30 2006 14 Appendix Sample Drive Parameter Map File The following is a drive parameter map file for PicoDAD firmware version 0 1 9 MPI Drive Parameters Kollmorgen PicoDAD 0 1 9 parameters 0x01 MBEMFCOMP rw signedl6 0 100 0 Back EMF compensation percentage 0x02 DICONT ro signedl16 10 1100 0 Drive rated continous current 0x03 DIPEAK ro signed16 10 1100 0 Drive rated peak current 0x04 ICONT rw signedl6 0 1000 0 Application rated continuous current 0x06 IMAX ro signed16 0 1000 0 System current lim
30. the tuning process will be somewhat of a cut and try process Set the MJ parameter to the value of the combined inertia of the motor and the load Clear faults on the Motion Supervisor and run the phaseFind exe utility This utility is found in the XMP BIN WINNT subdirectory of the MPI installation In addition the process can be enabled at any time when the drive is disabled by entering the ENCSTART command SynqNet parameter 0x49 7 Monitor the process by looking at the velocity and by reading the status word WNSERR and the status of ACTIVE PicoDAD SN User Manual Page 71 of 130 Danaher Motion Kollmorgen January 30 2006 8 Ifthe process completes successfully the 7 segment LED will show a steady 2 and the Warning bit will be cleared Otherwise the LED will show an alternating and 3 If the process is not successful bits in the WNSERR query give information that may be helpful in identifying the cause Bit Value Error Description Possible Corrective Action 0x0001 WNS Stopped Indicates whether the WNS process was interrupted due to drive disable due to fault or disable command 0x0002 Maximum velocity error Reduce value of INITGAIN At the end of WNS process the motor should stand still If the velocity at that time is above threshold this bit is set 0x0004 Too much motion Reduce value of INITGAIN The motor moved distance which is above threshold during the WNS process
31. 0 Danaher Motion Kollmorgen January 30 2006 10 3 2 Using the sqNodeFlash Utility asessori arnoa ausos 101 10 4 RESUMING OPERATION ssssccccceceesessececececsesesseaececececsessaaesececsesessaaececececeessaaeaeceeeesensaaees 102 10 4 1 Verify the VERSION vicciseccsecscacadecseccecaeshcesiessasnscensdsusdensesat snddeatsentventscaduecadeaderceseasiect 102 10 4 2 Restore Drive Parameters ooononnnnncnnnininnnnnoncnnnonannnaconnnnnonnnnnncnnnnnnnnnnnnncnnn nn nnnnnncnnnnnnnns 102 A LA 11 1 SINONETLEDS A io doce era v Daas 104 11 1 1 INP O o e Ad e E o de e a 105 11 1 2 CUBRE e Ran a e an O Sesh 105 11 2 DRIVE STATUS 7 SEGMENT LED ccccccccccecsssensececececsessaececccecseseaececececeeseasaeeeeeeeeneaees 105 11 3 RETRIEVING FAULT INFORMATION OVER SYNQNET csssscsscececsessseececcceesesseaeeeeeceeeenseaeees 107 11 4 FAULT R 8 A B OUT OF RANGE occccocooononcncnccncnnnnononcncononnnnononnnnononnnnonnnnnnononnnnnnnnnnconannnnn nono 108 11 4 1 Background Mia E lain E Pod aS ee 108 11 4 2 Viewing the Sine and Cosine Signals oooonnncnincninnnonnconocononnnonanona nono conan nan nnnn anar cana conos 109 11 4 3 Adjusting the Allowed Range ooonincninnnnnnnnnnnnnnonnconnconacnnonnnc nono nn nono nonnncnn crac cnn cnn cneo 109 11 5 IDENTIFYING FIRMWARE VERSIONS oocooococcccnccononononononconononnnnnnoncononnnnonnnnncononannnnnnnncononannn nono 110 11 6 DRIVE ERROR RESPONSE 5 ccsecscehepcaistestadncncdecasshentedtcsdepssnce eda geeve
32. 0 y is the drive or axis number on that node Drives are numbered from 0 Note that we have now used the SET operator instead of the GET operator Example SqDriveConfig node O drive 1 set Axis1 txt map Kollmorgen_picodad dm This command will send the parameters from the file called Axis1 txt to the second axis on node 0 PicoDAD SN User Manual Page 102 of 130 Danaher Motion Kollmorgen January 30 2006 e After drive parameters have been set the drive needs to configure it s internal loops and variables This is done with a Direct Command using the sqCmd utility The syntax is described below The syntax assumes that the utility is executed from the XMP BIN WINNT folder sqCmd node x channel y memory 3 addr 0x20 write where x is the node number Nodes are numbered from 0 y is the drive or axis number on that node Drives are numbered from 0 0x20 is the Direct Command identifier for the Configuration instruction Example sqCmd node O channel 1 memory 3 addr 0x20 write This command will configure axis 1 PicoDAD SN User Manual Page 103 of 130 Danaher Motion Kollmorgen January 30 2006 11 Trouble Shooting 11 1 SynqNet LEDs SynqNet LEDs will BLINK to indicate a fault or undiscovered network A controller with no blinking LEDs is in normal cyclic operation without faults Each SynqNet port has two LEDs and each LED has a particular function which is described in further detail b
33. 0 RS422 IN1 Complement Reference ground for Axis 1 analog inputs This 21 Analog Ground pin should be connected to the ground of the analog command source Reference ground for Axis 2 analog inputs This 22 Analog Ground pin should be connected to the ground of the analog command source 23 Axis 1 Analog Input 2 l Diff tial log Input 10Vd 24 Axis 1 Analog Input 2 Complement Pe a s 25 Axis 2 Analog Input 2 Differential analog Input 10Vdc Paired with pin 50 26 Fault Relay Terminal 1 Dry contact relay Polarity of wiring is not 27 Fault Relay Terminal 2 constrained 28 Motor 0 OPTO IN4 Referenced to Common on pin 1 29 Motor 0 OPTO IN3 Referenced to Common on pin 1 30 Common for Opto isolated Inputs 5 6 7 8 31 Motor 1 OPTO IN4 Referenced to Common on pin 30 32 Motor 1 OPTO IN3 Referenced to Common on pin 30 33 Common for Remote Enable Inputs 34 Motor 0 OPTO OUT1 Referenced to Common on pin 8 35 Motor 0 OPTO OUTO Referenced to Common on pin 8 M RS422 OUT1 l ES OS ee OMPIEMEN RS 422 output wired to SynqNet FPGA 37 Motor 0 RS422 OUT1 Motor 1 RS422 OUT2 oe ee RS 422 output wired to SynqNet FPGA 39 Motor 1 RS422 OUT2 Complement 4 M 1 RS422 OUT l ze POPAS ee COMPS nent RS 422 output wired to SynqNet FPGA 41 Motor 1 RS422 OUT3 PicoDAD SN User Manual Page 29 of 130 Danaher Motion Kollmorgen January 30 2006 Pin Description Comments 42 Motor 1 RS422 IN1
34. 1000 FOLDR 6625 FOLDT 1450 MBEMF 10 ANLPFHZ1 10000 ANLPFHZ2 10000 RMTMODE 0 UVTRESH 20 INITTIME 108 OUTRNGLOSI 7680 OUTRNGLORE 2560 OUTRNGHISI 18432 OUTRNGHIRE 18432 IACLPF 3000 IBLPF 3000 PicoDAD SN User Manual Page 118 of 130 Danaher Motion Kollmorgen January 30 2006 16 Appendix Reference Guide 16 1 Instructions Instructions are Direct Commands executed using the sqCmd SynqNet utility These are all executed a WRITE instructions but without data Mnemonic Description Purpose Direct Command Index CLREEPROM Clear drive non volatile parameter The parameter memory is cleared at the factory before shipping The 0x1F memory memory should also be cleared before changing drive firmware versions SAVE Save parameter values from RAM to After setting up drive parameters the parameters should be saved 0x1C non volatile memory so that they are preserved during power cycles LOAD Load parameters from non volatile Load a known set of parameters form the non volatile memory Ox1E memory to RAM operational memory RSTVAR Restore parameters to the factory Restore parameters to the factory default 0x1D defaults CONFIG Configure the drive s internal data After setting drive parameters and primarily motor parameters the 0x20 fields based on the parameter values drive will be ina NOT CONFIGURED state The LED will show a alternating and 1 It is necessary to execute the CONFIG
35. 10000 1000 EEPROM Yes Sets the maximum current for the commutation initialization process 0x31 Firmware Version 0 1 9 Read Write Data Type Integer of MICONT Range 0 to 177 25 EEPROM Yes Explicitly put the drive into its Encoder Initialization state This can be used when MENCTYPE is set to the values 3 or 4 for encoder initialization without Halls This is an action type instruction it does not read or write a parameter but causes a specific action to be take Use this parameter as if it were a write only parameter with a data value of zero If the ENCTSTART instruction is executed with the encoder type MENCTYPE set to a value other than 3 or 4 an error message MENCTYPE MISMATCH will be returned If ENCSTART is executed when the feedback type is Resolver the error message NOT AVAILABLE will be returned The ENCSTART instruction is also implemented in Direct Command 0x60 This is used in the PhaseFind exe utility 0x49 Firmware Version 0 1 9 Action Data Type Integer N A Range 0 N A EEPROM No Sets the timer for the commutation initialization process This is the time between the first and second current steps Increasing this time can help with phase finding when the friction is low 0x64 Firmware Version 0 1 9 Read Write Data Type Integer Milli seconds Range 108 to 16000 25 EEPROM Yes Sets the combined inertia of the motor and the load For rotary motors the motor inertia is that of the rotor and for linear mo
36. 13 Axis 2 brake contact Note polarization 14 Axis 1 positive limit Opto input 5 24V Wired to SynqNet FPGA Referenced to Common on pin 1 15 5VDC supply to secondary encoder Fuse protected resettable fuse 16 Axis 1 home signal Opto input 5 24V Wired to SynqNet FPGA Referenced to Common on pin 1 17 Ground for secondary encoder power Connected to Digital Ground in the drive PicoDAD SN User Manual Page 27 of 130 Danaher Motion Kollmorgen January 30 2006 Pin Description Comments 18 Axis 1 brake contact Dry contact relay controlled by SynqNet FPGA 19 Axis 1 brake contact Note polarization 20 Common for Axis 2 inputs Common for CW CCW and Home 21 Pas 2 secondary encoder P compiaman signal RS 422 input wired to SynqNet FPGA 22 Axis 2 secondary encoder B signal 23 Ground for secondary encoder power Connected to Digital Ground in the drive 24 Axis 2 secondary encoder A complement signal a input with pin 26 wired to SynqNet 25 5VDC supply to secondary encoder Fuse protected resettable fuse 26 Axis 2 secondary encoder A signal RS 422 input with pin 24 wired to SynqNet FPGA 8 2 6 Controller I O 8 2 6 1 Connector Definition Manufacturer Connectors from any of the following manufacturers are used 3M ACON Hirose Part Number 3M ACON HBR50 20K3211 Hirose DX106GM 50SE N10250 52B2VC
37. 3 62 6 XAMP BINN WINNT gt 9 16 6 Clearing Faults Faults cleared using Direct Command 0x09 see section on for details on how to use Direct Commands Faults will only be cleared if the fault condition no longer exists When using the sqCmd utility the following instruction will cause the faults to be cleared PicoDAD SN User Manual Page 84 of 130 Danaher Motion Kollmorgen January 30 2006 sqCmd node x channel y memory 3 addr 0x9 write where x is the node number Nodes are numbered from 0 y is the drive or axis number on that node Drives are numbered from 0 0x9 is the Direct Command identifier for clearing the fault status word Notes The Over Current and Watchdog faults can only be cleared by a power cycle The Current Foldback bit is a warning only the drive is not disabled when foldback occurs and this bit is not latched It is cleared when the drive is no longer in the foldback state Faults can also be cleared through MotionConsole by clicking on the CLEAR FAULT button in the Motion Supervisor Actions window 9 16 7 Fault History The drive stores the last 10 faults in a cyclic buffer Each fault has a time stamp indicating the time at which the fault occurred The timer is reset to zero at each power up The fault history log is accessible only from the serial port and is read using the FTLHIST instruction 9 17 Direct Commands Direct Commands are used to service commands to th
38. 32 bit unsigned binary number signed8 An 8 bit binary twos complement number signed16 An 16 bit binary twos complement number signed32 An 32 bit binary twos complement number hex32 An 32 bit unsigned hexadecimal number same as unsigned32 but displayed as hexadecimal enumerated A list of numbers 1 2 3 4 where each number has a specific meaning same as unsigned32 but displayed as a selectable list mask A set of bits 1 2 4 8 where each bit has a specific meaning same as unsigned32 but displayed as a set of selectable flags character An ASCII character single A 32 bit floating pint number according to IEEE754 action A write only parameter where the data is always zero Performs an action command on the drive that does not need any data A few examples from the PicoDAD are 0x01 MBEMFCOMP rw signed16 0 100 0 Back EMF compensation percentage 0x02 DICONT ro signed16 10 1100 O Drive rated continuous current 0x03 DIPEAK ro signed16 10 1100 0 Drive rated peak current 0x04 ICONT rw signed16 0 1000 0 Application rated continuous current 9 6 4 4 Configuration Section The Configuration Section lists the parameters that will be downloaded to a drive from a drive configuration file or uploaded from a drive to a configuration file using the sqDriveConfig utility The section begins with a header as follows config The header is followed by a list of drive paramet
39. Amp Range 16 to 64 548 Linear N 1000 Amp Default 0 EEPROM Yes PicoDAD SN User Manual Page 53 of 130 Danaher Motion Kollmorgen January 30 2006 MBEMF Sets the motors Back EMF constant MBEMF is part of the Back EMF compensation algorithm This parameter can be set in place of MKT in cases where the back EMF is specified Motor data sheets often specify the back EMF constant MBEMF The conversion from back EMF constant to torque constant is done as follows Rotary MKT MBEMF 16 55 where MBEMF is in units of V 1000RPM Linear MKT MBEMF MPITCH 16 55 60 SQRT 2 where MBEMF is in units of V m s To convert from units of lb in Amp to N m A multiply by 0 1130 When this variable is set the drive enters a no comp state requiring a CONFIG command Parameter Index Ox0B Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Rotary V 1000RPM Range 1 to 3900 Linear V m s Default 0 EEPROM Yes 9 8 7 Current Limits The drive current limits are set primarily by the drive peak current and drive continuous current ratings DIPEAK and DICONT respectively The drive current rating is coded in hardware and these values are initialized at power up according to that coding All drive current limits derive from these two values and all parameters rated to current are scaled to the value of DIPEAK DIPEAK Parameter Index Data Access Units Default Defines the rated peak current of the d
40. Connector Definition Manufacturer used 3M ACON Hirose Connectors from any of the following manufacturers are Part Number 3M N10226 52B2VC ACON HBR26 20K3211 Hirose DX106GM 26SE Mating Connector Part Number 3M Connector Housing Cable 10126 6000EC 10326 3210 00 3M 3444C 13P PicoDAD SN User Manual Page 26 of 130 Danaher Motion Kollmorgen January 30 2006 8 2 5 2 Connector Pin Arrangement Pin 2 Pin 1 Pin 26 Pin 14 8 2 5 3 Pin Out Pin Description Comments 3 Common for Axis 1 inputs Common for CW CCW and Home 2 Axis 1 negative limit Opto input 5 24V Wired to SynqNet FPGA Referenced to Common on pin 1 3 Pus 1 secondary encoder B signal RS 422 input 4 Axis 1 secondary encoder B complement signal 5 ms 1 secondary encoder A signal RS 422 input 6 Axis 1 secondary encoder A complement signal 7 Axis 2 positive limit Opto input 5 24V Wired to SynqNet FPGA Referenced to Common on pin 20 8 Axis 2 home signal Opto input 5 24V Wired to SynqNet FPGA Referenced to Common on pin 20 9 Axis 2 negative limit Opto input 5 24V Wired to SynqNet FPGA Referenced to Common on pin 20 10 Axis 2 secondary encoder Index signal 11 Axis 2 secondary encoder Index complement RS 422 input wired to SynqNet FPGA signal 12 Axis 2 brake contact Dry contact relay controlled by SynqNet FPGA
41. D SN User Manual Page 109 of 130 Danaher Motion Kollmorgen January 30 2006 OUTRNGHIRE Upper out of range limit for Resolver feedback Parameter Index Ox6A Firmware Version Data Access Read Write Data Type Units N A Range Default 18432 EEPROM 11 5 Identifying Firmware Versions There are many software entities in the SynqNet system among which are e Drive firmware e Drive SynqNet runtime FPGA e MPI version e Motion controller XMP or ZMP firmware 1 0 0 0 Integer 0 to 32767 Yes By executing the VERSION SynqNet utility one can get information on the versions of all these entities The VERSION utility is typically executed from within a DOS window and run from the MENXMP BIN WinNT directory Syntax C Mei Xmp Bin WinNT gt version Response A typical response will look like the following ex Command Prompt C MEI NO3 62 G RMP BIN WINNT version MPI version 63 62 06 MPI firmware version 561 option ZMP firmware version 561 revision A sub revision 4 option branchld Driver version 3 00 Boot Version 1 65535 ZBoot Version 1 068 version BxBB1C option BxBB1C version x 224 package xA3 1 TO15 00B01 Serial Number 510042 1 Nodes String Node Kollmorgen PicoDAD Node Type 6x 6030626 FPGA ID BXCOFEBB35 Option 6x666060860 FPGA Ver 6x62 466343 Serial FPGA Branch 6x 66660068 Model FPGA Type RUNTIME Unique 6x 88800824 FPGA Default YES Switch 6x66606063 ID Match
42. D SN User Manual Page 19 of 130 Danaher Motion Kollmorgen January 30 2006 7 Mounting The PicoDAD SN is designed for book mounting This panel assembly is then mounted in a metallic enclosure Enclosures are supplied by the manufacturers of the final product and meet the environmental IP rating of the end product To ensure proper grounding and to optimize EMC the enclosure should have continuous ground continuity maintained between all metal panels This ground continuity is intended to be both a safety ground and a high frequency ground The units are mounted on a backplane installed into the enclosure Ideally the backplane should be an unpainted metallic surface to optimize electrical bonding of the frame and provide the lowest possible impedance path to earth ground These enclosures also provide added safety Particular care should be used when layout of an enclosure is designed Separate power wires from small signal wires The following guidelines highlight some important wiring practices to implement e Control and signal cables must be separated from power and motor cables Distance of 20 cm 8 in is sufficient in most cases e Control and signal cables must be shielded to reduce the effects of radiated interference e When control cables must cross power or motor cables they should cross at an angle of 90 if possible This reduces the field coupling effect 7 1 Hardware Specifications 7 2 Outline Dimensions
43. DIR bit 2 1 3 and 1 0 0 1and5 60 300 5 and 4 120 240 4 and 6 180 180 6 and 2 240 120 2 and 3 300 60 Set MPHASE 360 Angle f machine positive direction is opposite to motor phase direction add or subtract 180 from MPHASE 9 11 3 5 Set MFBDIR bit 0 Rotate the motor manually one rev or one pitch The direction is not relevant Rotate the motor manually slowly to the positive motor phase direction and monitor PRD If PRD counts down set MFBDIR bit 0 to 1 9 11 3 6 Set MFBDIR bit 1 Rotate the motor manually slowly to machine positive direction and monitor PFB If PFB counts down set MFBDIR bit 1 to 1 9 11 3 7 Operate the system Save Settings At this point everything should be working properly Save the settings to the CD s EEPROM using the serial SAVE command or the SynqNet 0x1C Direct Command and to disk Confirm Proper Commutation at All Initialization Conditions Disable the drive Push the drive by hand until the HALL state is 001 Turn off power to the drive and wait for the LED display to go blank and then wait 5 seconds more Turn on power to the drive Slowly increase positive DAC input to the drive until motion just begins in the positive direction Slowly decrease negative DAC input to the drive until motion just begins in the negative direction The positive and negative DAC values should be approximately the same assuming the motor is level Repeat this process by sta
44. E 2 Linear Motor this variable must be set to a value of 2 0x10 Firmware Version 0 0 1 Read Write Data Type Integer Poles Range 2 to 80 even values 0 EEPROM Yes PicoDAD SN User Manual Page 46 of 130 Danaher Motion Kollmorgen January 30 2006 9 8 3 Feedback Parameters FEEDBACK Parameter Index Data Access Units Default MENCTYPE Parameter Index Data Access Units Default Sets feedback type This parameter must be matched with type of feedback connected to the axis Always disconnect the feedback before making changes to this parameter 0x43 Firmware Version Read Write Data Type N A Range 0 EEPROM 1 0 0 Integer 0 Not defined 1 Resolver 2 Encoder 3 Sine encoder 4 Halls only Yes Sets the motor encoder type when using Quadrature or Sine Encoder feedback This parameter is ignored when using Resolver feedback When this variable is set on an encoder based system the drive enters a no comp state requiring a CONFIG command 0x24 Firmware Version Read Write Data Type N A Range 0 EEPROM Notes on MENCTYPE 1 MENTYPE values 0 and 6 are supported for quadrature encoder feedback only and not for sine encoder 0 1 0 Integer 0 A B I with Halls 3 A B only phase finding is triggered by the phase finding routines in the motion controller 4 A B only phase finding is triggered by Enable 6 A B with Halls 9 EnDat Yes 2 When using an e
45. Get the value of an ADC channel lf implemented at the Drive Processor Get_Monitor_A Switch 0 Pointer_A points to one of the tabulated values 1 Pointer_A points to a memory location in the data memory space Get_Monitor_B Switch 0 Pointer_B points to one of the tabulated values 1 Pointer_B points to a memory location in the data memory space Get_Monitor_C_ Switch 0 Pointer_B points to one of the tabulated values 1 Pointer_Apoints to a memory E location in the data memory space Set_Autonomous Drive Action Sets up the next autonomous drive _Type action Cancel_Autonomous_Drive_Act The drive returns to the state prior to ion l starting the autonomous drive action Get_Phase_Finding_Status The drive returns a value indicating the status of the phase finding process PicoDAD SN User Manual Page 87 of 130 Danaher Motion Kollmorgen January 30 2006 9 17 2 Direct Command Syntax When using the sqCmd utility the command syntax is as follows sqCmd node x channel y memory 3 addr lt command code write data lt data value gt read where x is the node number Nodes are numbered from 0 y is the drive or axis number on that node Drives are numbered from 0 lt command code gt is the Direct Command identifier lt data value gt is the data to be written when accessing a Direct Command that takes data Note Some Direct Commands are defined as being of the WRITE type but they do not
46. KOLLMORGEN www DanaherMotion com PicoDAD SN Compact Dual Axis SynqNet Servo Drive User Manual Revision No 2 0 Date 30 January 2006 Solutions by DANAHER MOTION Danaher Motion Kollmorgen January 30 2006 Table Of Contents 1 Revisi n Hist ry AAA TT 2 CONVENIOS iii cir ao 3 Product Descrip o rr bi ssas raose Raro 3 1 GENERAL neta de a llo e dad E en E 9 3 2 SY NONETO ui a ii 9 3 3 PART NUMBER cocineta dalla A E EE S SEES iia 10 3 4 ELECTRICAL INTERFACE 43 s0g ssveedes atesesexetcecdesavshone et tce be dni 10 3 5 CONTROL SPECIFICATIONS csissvecdeecsteseseaeiceddesaeseoedet cca beg sassocdeeetesedeusecoeed ce sesdeveascossseVecveenncees 10 3 6 MOTOR TYPES icono dia ta 10 357 MOTOR FEEDBACK 43955253 danita 10 3 8 SECONDARY ENCODER ea re re er cee eaveddveaucdecg dees denia AE O EREE eric 11 3 9 N O EEE EE E NP 11 3 9 1 Mare A A A BEER eB Bs ts as CB REA a8 11 3 9 2 Controller VO a lilas 11 3 10 POSTION CAPTURE A Ae EE 12 3 11 DIAGNOSTICS ct A A a tio 12 3 12 ROTAR SWITCH 62 222 2865 2 ara tit 12 3 13 SERIAL COMMUNICATION Sota it data E aE 12 4 Naming CONFIO reir 4 1 AXISNUMBERING ai a id 13 5 Drive AFCOME CUTE rio recrea dO 5 1 DRIVE PROCESSOR AND SYNQNET FPGA cccccconocononononoconanononononcononnanonononcononnnnnnnnnnccnonnanonons 13 5 2 FIRMWARE VERSIONS csssessscccececsessaececececeensaacaecececeessnaececececsessaaececeesenensaaeeeeeeeesenenaees 13 5 2 1 PCP GA PUI nwa resi a a a 13 5 2 2 DEE
47. Kollmorgen January 30 2006 MLMIN Parameter Index Data Access Units Default VBUS Parameter Index Data Access Units Default MLGAINC Parameter Index Data Access Units Default MLGAINP Parameter Index Data Access Units Default PWMFRQ Parameter Index Data Access Units Default Sets the motor s minimum line to line inductance This variable is used for current loop controller design and as an input to the Torque Angle Control algorithms The current loop gain is directly proportional to the value of MLMIN When this variable is set the drive enters a no comp state requiring a CONFIG command Ox0E Firmware Version 0 0 1 Read Write Data Type Integer Milli Henries 10 Range 1 to 32 767 0 EEPROM Yes Sets the drive bus voltage This variable is used for current controller design The current loop gain is inversely proportional to the value of VBUS VBUS also affects the value of VMAX see VMAX When this variable is set the drive will enter a no comp state requiring a CONFIG command 0x17 Firmware Version 0 0 1 Read Write Data Type Integer Volts Range 10 to 850 48 EEPROM Yes Sets the current loop adaptive gain value at continuous motor current When this variable is set the drive enters a no comp state requiring a CONFIG command 0x0C Firmware Version 0 0 1 Read Write Data Type Integer 10 Range 1 to 100 8 EEPROM Yes Sets the current loop adaptive gain value at peak motor current
48. MWARE ccccccccecsssssaececececsesseaececececsesaaececececsensaaecesececeeseaaeaeeeceeeeneaees 127 17 4 1 COMMUNICATIONS SCUINGS ianurie dades ORE E SENS 127 17 4 2 DELECE DI AEREE a EA E AE 128 17 4 3 Start Firmware Update iii e ei da 129 17 5 RESUMING OPERATION ii Aita doc 129 17 5 1 Return Drive to Operational Stdte ccccccesccescesecesecsseenseeseesseeseeeseeeeeceeeeseceaecnaenae 129 17 5 2 Re store Drive PB GV GIMELCTS so A A A Bap Pen Nive eadiuae NR a 129 17 6 CONSIDERATIONS FOR HARDWARE EMBER ssssssssececeesssneceeececeessnnececececeensaeeeseeeeeenenaees 129 Table of Figures Figure 5 1 Drive Memory ArchiteCture eeccceeecceeeeeeneeeeee ence eee ae eee ee ea nn nc eee aeeeeeeaaeeeeeeaaeeeeeeaeeeeeeaeeeeeneaa 15 Figure 9 1 gt Current Scaling iise ea ttn ai aa a ee ee ea ees 38 Figure 9 27 GurrentiFoldDack ocio it tt td atada teeeedieels 58 Figure 9 3 Commutation Initialization Velocity RESPONSE ooonccccnccononcconocaconcccnonnnon nc nn no cono rn naar cana nnncn 73 Figure 9 4 Warning indication in MOtioNCOnsole cccccceeeceeeeeeeceeeeeeeeeeeeeeeeeeaeeeeaaeseeeeeseaeeesaeeeeaeeeeeeeess 81 Figure 9 5 VM3 Screen Showing Monitored Data ccccccesceeeeeeeceeeeeeaeeeeeeeceaeeeeeaaeseeeeeseaeeesaesseeeeeeeeess 90 Figure 9 6 Selecting Traces in MOtioNScope cccccccceeeeeeeceeeeeceaeeeeaaeeeeeeeceaeeeeaaeseeeeeseaeeesaeeseaeeseeeeess 91 PicoDAD SN User Manual Page 5 of 130 Da
49. Mating Connector Part Number 3M Connector 10150 6000EC Housing 10350 A200 00 Cable 3M 3444C 25P 8 2 6 2 Connector Pin Arrangement Pin 2 Pin 1 Ey gt Controller Pin 50 Pin 26 8 2 6 3 Pin Out Pin Description Comments Common for Opto isolated Inputs 1 2 3 4 Motor 0 OPTO IN2 Referenced to Common on pin 1 Motor 0 OPTO IN1 Referenced to Common on pin 1 PicoDAD SN User Manual Page 28 of 130 Danaher Motion Kollmorgen January 30 2006 Pin 4 Description Comments 4 Motor 1 OPTO IN2 Referenced to Common on pin 30 5 Motor 1 OPTO IN1 Referenced to Common on pin 30 6 Motor 1 REMOTE ENABLE Referenced to Common on pin 33 7 Motor 0 REMOTE ENABLE Referenced to Common on pin 33 8 Common for Opto isolated Outputs 1 2 3 4 9 Motor 1 OPTO OUT1 Referenced to Common on pin 8 10 Motor 1 OPTO OUTO Referenced to Common on pin 8 11 M RS422 OUT OA DS RS 422 output wired to SynqNet FPGA 12 Motor 0 RS422 OUT3 Complement 1 M RS422 OUT2 3 OVR ARON RS 422 output wired to SynqNet FPGA 14 Motor 0 RS422 OUT2 Complement 1 M 1 RS422 OUT1 l t GE Be CA aa RS 422 output wired to SynqNet FPGA 16 Motor 1 RS422 OUT1 17 IM RS422 IN2 OS RS 422 input wired to SynqNet FPGA 18 Motor 0 RS422 IN2 Complement 1 M RS422 IN1 ee RS 422 input wired to SynqNet FPGA 20 Motor
50. N Run the VERSION utility from the XMP BIN WINNT folder to get information on the MPI FPGA and drive processor versions A response similar to the following will be received Dx CIAMEINOB3 62 BOMAMPABIN WINNT gt uversion MPI version 63 62 60 MPI firmware version 561 option ZMP firmware version 561 revision A sub revision 4 option branchld Driver version 3 66 Boot Version 1 65535 ZBoot Version 1 666 PLD version BxBB1C option BxBB1C Rincon version MxB224 package xA3 1 ZMP 7615 6661 Serial Number 510042 Synqnet 1 Nodes String Node Kollmorgen PicoDAD Node Type 6x 6030020 ID xC FE G35 Option 6x88800008 Ver 6x82466343 Serial Branch 6x66666600 Model Type RUNTIME Unique 6x88888024 Default YES Switch 6x86860063 ID Match YES Drive Firmware version Drivel1 Firmware version Operating system Windows XP build 2600 Service Pack 1 CPU x86 Family 15 Model 1 Stepping 3 Intel lt R gt Celeron lt R gt CPU 1 8 8GHz Clock 1794 MHz CIAMEINO3 02 RAMP BIN WINNT gt 10 4 2 Restore Drive Parameters e Download the previously saved drive parameters using the SqDriveConfig utility The syntax is described below The syntax assumes that the utility is executed from the XMP BIN WINNT folder SqDriveConfig node x drive y set lt destination file name gt map lt map file name gt where x is the node number Nodes are numbered from
51. PGA Quad Encoder 62 5useconds Resolver 125useconds Sine Encoder 125useconds 9 8 Drive Configuration The axes on the PicoDAD are configured via a set of parameters This section describes how to set these parameters and other operations related to them such as saving them in memory The parameters are grouped by function PicoDAD SN User Manual Page 44 of 130 Danaher Motion Kollmorgen January 30 2006 9 8 1 The CONFIG Function The drive s current loop structure is not directly accessible by the user Instead of setting PID parameters for example the current loop is configured internally based primarily on motor parameters When entering motor parameters or other parameters that affect the behavior of the current loop the drive with enter a state that is called NO COMP short for No Compensation This means that the current loop is not compensated In this state the drive is a no comp fault state as indicated by an alternating and 1 on the 7 segemnt LED and is not available for controlling motion The CONFIG command must be executed in order to configure the current loop and return the drive to an operable state This command is accessed via Direct Command 0x20 Note To configure the drive set all the parameters and then execute the CONFIG instruction 9 8 2 Motor Parameters MPITCH MPITCH is a variable for use with linear motors MOTORTYPE 2 It defines the pole pitch lengt
52. RES rw unsignedl6 12 14 0 Sets resolver resolution 0x4C RESBW rw signedl16 200 800 300 Sets resolver bandwidth 0x4D PRD ro unsignedl16 0 65535 0 Mechanical angle 0x50 ICMD ro signedl6 1000 1000 0 Current command 0x51 FOLDD rw signedl16 32767 0 Foldback decay time 0x53 FOLDR rw signed1l6 32767 0 Foldback recovery time 0x54 FOLDT rw signedl16 32767 0 Foldback initiation time 0x57 MBEMF rw unsigned16 3900 0 Motor Back EMF Ox5A SINPARAM5 ro unsignedl6 032767 0 SININIT Resolver gain fix Ox5B SINPARAM6 ro unsigned16 0 15 0 SININIT Resolver gain shift Ox5E ANLPFHZ1 rw signedl6 10000 0 Analog input 1 LPF frequency Ox5F ANLPFHZ2 rw signedl16 10000 0 Analog input 2 LPF frequency 0x60 RMTMODE rw unsignedl16 0 1 0 Remote Enable usage 0x61 UVTRESH rw signedl16 6 40 0 Under voltage threshold 0x63 ENCINITST ro enumerated 0 Not_Running 1 Running 2 0 Encoder Index finding Index_Found process state 0x64 INITTIME rw unsignedl16 108 16000 0 WNS process timer 0x67 OUTRNGLOSI rw unsigned16 0432767 7680 Sine Encoder out of range lower limit 0x68 OUTRNGLORE rw unsigned16 0 32767 2560 Resolver out of range lower limit 0x69 OUTRNGHISI rw unsigned16 0732767 18432 Sine Encoder out of range upper limit Ox6A OUTRNGHIRE rw unsigned16 0 32767 18432 Resolver out of range upper limit Ox6B IACLPF rw unsignedl6 0 5000 0 Phase A an
53. SN User Manual Page 62 of 130 Danaher Motion Kollmorgen January 30 2006 ZERO Enables and disables feedback Zeroing Mode If Zeroing Mode is enabled the drive rotates the motor to an electrical null by placing IZERO current from the motor C terminal to the B terminal 0 zeroing mode disabled 1 zeroing mode enabled Parameter Index Ox3A Firmware Version 0 0 2 9 Data Access Read Write Data Type Integer Units N A Range 0 1 Default 0 EEPROM No IZERO Sets the C B phase current for ZERO Mode Parameter Index 0x39 Firmware Version 0 0 2 9 Data Access Read Write Data Type Integer Units of MICONT Range 1 to 177 Default 25 EEPROM Yes Caution When the zeroing mode is enabled the drive moves the motor without control from the motion controller When using this mode the motion controller The procedure is as follows e Start the system e Ignore index pulse if exists set MENCTYPE 6 if working with a quad encoder e f working with Halls make sure a hall transition occurs before proceeding e Set ZERO 1 e Enable the drive e Increase IZERO to obtain accurate position holding e Query PRD value at the lock position e Query MPOLES value e Follow the formula for computing MPHASE MPHASE PRD 65536 MPOLES 2 360 e Add or subtract multiples of 360 so that 0 lt MPHASE lt 360 9 9 4 Setting MPHASE with AKM Motors First make sure that the motor is wired to the drive according to the descriptions given in the sectio
54. User Manual Page 2 of 130 Danaher Motion Kollmorgen January 30 2006 8 4 CONNECTOR KIT ias 32 8 5 GROUNDING TREE eeii E E EE Sheva nceevl ede code snsuecvessvee llenada incas nado een doit 33 8 6 ELECTRICAL INTERFACES cnco ece arie a E EE EE EE E EEE ctbeedus G R ues 33 8 6 1 Over Travel Limits and HOME ccccccccccccssvssvsceceseccsnesuececececsesesusceeececsesesusaeeeeeceenensaas 33 8 6 2 Remote ENADle 2 A A di 34 8 6 3 General Purpose Inputs siniese aa at siii 34 8 6 4 General Purpose Outputs cocina a e sii a E 34 8 6 5 High Speed Inputs coca octane sh dd et dio eae 35 8 6 6 High Speed Outputs Usina ind atte e ea TEE EE AEE cdi da 35 8 6 7 Analog INPUT ad dai a e enti 35 8 6 8 Fault Relayer A a a A Seas aaa ita 36 8 6 9 Brake Reyal E 36 8 6 10 Sine Encoder anaa ae e E Di Res Beth oad accede 36 8 6 11 HOUSE AE A A EE a ed Bee I 36 8 6 12 Quadrature ENCODED ane csc bag A A in ea 36 9 AE AAA A E 9 1 POWERING UP aii dad 37 9 2 SYNONET UTILES toi ia ias 37 9 3 ROTARY SWITCH CONFIGURATION ccescceesseceseeecseceeeeecsaeceeeeecsaeceeneecsaeceeneecsaeceeneecsaeeses 37 9 4 CURRENT SCALING it da 37 9 5 PWM SATURATION s 0432 casatecsstuestepeaiceecees coidoentedenisverebepsauee Sorts ccddenaaslecdesnendencasededeushcoddecudis 38 9 6 DRIVE PARAMETERS 3 bi casscecevsasedcy sagcceciees cad docn ced evievecebepiacelecesdycadde EEE A aS 38 9 6 1 Memory Operations on Drive Parameters ooonocincninnnnnnnonnnnncnnn cono cnno cnc rn conan or
55. a Access Read Only Data Type Integer Units of DIPEAK 0 1 Range 0 to 1 000 Default 0 EEPROM No IC This parameter reads the instantaneous value of the current on phase C Parameter Index 0x2B Firmware Version 0 0 1 Data Access Read Only Data Type Integer Units of DIPEAK 0 1 Range 0 to 1 000 Default 0 EEPROM No 9 8 10 Current Measurement Filters Low pass filters may be applied to the current measurements in order to reduce noise that may exist on the measurement or on the motor cables Two filters exist one that is applied to phases A and C and one that is applied to phase B The reason for this differentiation is that current is actually measured on phases A and C while it is calculated for phase B PicoDAD SN User Manual Page 56 of 130 Danaher Motion Kollmorgen January 30 2006 Note Using low pass filters on the current measurement adds phase lag to the current loop and results in a slower current loop response This is not necessarily good or bad it just has to be considered within the context of the control system IACLPF Sets the low pass filter that is applied to the current measurement on phases A and C Setting the value to 0 disables the low pass filter Parameter Index 0x6B Firmware Version 0 0 2 5 Data Access Read Only Data Type Integer Units Hz Range 0 to 5000 Default 0 EEPROM Yes IBLPF Sets the low pass filter that is applied to the current measurement on phase B Setting the value to 0 disables the low p
56. alid drive parameters for a particular drive model The file contains five sections File Header Drive Identification Parameter Identification Configuration and File Footer Each Drive Identification section is matched with a Parameter Identification section and a Configuration section There may be more than one such set of sections for a specific drive allowing for different parameter sets being supported by different firmware versions The format is described below Words in talics indicate items that are file specific A sample map file for firmware version 0 1 9 is shown in the appendix Drive Parameter Map File Note The drive parameter map file is distributed with the MEI software installation For the PicoDAD the relevant map file is called Kollmorgen_Picodad dm and it is generally located in the XMP BIN directory Map files are matched to drive firmware versions The most up to date map files can be found on the MEI Support Website at http support motioneng com Downloads Notes Firmware fw_picodad htm PicoDAD SN User Manual Page 40 of 130 Danaher Motion Kollmorgen January 30 2006 9 6 4 1 File Header The file header contains one line and is always HNWPI Drive Parameters 9 6 4 2 Drive Identification Section This section contains one line describing The name of the manufacturer the model number and the drive firmware versions that are compatible with the drive parameter list Manufacturer and Model d
57. alls FEEDBACK 0x43 R W N A Integer Sets feedback type This parameter must be matched with type of feedback connected to the axis Always disconnect the feedback before making changes to this parameter 0 not defined 1 resolver 2 encoder Sine enor sine encoder FOLDD 32 767 FOLDR x53 RW mSec 82 767 integer_ Foldbackrecoverytime PFOLDT 0x54 RW mse 1 32767 integer A AAA AA PFOLDTIME 0x55 RW See f s integer TOO SSS PHALLS 0x44 R Na NA NA intege NA indicateshallsstate device HWPOS 0x4A Counts Device Long Integer Device Reads absolute feedback dependent dependent information Oo o4 R oeofbiPEAK o01 o 1 000 Indicates motor current pla o0xA R _ ofDIPEAK 01 NA NA integer NA Phase A current IACLPF 0x6B R W Hz 5000 Integer Low pass filter on current measurement on phases A and C Set to 0 to disable the filter IAOFF R_ ofDIPEAK 01 NA NA integer NA _Phase A current offset IBLPF 0x6C R W Hz 5000 Integer Low pass filter on current measurement on phase B Set to 0 to disable the filter PicoDAD SN User Manual Page 120 of 130 Danaher Motion Kollmorgen January 30 2006 Index C xB R of DIPEAK 0 1 Phase C current ICOFF Ox2D_ R of DIPEAK 0 1 Phase C current offset ICONT 0x04 R W of DIPEAK 0 1 IMAX Integer Min DICONT System continuous current This MICONT variable is used in the foldback algori
58. ameter ILIM can be set to any value up to IMAX If ILIM is less than IMAX then foldback will of course be from the ILIM level and not from the IMAX level In this case foldback will begin after a time that is greater than FOLDD the exponential current decrease is always calculated from IMAX FOLDD Sets the delay time for drive foldback This is the minimum amount of time that the system current can exceed ICONT before the drive enters the drive foldback state The delay time assumes a worst case scenario where the drive is applying IMAX current A current level of less than IMAX can be allowed for a longer time It is highly recommended to use the default value of this parameter Parameter Index 0x51 Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Milli seconds Range 1 to 32 767 Default 1000 2000 EEPROM Yes depends on power stage rating FOLDT Sets the time constant for drive foldback After the drive enters the drive foldback state this variable defines how long it will take the drive to reduce the system current level to ICONT Parameter Index 0x54 Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Milli seconds Range 1 to 32 767 Default 1450 2500 EEPROM Yes depends on power stage rating PicoDAD SN User Manual Page 58 of 130 Danaher Motion Kollmorgen January 30 2006 FOLDR Parameter Index Data Access Units Default FOLDMODE Parameter Index Data Acce
59. an cnn rra 39 9 6 2 Accessing Individual ParameterS oononicnnnnonnnanonnnnnnnncnnnnn nono nn nono rn nnnn ona rnn anno nn cra rn nnnnon 39 9 6 3 Accessing an Entire Parameter Set ooooniocincnoniconncnnnonnonnnonanonnnonnnnnnnnononnn cono c nero nccn nooo 40 9 6 4 Drive Parameter Map File 2 ies 40 9 6 5 Drive Configuration Elli nto iia 43 9 7 MOTOR POSITION nai pea ch sciccs docs vauece tute di ts a EEE than iouned sob N GEE doan E EEES 43 9 7 1 Position Feedback PAVAM eter ooooooconaconanncnccnononnanononocnonanno nono ncononnn nono nonconnnn na nn A A 43 9 7 2 Mechanical Postio a na e e idas 44 9 7 3 POSUTON Reso ON a eo HA EN a RES BRS 44 9 7 4 Timing of the Position Update ii 44 9 8 DRIVE CONFIGURATION otero dle vetoes sntecsts indeed a G eea dead 44 9 8 1 The CONFIG EUncti on hi RA a ONES 45 9 8 2 Motor Parametros Ra ta eee SAE RAR a BERR 45 9 8 3 Feedback Parameters dd Tae eect ee 47 9 8 4 Current LoopPardameters iaa in a ds 50 9 8 5 Phase Advance Parameter eiae eoi ere a E E Eiee erea a EEE EEAS 52 9 8 6 B ck EME Compensatie seccina niee ane i E e a a EE bey 53 9 8 7 rrent LIMS Wi a de van ds Eas E a e 54 9 8 8 Application Current LUNS caidas a aid ej iia 55 9 8 9 Redding Actual CULTA incl a a a a seat aio tees 56 9 8 10 Current Measurement Filters cccccccccccccssscccececeseenssceceseceeusnsscecececeesennsaecececeesenssaeseeeees 56 9 8 11 Current FOLADACK cccccccccccccccssssvececececsssssuececesecseususcecececsenssseeece
60. and then the value of the analog input offset ANOFFx is set in order to have the analog input reading be zero The analog input offset may be set explicitly by the user as well ANZERO1 Parameter Index Data Access Units Default ANZERO2 Parameter Index Data Access Units Default ANOFF1 Parameter Index Data Access Units Default ANOFF2 Parameter Index Data Access Units Default Perform Analog Zero process for analog input 1 0x5C Firmware Version 0 1 9 Action Data Type Integer N A Range 0 N A EEPROM No Perform Analog Zero process for analog input 2 Ox5D Firmware Version 0 1 9 Action Data Type Integer N A Range 0 N A EEPROM No Set or query the value of the analog offset on axis 1 The analog offset can be set explicitly It will be set implicitly as part of the Analog Zero process 0x1C Firmware Version 0 1 9 Read Write Data Type Integer Milli volts Range 5000 to 5000 0 EEPROM Yes Set or query the value of the analog offset on axis 2 The analog offset can be set explicitly It will be set implicitly as part of the Analog Zero process 0x1D Firmware Version 0 1 9 Read Write Data Type Integer Milli volts Range 5000 to 5000 0 EEPROM Yes 9 19 5 Low pass Filtering on the Analog Inputs A digital low pass filter may be applied to the analog inputs Note that there is also a low pass filter in hardware with the 3dB point set at 3 8kHz The filter default is set to 10 000Hz at which value there is
61. and to the drive and receiving position feedback At this time the network is cyclic and the amplifier enable AMPEN bit is set If the drive is carrying out an autonomous drive action such as phase finding or drive sequenced homing then we deviate from normal SynqNet closed loop operation of a drive on the one hand AMPEN must be true to allow the drive to operate in some drives this is a hard wired signal not just a software flag and the network must by cyclic but on the other hand the motion controller s control law must not influence the torque applied to the motor The motion controller firmware has built in mechanisms to manage this process For more information refer to the Motion Engineering Support website at http support motioneng com Software MPl Topics mtr_ phase finding htm PicoDAD SN User Manual Page 69 of 130 Danaher Motion Kollmorgen January 30 2006 9 12 3 Parameters Used During Phase Finding INITGAIN Parameter Index Data Access Units Default IENCSTART Parameter Index Data Access Units Default ENCSTART Parameter Index Data Access Units Default INITTIME Parameter Index Data Access Units Default MJ Parameter Index Data Access Units Default Sets the gain for the encoder initialization process controller Generally it is set to 1000 Set it to a lower value if too much motion is experienced 0x30 Firmware Version 0 1 9 Read Write Data Type Integer N A Range 100
62. ange 2 147 483 648 to 2 147 483 647 Default 0 EEPROM Yes For EnDat systems the value is stored in the EnDat EEPROM 9 13 6 Saving Parameters in the EnDat Encoder When using an EnDat encoder the MPHASE and PFBOFF parameters are read from the encoder at power up and not from the drive s non volatile memory HSAVE Save the MPHASE and PFBOFF parameters to the EnDat EEPROM This is an action type instruction it does not read or write a parameter but causes a specific action to be take Use this parameter as if it were a write only parameter with a data value of zero Parameter Index 0x47 Firmware Version 1 1 0 Data Access Action Data Type Integer Units N A Range 0 Default N A EEPROM No 9 13 7 Sine Cosine Calibration For maximum position accuracy the amplitudes of the sine and cosine signals need to be well matched The Heidenhain encoder specification shows that these signals may have amplitudes independently in the range of 0 8V to 1 2V The CD SynqNet provides the ability to calibrate the sine and cosine signals Refer to the section on Sine Cosine Calibration PicoDAD SN User Manual Page 75 of 130 Danaher Motion Kollmorgen January 30 2006 9 14 Sine Cosine Calibration 9 14 1 Overview The software Sine Encoder and software Resolver algorithms are based on sampling the incoming sine and cosine signals Although the process is transparent to the user and therefore does not require additional commands the
63. art Advanced Exit PicoDAD SN User Manual Page 129 of 130 Danaher Motion Kollmorgen January 30 2006 PicoDAD SN User Manual Page 130 of 130
64. ass filter Parameter Index 0x6C Firmware Version 0 0 2 5 Data Access Read Only Data Type Integer Units Hz Range 0 to 5000 Default 0 EEPROM Yes 9 8 11 Current Foldback Current Foldback is the mechanism by which the drive processor limits the actual current to the rated continuous current The drive s microprocessor monitors the current feedback signal and develops an RMS value of this signal for the purpose of providing a value that represents the current in the motor The system is similar to an I accumulator If the actual current exceeds the continuous current rating of the drive motor combination ICONT the foldback algorithm begins reducing the current towards the ICONT level When the current starts to decrease the drive is said to have entered the Foldback mode When in the foldback mode a steady F is displayed on the 7 segment LED and the Warning bit bit number 14 is set in the Cyclic Status Flags Refer to the section on Warnings PicoDAD SN User Manual Page 57 of 130 Danaher Motion Kollmorgen January 30 2006 The diagram below illustrates the current foldback process Current Amp StartFoldback IMAX 2 EnFoldback FOLDT EndFoldback doo A ICONT o FOLDD 5 FOLDT gt lt FOLDR Figure 9 2 Current Foldback Current is folded back exponentially from IMAX where IMAX is the maximum allowed system current limit The application current limit is set by the ILIM par
65. ault may be triggered Assuming that the sine cosine amplitudes are constant across the entire range of motion but simply of a low amplitude then the acceptable amplitude range may be changed There are four drive parameters used for changing the range of the R 8 fault trigger two parameters are used to set the upper and lower limits for the sine encoder signals and two are used to set the upper and lower limits for the resolver signals The values for these parameters are not related to the physical amplitude of the sine and cosine signals try different values until the fault no longer occurs Note Working with lower amplitudes on the sine and cosine may result in a degradation of position accuracy and thus greater velocity and current ripple The following are the drive parameters that are used to adjust the A B out of range limits OUTRNGLOSI Lower out of range limit for Sine Encoder feedback Parameter Index 0x67 Firmware Version 1 0 0 0 Data Access Read Write Data Type Integer Units N A Range 0 to 32767 Default 7680 EEPROM Yes OUTRNGHISI Upper out of range limit for Sine Encoder feedback Parameter Index 0x69 Firmware Version 1 0 0 0 Data Access Read Write Data Type Integer Units N A Range 0 to 32767 Default 18432 EEPROM Yes OUTRNGLORE Lower out of range limit for Resolver feedback Parameter Index 0x68 Firmware Version 1 0 0 0 Data Access Read Write Data Type Integer Units N A Range 0 to 32767 Default 2560 EEPROM Yes PicoDA
66. axis 2 only The drive provides 5V power individually to each of the secondary encoders The Secondary Feedback inputs are located on the Machine I O connector 3 9 NO The I O is divided into two general categories Machine I O and Controller I O There are two corresponding I O connectors on the drive The I O electrical interfaces are described in the Electrical Interfaces section 3 9 1 Machine I O The following I O points exist for each axis independently e Home e Positive and negative over travel limits e Brake control The brake relays are driven by the Brake Apply output of the SynqNet FPGA Each relay is rated to 24VDC and can carry up to 1A These signals are routed to and controlled by the SynqNet FPGA and are thus processed at the controller level only 3 9 2 Controller I O e 8 general purpose opto isolated inputs e 4 general purpose opto isolated outputs e Enable Each axis has its own Remote Enable input By default the remote enable input has to be asserted in order to enable the drive but this requirement may be ignored by using the RMTMODE drive parameter e High speed I O o Four RS 422 inputs These may be used for position capture o Six RS 422 outputs PicoDAD SN User Manual Page 11 of 130 Danaher Motion Kollmorgen January 30 2006 e 4 general purpose analog inputs o 10Vdc o 12 bit resolution e Dry contact fault relay There is one fault relay driven by the Node Alarm output
67. be cleared by either a SynqNet Excessive current loop gain try reducing RESET AA POWETEYNE MLMIN or increasing VBUS 0x0004 Over voltage Excessive deceleration rate resulting in increased bus voltage due to regeneration voos RN A 0x0010 Drive over temperature The temperature on the heat sink has exceeded 80 C 0x0020 Under voltage Bus voltage is too low Check that AC power is still applied ICC onsa ooo IC A 010000 6 1 5V Reference fail Internal hardware failure 000 ore 0x1000 SynqNet communication fault The SynqNet cable has been disconnected This fault is latched upon receiving a dedicated bit bit 9 in the downstream cyclic demand flags register The drive doesn t filter this bit nor doesn t it wait until the communication between the SynqNet FPGA and the DSP stabilizes It means that even a single appearance of this bit can latch the fault oeoo fonsa 0x4000 Feedback loss Some type of feedback loss has occurred Read the Feedback Loss Status Word to see discover the cause E000 0x00010000 A B Line Break Pe 0x00020000 Illegal halls Illegal halls combination detected The combinations 000 and 111 are invalid Either the signals are not connected properly or they have been inverted incorrectly See MHINVx instructions 0x00100000 EnDat fault Check that the EnDat encoder is connected or check the MENCTYPE parameter to verify that it is correctly set 0x00200000 A B Out of range Check that the si
68. bration the motor can be moved manually or under servo control preferably under velocity control The following steps should be taken Initialize the process by entering the instruction SININIT This is done by accessing the SININIT drive parameter 0x48 When the process is initialized the SININITST parameter SynqNet parameter 0x3B is set to 1 to indicate that the process is running Move the motor in either direction While moving the motor query the status using the SININITST parameter The process is complete when SININITST returns a value of 0 procedure not running Once the process has been completed the sine and cosine offset and gain values are stored automatically in the drive s non volatile memory EEPROM These values may be read but they do not have physical units Refer to the SINPARAMx parameters SynqNet parameters 0x3C to 0x3F PicoDAD SN User Manual Page 76 of 130 Danaher Motion Kollmorgen January 30 2006 SININIT Initialize the sine cosine calibration routine This is an action type instruction it does not read or write a parameter but causes a specific action to be take Use this parameter as if it were a write only parameter with a data value of zero Parameter Index 0x48 Firmware Version 0 0 2 9 Data Access Action Data Type Integer Units N A Range 0 Default N A EEPROM No SININITST Queries the status of the sine calibration process The following values may be returned by the q
69. ccess Units Default MSPEED Parameter Index Data Access Units Default MJ Parameter Index Data Access Units Default MPOLES Parameter Index Data Access Units Default Sets the motor s continuous rated current When this variable is set the drive enters a no comp state requiring a CONFIG command 0x09 Firmware Version 0 0 1 Read Write Data Type Integer Amperes RMS 0 1 Range 10 to 1750 0 EEPROM Yes Defines the maximum recommended velocity of the Motor When this variable is set the drive enters a no comp state requiring a CONFIG command This parameter is used in velocity phase advance calculations 0x11 Firmware Version 0 0 1 Read Write Data Type Integer Rotary RPM Range 10 to 32767 Linear mm sec 0 EEPROM Yes Sets the combined inertia of the motor and the load For rotary motors the motor inertia is that of the rotor and for linear motors the motor inertia refers to the motor coil mass linear motors MOTORTYPE 2 This parameter is necessary when Wake No Shake encoder commutation initialization is used 0x32 Firmware Version 0 1 1 Read Write Data Type Integer rotary Kg m 10 Range 0 to 2 000 000 000 linear grams 0 EEPROM Yes Sets the number of motor poles This variable is used for commutation control and represents the number of individual magnetic poles of the motor not pole pairs When this variable is set the drive enters a state requiring a CONFIG command When MOTORTYP
70. ceesessaecececeesenssaeaeeeees 57 9 8 12 Application Velocity Limit aiii ii ii e 59 9 8 13 Under Voltage Fault Processilg oononnnoonnnnninncinncnancnnnonnnnnn cnn cono cn nero ne conc rn corn ncnn crac 60 9 8 14 Motor Over Temperature Fault Processing coooiononnnnnnmnnnnnnnncnnnconacnnc rn nora nc narran cnn 61 9 9 SETTING THE MPHASE PARAMETER cssccesssscssccesseecssccesseecsscessaeecssccesceecsseceeeecnscessaeees 62 9 9 1 INEV OAUGTION adobo 62 9 9 2 Parameter Definitions oia ia ii aaa o E eraka E ES iaaio 62 9 9 3 Calculating MPHASE using the ZERO Procedure 62 9 9 4 Setting MPHASE with AKM MoOtoOFS onoocccinoconinoninancnanonancnnnnon anar cnn cano coreo neon neon arca nono 63 9 10 ENCODER INDEX POSITION nnt penera n its 63 9 10 1 The MENCOFF ParameteT cccccccccceccsesvessececececesusscececececeeussaeceeececsensaeseeeseesesenssaeeess 64 9 10 2 MENCOFF for Kollmorgen AKM MotofTS oooooiocccnincnonnconnconccnnc canon conan cnn nrnnn nn cnnn cines 64 9 10 3 Encoder Index Initialization ccccccccccccccecssececvescecesusececeesseseeusscecessseeecesssececnsseeesenseees 64 PicoDAD SN User Manual Page 3 of 130 Danaher Motion Kollmorgen January 30 2006 9 11 COMMUTATION INITIALIZATION WITH COMMUTATION SIGNALS cococcoonoononncnncnnorononccnncanena ns 66 9 11 1 The MFBDIR Parameter inisinia einni ei ie naisessa 66 9 11 2 For Resolver Feedback oooooocoonoonononoononnnnnnnononnonnnnnnoncnnnnnnnno conan nono conan aien e
71. ces button The Select Traces screen appears Select Traces Set xj m Select Traces From This List r Trace Set for Pane m Group highlighted Traces m ModifyTrace t Edt Delete MS 0 Status AtT arget 2e MS 0 Status AtVelocity MS 0 Status Done Trace Ordering MS 0 Status InCoarsePosition UserName MS 0 Status InFinePosition Ax 1 Cmd Pos MapName Ax 1 Act Pos Pie Ax 1 Pos Err hess Ax 1 TC Velocity BEE Add ead ec val i Status Banding F11 DAC Gut T EnableBandng Axis o a MS 1 Status AtT arget MS 1 Status AtVelocity sl Wodi KAC 1 Chahoua Dana Add gt ox Cance Dalai Figure 9 6 Selecting Traces in MotionScope Click on the New button to get to a dialog screen in which we will define the monitored data traces PicoDAD SN User Manual Page 91 of 130 Danaher Motion Kollmorgen January 30 2006 Assuming that the monitored data has been set up such that analog input 1 is being monitored on channel A and analog input 2 is being monitored on channel B the new traces will be defined as shown in the following screen capture Edit Trace Properties Name Analog Input 1 Address 0x100014c hex BitMasking MV Masking Enabled Mask Oxtfff ie V Normalize Right Units Counts C Counts Sec C Counts Sec 2 C MiliSecs C Miliolts C Degrees Real complex C Imag complex C Decibels None Data Type Jong 32 bits float 32 bits unsigned long 32 bits
72. cted e Positive torque causes negative velocity e Motor performance is not symmetrical in both motion directions e There is no torque at any position with non zero current MPHASE tuning will not solve e Motor lockup in certain locations e No motion due to current not flowing through the motor e Motor sometimes operates well and sometimes runs away 9 9 2 Parameter Definition MPHASE Defines the commutation angle offset relative to the standard commutation Tuning of MPHASE may be required to achieve motion in the required direction and to achieve balanced motion Parameter Index OxOF Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Electrical Degrees Range 0 to 359 Default 0 EEPROM Yes For EnDat systems the value is stored in the EnDat EEPROM The MPHASE parameter can be used to reverse the direction of motion For example if a positive torque command is causing motion in the negative direction MPHASE can be adjusted by 180 degrees to reverse the direction of motion 9 9 3 Calculating MPHASE using the ZERO Procedure The value of MPHASE can be calculated from results obtained when doing the ZERO procedure The ZERO procedure is generally used to align the feedback device to the motor In this case we can use it to calculate the correct value of MPHASE The procedure uses the PRD parameter which provides the absolute position of the feedback device Refer to details of the PRD instruction PicoDAD
73. cy RDRES Sets resolver resolution READY 0x59 1 Integer Displays whether the drive can be enabled REMOTE E R v RESBW PicoDAD SN User Manual Page 122 of 130 Danaher Motion Kollmorgen January 30 2006 Index RMTMODE 0x60 R W N A 1 Integer A software switch that is used to tell the drive whether or not to ignore the Remote Enable signal 0 Drive does not ignore the Remote Enable signal 1 Drive ignores the Remote Enable calibration process SININITST___ 0x3B__ R Na NA NA _ Integer NA Status of the SININIT process SINPARAM1_ 0x3C_ R Bits 0x8000 ox7ff Integer NA SININITSineoffset__ SINPARAM2 0x3D__ R Bits o0xs000m ox7fff Integer TE NMAC SININITCosineoffset SINPARAM3 oxe R _ NA o ox Integer ENA SININiTSinegainfx__ SINPARAM4 0x3F_ R Na o oxf_ Integer NA SININITSinegaimshift SINPARAM5 0x5A_ R NA ff Integer SININITResolvergainfix__ SINPARAM6 0x5B_ R Na 0 of Integer S SININITResolvergainshift THERM___ oxe ROP NAT NA NA Integer NA State of motor thermostat input THERMODE 0x37 R W N A 1 Integer Sets drive response to motor thermostat input type PoC 2 integer Jo Under voltage state response po f integer Under voltage recovery state A E fault is latched LESA 0 mier Sets ihe drive bus voltage VER 0x18 Version number N A N A Integer Integer O a CCAA VMAX 0x2E RPM 24 000 Integer System
74. d The ACTIVE indication is set when the drive is enabled READY Indicates whether the drive is ready to be enabled or not The drive is ready to be enabled when it is configured and there are no faults Parameter 0x59 Firmware 0 0 1 Index Version Data Access Read only Data Type Boolean Units N A Range O drive not ready for enable 1 drive is ready for enable ACTIVE Indicates whether the drive is enabled or not Parameter 0x26 Firmware 0 0 1 Index Version Data Access Read only Data Type Boolean Units N A Range O drive is not enabled 1 drive is enabled PicoDAD SN User Manual Page 79 of 130 Danaher Motion Kollmorgen January 30 2006 9 16 Faults and Warnings The PicoDAD has a number of different fault codes Faults and warnings are indicated in a 32 bit Fault Status word with each bit indicating a specific fault or warning The drive is disabled when a fault occurs and will be re enabled when the fault condition is removed and the fault state is cleared 9 16 1 Warnings Bit 14 in the Cyclic Status Flags is set when a warning condition exists The warning register can be read using Direct Command OxA to determine which warning conditions exist The following table describes the bits in the Warning Register Bit Warning Possible Cause What to do Number Description i 0x0001 Foldback 0x0002 Under Voltage DN B Phase Finding Required The drive monitors the average current using an I t a
75. d incorrectly 9 19 2 Accessing Analog Inputs Using Direct Commands Analog inputs can be read using the Get_ADC Direct Command The specific analog input being accessed is specified as shown in the table below ADC_Channel Analog Input definition 0 Analog Input 0 1 Analog Input 1 All direct commands have data size of 32 bits If only 16 bits are valid they will be returned being padded with zero s or sign extended accordingly Thus analog input values less than zero will have a OxFFFF sign extension Examples Read value from analog input 1 on the first axis sqCmd node x channel 0 memory 3 addr 0x30 read data 0 Read value from analog input 2 on the first axis sqCmd node x channel 0 memory 3 addr 0x30 read data 1 Read value from analog input 1 on the second axis sqCmd node x channel 1 memory 3 addr 0x30 read data 0 Read value from analog input 2 on the second axis sqCmd node x channel 1 memory 3 addr 0x30 read data 1 PicoDAD SN User Manual Page 93 of 130 Danaher Motion Kollmorgen January 30 2006 9 19 3 Analog Value Monitoring Follow the procedures for setting up real time monitoring Select monitor index 30 or 31 for analog inputs 1 and 2 respectively Note that the same indices are used on both axes 9 19 4 Zeroing the Analog Input Offset The ANZEROx instructions allow the user to zero out an analog input offset The analog input is sampled
76. d C current measurement low pass filter Ox6C IBLPF rw unsignedl6 0 5000 0 Phase B current measurement low pass filter config DICONT DIPEAK MPITCH MOTORTYPE MIPEAK MICONT MSPEED MKT MENCRES MENCTYPE PicoDAD SN User Manual Page 116 of 130 Danaher Motion Kollmorgen January 30 2006 MENCOFF MLMIN MPHASE MPOLES MBEMF COMP MLGAINC MLGAINP MTANGLC MTANGLP MVANGLF MVANGLH ANOFF1 ANOFF2 MHINVA MHINVB MHINVC VBUS ILIM ICONT VLIM MFBDIR INITGAIN TENCSTART MJ UVMODE UVTIME UVRECOVER THERMODE THERMTYPE IZERO ABSPOSMOD MSININT PFBOFF FEEDBACK RDRES RESBW FOLDD FOLDR FOLDT MBEMF ANLPFHZ1 ANLPFHZ2 RMTMODE UVTRESH INITTIME OUTRNGLOSI OUTRNGLORE OUTRNGHISI OUTRNGHIRE IACLPF IBLPF end PicoDAD SN User Manual Page 117 of 130 Danaher Motion Kollmorgen January 30 2006 15 Appendix Sample Drive Configuration File sqNode 1 drive 1 Kollmorgen PicoDAD DICONT 100 DIPEAK 100 MPITCH 32 MOTORTYPE 0 MIPEAK 116 MICONT 29 MSPEED 8000 MKT 166 MENCRES 2048 MENCTYPE 6 MENCOFF 910 MLMIN 80 MPHASE 182 MPOLES 6 MBEMFCOMP 0 MLGAINC 8 MLGAINP 7 MTANGLC 0 MTANGLP 0 MVANGLF 22 MVANGLH 7 ANOFF1 0 ANOFF2 0 MHINVA 0 MHINVB 0 MHINVC 0 VBUS 48 ILIM 820 ICONT 290 VLIM 3300 MFBDIR 0 INITGAIN 500 IENCSTART 50 MJ 2 UVMODE 0 UVTIME 30 UVRECOVER 0 THERMODE 1 THERMTYPE 0 IZERO 25 ABSPOSMOD 0 MSININT 256 PFBOFF 0 FEEDBACK 2 RDRES 14 RESBW 300 FOLDD
77. d cosine signals It should be in the range 1 2 to 1 3 The firmware multiplies the sine and cosine signals samples by this value Ox5B Firmware Version 0 0 2 9 Read Only Data Type Integer N A Range 1to15 14 EEPROM Yes PicoDAD SN User Manual Page 78 of 130 Danaher Motion Kollmorgen January 30 2006 9 15 Drive Enable The drive is enabled by a combination of 3 signals or states e Remote Enable This is a signal in the range of 5 24Vdc applied to the Remote Enable input on the Controller I O connector The state of this signal can be checked using the REMOTE parameter The drive can be configured to ignore the Remote Enable signal by setting the RMTMODE parameter to the value of 1 e Software Enable This command is provided by the motion controller e The drive can be enabled only when no faults exist The following are descriptions of the REMOTE and the RMTMODE parameters REMOTE Indicates the state of the external hardware enable input line Parameter 0x25 Firmware 0 0 1 Index Version Data Access Read only Data Type Boolean Units N A Range 0 remote enable input off 1 remote enable input on RMTMODE Parameter Ox Firmware 0 1 9 Index Version Data Access Read Write Data Type Boolean Units N A Range 0 Do not ignore the REMOTE signal 1 Ignore the REMOTE signal Default 0 EEPROM Yes For EnDat systems the value is stored in the EnDat EEPROM The READY indication in the drive is set when the drive is ready to be enable
78. dback current limiting This is a warning ony Flashing Flash memory checksum failure at power up Need to re configure 1 highest the drive s parameters and SAVE them in the flash memory priority Flashing P Over current Results from either a short circuit on the motor power or 2 by excessive current loop gain This fault can only be cleared by cycling the power of the drive Flashing o Over voltage Generally caused by regenerative voltage when 3 decelerating the motor Use a regen resistor to absorb the regen energy Flashing t Drive over temperature 4 Flashing u Under voltage This fault will appear when the main AC power is not 5 connected It may also appear during high accelerations If this is the case consider programming UVMODE to ride through temporary voltage sags and UVRECOVER to determine how the drive recovers from an under voltage fault The under voltage threshold may also need to be set appropriately and this is done using the UVTRESH parameter Alternating 1 The drive is not configured Load a configuration file and execute the 6 and minus sign Configuration instruction Direct Command 0x20 This fault will also appear if any of the motor parameters were changed As above execute the Configuration instruction to re configure the drive E EEPROM fault This is a hardware failure and the drive must be 7 returned for repair Alternating c SynqNet communications fault Check that the S
79. dl16 1 300 30 Under voltage fault delay time for UVMODE 2 0x35 UVRECOVER rw enumerated O Need_Clear 1 Automatic 0 Under voltage recovery mode 0x36 THERM ro enumerated 0 No_Motor_OverTemp_Fault 0 State of motor thermostat 1 Motor_OverTemp_Fault 0x37 THERMODE rw enumerated 0 Disable_Drive 1 Ignore 0 Motor Thermostat Action 0x38 THERMTYPE rw enumerated O Positive_Coefficient 0 Motor Temperature Sensor 1 Negative_Coefficient Type 0x39 IZERO rw signed16 0 100 25 ZERO mode C B current Ox3A ZERO rw enumerated O disabled 1 enabled 0 Enable Feedback zeroing mode 0x3B SININITST ro enumerated 0 Sine_Calibration_Running 0 Sine Cosine Calibration 1 Sine_Calibration_Done status 0x3C SINPARAM1 ro unsigned16 0 65535 0 SININIT Sine offset 0x3D SINPARAM2 ro unsignedl16 0 65535 0 SININIT Cosine offset OX3E SINPARAM3 ro unsigned16 0 32767 0 SININIT Sine gain fix OX3F SINPARAM4 ro unsigned16 0 15 0 SININIT Sine gain shift 0x40 ABSPOSMOD rw enumerated O unsigned 1 signed 0 EnDat initial position mode 0x41 MSININT rw enumerated 0 1 2 4 8 16 32 64 128 256 256 Sine encoder interpolation pol2 level 0x42 PFBOFF rw signed32 0 Position Feedback Offset 0x43 FEEDBACK rw enumerated O not_defined l Resolver 0 Feedback Type 2 Encoder 3 Sine_encoder 0x44 HALLS ro signed16 iG 0 Commutation Signals status 0x4A HWPOS ro signed32 0 EnDat Absolute Position 0x4B RD
80. e drive Service commands include accessing drive parameters and executing instructions 9 17 1 Table of Direct Command Codes The direct commands are summarized in the following table Commands appearing in are not implemented Definition Description Pipelining applicable NOP l __ Null command Get_Synq_Period in units of 40ns Set_Synq_Period Get_Drive Update Period in units of 40ns Set_Drive_ Update Period 0x08 Fault_Read R Reads code of the existing Fault s 0x09 Fault_Clear W Clears all existing Faults PicoDAD SN User Manual Page 85 of 130 Danaher Motion Kollmorgen January 30 2006 Command Definition Get_Monitor_A Table Set_Monitor_A_ Table Get_Monitor_A_Memory Set_Monitor_A_Memory Get_Monitor_B_Table Set_Monitor_B_Table Get_Monitor_B_Memory Set_Monitor_B_Memory Get_Monitor_C_Table Set_Monitor_C_Table Get_Monitor_C_Memory Set_Monitor_C_Memory Get_Parameter_Index R W Set_Parameter_Index ea reac UE Set_Parameter Store Parameters Ww Restore Factory Defaults Ww Reload Parameters W Pipelining applicable Description Using the data passed Pointer_A is set to one of the tabulated values in tabulated values l Using the data passed Pointer_A is set to point to a memory location in the data memory space Using the data passed Pointer_B is set to one of the tabulated values Using the data passed Pointer_B is set to point to a
81. e identifies information critical to the user s understanding or use of the equipment 3 Product Description 3 1 General The PicoDAD SN is a low voltage Dual Axis SynqNet Drive Incorporating two independent servo drives this product saves space on a machine and lowers the system cost by utilizing shared components The PicoDAD operates on 48VDC for the Bus power and separate 24VDC for Logic power Separation of Bus and Logic power allows bus power control to be incorporated into the machine safety chain while not losing application information or real time monitoring data during E stop events Each axis is capable of individually sourcing 10A RMS continuous current to the motor One version of the drive offers 10A RMS peak current per axis and the other option offers 20A RMS peak current The PicoDAD SN is designed as a torque drive while servo control is executed by the centralized motion controller Compensation of the drive for use with a specific motor is achieved by programming a set of parameters that reflect the physical characteristics of the electro mechanical system Real time data monitoring allows for on line diagnostics and preventative maintenance Extensive l O support is provided including dedicated Home Over travel limits brake control and general purpose opto isolated and high speed I Os Machine oriented I O is separate from Controller oriented I O for ease of cabling In addition to status information being access
82. ecific The switch is mounted on the top of the drive For more information refer to the section on rotary switch configuration 3 13 Serial Communications Serial communications over RS 232 is supported primarily for debugging purposes lt is possible to set parameters and to download firmware over this port However in the interests of system simplicity it is best to use one communications channel viz SynqNet for these operations PicoDAD SN User Manual Page 12 of 130 Danaher Motion Kollmorgen January 30 2006 4 Naming Conventions 4 1 Axis Numbering The axes on the drive are labeled Axis 1 and Axis 2 This convention is used when describing connector pin outs From a software point of view the axes are identified over SynqNet as being Axes 0 and 1 respectively 5 Drive Architecture 5 1 Drive Processor and SynqNet FPGA The PicoDAD consists of two primary components these being a Drive Processor DP coupled with a SynqNet FPGA The DP performs the current loop and commutation functions while the FPGA implements the SynqNet and I O interface DP is held in a reset state by the SynqNet FPGA and is released from this state only upon execution of a SynqNet RESET Note After power up and before the SynqNet RESET is executed only the decimal point on the drive LED will be lit 5 2 Firmware Versions Both the DP and the FPGA have a firmware associated with them These files are independent of each other and
83. ecified rive qdrivemsg control server port trace 1 node 41 drive motor control Controller number default B gt server Name of the host running server exe port TCP IP port on the host computer trace Bit mask to specify trace information outputs node SynqNet Node address drive Drive index relative to the node motor Motor number associated with the drive MEI 26636513 8MP bin WinNT gt Arguments Help control Controller number default 0 server Name or IP address of the host running server exe port TCP IP port on the host computer default 3300 trace Bit mask to specify trace information outputs node Node address on the SynqNet network default 0 drive Index of the drive relative to the node default 0 motor The MPI motor object mapped to the drive default 0 Example C Mei Xmp Bin WinNT gt sqdrivemsg node 1 Fault Count 1 Fault Read 0x20 Under voltage 11 4 Fault R 8 A B Out of Range 11 4 1 Background For a sine encoder and a resolver the drive continually checks that sin cos 1 This fault indicates that the signal amplitudes are out of tolerance The fault will occur in the following circumstances e The feedback is disconnected e The amplitude of the sine and or the cosine is out of range due to encoder defect e The amplitude of the sine and or the cosine is out of range due to wide tolerance on the encoder
84. ed Added information on Commutation Initialization without Halls Added Warning register information Added information on the Connector Kit 1 5 June 10 2005 Added info on PWM saturation Real time monitoring clarification on how to find the monitor data Added information on current foldback Added information on drive parameter Map files Added information on downloading firmware using saNodeFlash 1 6 July 22 2005 Added information on 1 5V reference failure Corrections to syntax for reading analog inputs using Direct Command 0x30 Added information on the VLIM parameter Added information on EnDat Added information on sine cosine calibration Added information on firmware upgrade using the serial port 1 7 August 30 2005 Clarification to DIPEAK and DICONT The PicoDAD will NOT run brush DC motors Added description of UVTIME for UVMODE 2 Added description for ABSPOSMOD Added description for PEBOFF Added clarification on Current Scaling Added information on configuring the drive CONFIG Added information on using MOTORTYPE 3 with AKM motors Added descriptions of MPHASE and MENCOFF Added current measurement filters Calculating MPHASE with the ZERO function Phase finding 1 8 September 21 2005 Added information on the RS 232 port and on Hardware Ember Added description of the flashing amp 3 LED indication Refer to Drive Status 7 segment LED information Remo
85. ed EEPROM No Defines the maximum current that the drive will allow IMAX is scaled to DIPEAK It is calculated as follows 1 If MIPEAK is greater than or equal to DIPEAK IMAX is set to 1000 which represents 100 of the drive peak current 2 If MIPEAK is less that DIPEAK IMAX is calculated as follows IMAX MIPEAK DIPEAK 1000 0x06 Firmware Version 0 0 1 Read Only Data Type Integer of DIPEAK 0 1 Range 0 to 1 000 0 EEPROM No 9 8 8 Application Current Limits ILIM Parameter Index Data Access Units Default Sets the application current limit allowing the user to limit the drive s peak current This variable limits the current command issued by the control loops This variable is an independent variable that is not calculated from hardware parameters and is not tied to any other variables Set ILIM as follows 1 If MIPEAK is greater than or equal to DIPEAK set ILIM to 1000 which represents 100 of the drive peak current 2 If MIPEAK is less that DIPEAK calculate ILIM as follows ILIM MIPEAK DIPEAK 1000 0x05 Firmware Version 0 0 1 Read Write Data Type Integer of DIPEAK 0 1 Range 0 to IMAX IMAX EEPROM Yes PicoDAD SN User Manual Page 55 of 130 Danaher Motion Kollmorgen January 30 2006 ICONT Sets the system continuous current This variable is used in the foldback algorithm The default value of this variable is the minimum of DICONT Drive Continuous Current and MICONT Motor Continuo
86. ed together with the MPI installation and can be found in the AXMPABIN folder The PicoDAD FPGA is identified by the prefix COFE0035_xyzw while the 4 digit suffix xyzw identifies the version of the run time image e The drive processor firmware is provided by the vendor The firmware file is identified by a file name having the following general format pDad_xyz i00 where xyz represents the firmware version For example 016 is firmware version 0 1 6 Note Both of these files must be located in the XMP BIN folder Note Although the PicoDAD has two independent axes there is only one drive processor and thus only one version of firmware 10 2 Preparations 10 2 1 Retrieve Drive Parameters It is recommended to retrieve and store the drive parameters before upgrading the firmware New versions of firmware may have different sets of parameters the drive verifies the checksum of the parameters and if a checksum error is found then the parameters are not loaded Thus if the new version has a different parameter set the checksum will fail when the drive is powered up and the parameter settings will be lost Retrieving the drive parameters can be done using the SqDriveConfig utility The syntax is described below The syntax assumes that the utility is executed from the XMP BIN WINNT folder SqDriveConfig node x drive y get lt destination file name gt map lt map file name gt where x is the node number Nodes are numb
87. een loaded 2 Use either MotionLink or the SynqNet drive configuration utility to download the original drive parameters Set any parameters that may have been added to the new version Save the parameters to the non volatile parameter memory This can be done by executing the SAVE command over the serial port 17 6 Considerations for Hardware Ember If the DSP code has been corrupted then the Software Ember mechanism will not work The code may be corrupted if for example the firmware download process is interrupted In the Software Ember process the drive is instructed via a drive instruction to enter a mode wherein it can manage the firmware download process The DSP can be placed in a Hardware Ember mode by asserting a specific signal state on the DSP and then powering up The Hardware Ember state can be achieved by shorting pins 5 and 7 on the RS 232 connector The drive has to powered up with these pins shorted Once this has been done run the Ignite utility and select Hardware Ember mode instead of Software Ember mode 15x Com Port Comi his program will update your Drive firmware Com2 Before downloading new firmware itis highly recommended C Com3 o backup drive parameters and to clear EEPROM C Com4 o do this take the following steps A 1 Selectthe correct Com port Baud Rate gt hono re ee a 9600 File name DSP Rev C 19200 38400 56000 m Ember Mode St
88. effective no digital filter applied to the analog input ANLPFHZ1 Parameter Index Data Access Units Default Set or query the value of the analog input low pass filter on axis 1 Ox5E Firmware Version 0 1 9 Read Write Data Type Integer Hz Range 1 to 10 000 10 000 EEPROM Yes PicoDAD SN User Manual Page 94 of 130 Danaher Motion Kollmorgen January 30 2006 ANLPFHZ2 Parameter Index Data Access Units Default Set or query the value of the analog input low pass filter on axis 2 Ox5F Firmware Version 0 1 9 Read Write Data Type Integer Hz Range 1 to 10 000 10 000 EEPROM Yes 9 20 SynqNet Cyclic Status Bits The status flags are set by the drive processor as follows These bits provide real time summary status information to the controller These bits can be found in VM3 at the Motor x 1O Dedicatedin location are their mapping is shown in the table below Bit Description Definition Bit Location in Motor x 10 Dedicatedin O Reserved 1 Reserved 2 Reserved 3 HALLA Bit 7 4 HALL B Bit 8 5 HALLC Bit 9 6 Reserved 7 Ready for remote This amplifier is ready for remote Bit 5 control control e 1 the amplfier is powered 2 the amplifier is not inhibited by any input 3 the amplifier is not inhibited by any fault 4 the amplfier will operate when AMPEN is set 8 Drive Processor DP toggles this at every Watchdog DRIVE_STROBE 9 Autono
89. efines whether the absolute position read at power up from the EnDat encoder will be interpreted as a signed or an unsigned value 0 Handle absolute position as an unsigned value 1 Handle absolute position as a signed value Parameter Index 0x40 Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Encoder counts Range 0 1 Default 0 EEPROM Yes 9 13 5 Position Feedback Offset A position feedback offset can be set in order to change the value of the absolute position as seen by the user This is done using the PFBOFF parameter This parameter is a feedback offset that is added to the internal cumulative position counter to give the value of the PFB the position counter It can be used for example to set the absolute position read by the user to zero In order to do this follow the following steps PicoDAD SN User Manual Page 74 of 130 Danaher Motion Kollmorgen January 30 2006 e Set PFBOFF to zero e Read PFB e Set PFBOFF to the negative value of PFB The value of PFBOFF is stored in the EnDat encoder EEPROM when the HSAVE Command is executed At power up the value is read from the EnDat EEPROM and PFB is automatically compensated PFBOFF A feedback offset that is added to the internal cumulative position counter to give the value of PFB This offset can be used to offset absolute machine zero Parameter 0x42 Firmware Version 0 0 1 Index Data Access Read Write Data Type Integer Units Encoder counts R
90. elow The following picture shows a section of the PicoDAD front panel in order to identify the location of the SynqNet LEDs c5 C6 BUS POW ER LED3 Link Activity LED4 Network Activity LED1 Link Activity LED2 Network Activity LED1 and LED3 Link Activity e On Link Active This is the normal state e Off Link Inactive This state is seen if the SynqNet cable is not making a proper connection between the nodes LED2 and LED4 Network Activity e On Cyclic Phase Tx and Rx are Active This is the normal state e Off Shutdown Phase Idle State or network reset e Blink Discovery Phase only Tx is Active PicoDAD SN User Manual Page 104 of 130 Danaher Motion Kollmorgen January 30 2006 11 1 1 IN Port Controlled LED Port Meaning by State ON link active LED3 Link Activity PHY OFF link inactive ON Tx ON Tx and Rx active cyclic phase BLINK Tx only active Network aia MAC discovery phase OFF idle shutdown phase or during a network reset 11 1 2 OUT Port Controlled LED Port Meaning by State ON link active LED1 OUT Link Activity PHY OFF link inactive ON Tx and Rx active cyclic phase BLINK Tx only active MAC discovery phase OFF Idle shutdown phase or during a network reset Network Bebe only Activity 11 2 Drive Status 7 Segment LED Drive Status is indicated using
91. er from 0 y is the drive or axis number on that node Drives are numbered from 0 lt destination file name gt is the name of the file that will be created with the drive parameters lt map file name gt is the name of the map file being used Example SqDriveConfig node O drive 1 get Axis1 txt map Kollmorgen_Picodad dm This command will retrieve the parameters from the second axis on node 0 and store them in a file called Axis1 txt In this case the map fiel being used is called Kollmorgen_Picodad dm and it is located one directory level up from where the SqDriveConfig utility is being executed PicoDAD SN User Manual Page 97 of 130 Danaher Motion Kollmorgen January 30 2006 10 2 2 Clear the Drive Parameters Drive parameters can be saved in non volatile memory EEPROM Clearing the drive parameters entails clearing this EEPROM This is done with a Direct Command using the sqCmd utility The syntax is described below The syntax assumes that the utility is executed from the XMP BIN WINNT folder sqCmd node x channel y memory 3 addr Ox1F write where x is the node number Nodes are numbered from 0 y is the drive or axis number on that node Drives are numbered from 0 Ox1F is the Direct Command identifier for the EEPROM clear instruction Example sqCmd node O channel 1 memory 3 addr Ox1F write This command will clear the parameters on axis 1 Note This command can only be executed when both axes
92. er names names only not values For example MPITCH MOTORTYPE MIPEAK MICONT Indicates a comment and the line is ignored by the parser The sequence of names does not need to correspond to the sequence in the Parameter identification section It does however need to follow the sequence of parameters required by the drive PicoDAD SN User Manual Page 42 of 130 Danaher Motion Kollmorgen January 30 2006 9 6 4 5 File Footer end Designates the end of the parameter map file 9 6 5 Drive Configuration File The drive configuration file contains the actual parameter values The file has a one line header that identifies the node and drive number the drive identification and the firmware version number Thus the drive configuration file has to be matched to the map file the firmware version of the drive being addressed and the location of that drive on the SynqNet network An example of the header line is sqNode 0 drive 1 Kollmorgen PicoDAD 0 1 9 This header shows that the file contains data for the second axis of the PicoDAD that is located on Node 0 Axes in the PicoDAD are numbered 0 and 1 respectively The header also specifies that the drive has firmware version 0 1 9 The rest of the file consists of parameter mnemonics followed by their values A sample parameter file is shown in the appendix Sample Drive Configuration File The easiest way to create a template for the drive configuration file i
93. er to the Electrical Specification 3 5 Control Specifications e Current loop closure rate 62 5msec 16kHz e PWM Frequency 16kHz 3 6 Motor Types The drive will work with rotary brushless motors 3 7 Motor Feedback Encoder Resolver and Sine Encoder feedback options are supported as standard All options are supported in a single model number and the feedback type is set by a drive parameter The following table describes which feedback configurations are supported and in which firmware versions Firmware Version Feedback Types Supported 0 1 9 Incremental Encoder e A B plus Halls MENCTYPE 6 e A B I plus Halls MENCTYPE 0 e A B only MENCTYPE 4 Resolver PicoDAD SN User Manual Page 10 of 130 Danaher Motion Kollmorgen January 30 2006 Firmware Version Feedback Types Supported 1 0 0 0 Incremental Encoder e A B l plus Halls MENCTYPE 0 e A B only with explicit initialization MENCTYPE 3 Refer to Phase Finding e A B only MENCTYPE 4 e A B plus Halls MENCTYPE 6 Sine Encoder e A B only with explicit initialization MENCTYPE 3 Refer to Phase Finding e A B only MENCTYPE 4 e EnDat MENCTYPE 9 Resolver For more details please refer to the sections on Feedback Devices and Configuring Motor Feedback 3 8 Secondary Encoder Secondary feedback is supported on both axes and accommodates a differential A B quadrature encoder signal An Index signal is supported on
94. ers on axis 1 Note This command can only be executed when both axes are disabled 17 4 Update Drive Firmware Use the Ignite28_ V305 exe program to download the new firmware This is a Windows program Run the program the following screen appears 2x m Com Port A E E Com his program will update your Drive firmware PO Before downloading new firmware itis highly recommended C Com3 o backup drive parameters and to clear EEPROM C Com4 o do this take the following steps 1 Select the correct Com port Baud Rate gt lao on aera hd C 9600 File name DSP Rev 19200 C 38400 C 56000 Ember Mode Software C Hardware Advanced Exit Figure 17 3 Ignite28xx Main Screen 17 4 1 Communications Settings 1 Select the correct COM port 2 Set the Ember Mode to Software 3 Select the correct baud rate The process should work at the highest baud rates Sometimes however a lower baud rate needs to be used if the communications cable is not of a high quality PicoDAD SN User Manual Page 127 of 130 Danaher Motion Kollmorgen January 30 2006 17 4 2 Select Files 1 Click on the Advanced button A display similar to the following appears xi Files to download File Path C PicoDAD pDad_025 i00 File Name pDad_025 i00 Delete Ember program path CAPicoDAD ember_ver309_D281 0 a00 Browse A E 2 Click on the Browse button to search for the Embe
95. h in millimeters of one electrical cycle 360 electrical degrees of the motor and allows the drive to calculate other variables such as velocity The drive assumes a no comp state after an entry of this parameter and requires the CONFIG command Parameter Index 0x23 Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Millimeters per 360 electrical Range 1 to 500 degrees Default 0 EEPROM Yes MOTORTYPE Sets the drive control algorithms to different motor types When working with Linear motors the motor pitch MPITCH must also be set NOTE For firmware versions up to and including 1 0 0 0 support for Linear Motors is not provided This may be added in future versions MOTORTYPE 3 should be used with Kollmorgen AKM motors only In this case the drive configures the commutation phasing internally such that the MPHASE parameter can be set to zero Parameter Index 0x27 Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units N A Range 0 Rotary 3 Kollmorgen AKM Default 0 EEPROM Yes MIPEAK Sets the motor s rated peak current When this variable is set the drive enters a no comp state requiring a CONFIG command Parameter Index Ox0A Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Amperes RMS 0 1 Range 10 to 3 500 Default 0 EEPROM Yes PicoDAD SN User Manual Page 45 of 130 Danaher Motion Kollmorgen January 30 2006 MICONT Parameter Index Data A
96. ia 92 9 19 1 Reading Analog Inputs using Drive Parameters ooooonccicnonnnnnnnnnconocono canon nora nona nora non 93 9 19 2 Accessing Analog Inputs Using Direct Command oonccnocnnonnnonnnnnnonannncnnn cono canacn nooo 93 9 19 3 Analog Value Monitoring oconooonocononcnonnnannnnnnnnannn cnn cnnn on neon neon conan no nn nena cra cnn enn n cane cn necia 94 9 19 4 Zeroing the Analog Input OffSCt c ccccceeccesscesecesecssecnseeseeeseeeseesseeeeceseeesecnsecnseenaeens 94 9 19 5 Low pass Filtering on the Analog Inputs oononnicinnnocinncnnnnnnnnnnnnancnnn cono cono cnn con ncrn nono 94 9 20 SYNONET CYCLIC STATUS BITS iria a 95 9 21 POSITION CAPTURE rc toa iodo tiwssendatasces euatupessaucks dando coi 96 9 21 1 Controller Time Based Position COptUF oooocincninnnocnnonnnnnnono cono cnno cnc nano nn nora nrnnnnnnon 96 10 Firmware Upgrade Procedure cccssssccssssssssccssssscccssssssccsssssccssssssssscscsssssssssssessesees J 10 1 IDENTIFYING THE FIRMWARE FILES oocoonoconnonncnnononacarinonnonannnanccrononarononnonacnnancoronanaroninnonaon 97 10 2 PREPARATIONS es eaaa r a EE EE E EE E E E E E E Ra ES 97 10 2 1 Retrieve Drive Parameters riesis niaire ianei naii ass 97 10 2 2 Clear the Drive Parameters rn neie iaaiaee aaa naiai a E En AE EEES 98 10 3 UPDATE DRIVE FIRMWARE itea apera Eaa E EEKE dae desee 99 10 3 1 Using Motion Consoles e on tne sebeuugbancoutsoats E A E ORE ESE 99 PicoDAD SN User Manual Page 4 of 13
97. ible via SynqNet 7 segment LEDs provide a clear drive status display individually for each axis All drive capabilities are accessible over SynqNet including firmware download 3 2 SynqNet SynqNet http www synqnet org is an all digital motion control interface for connections between controllers and drives The physical layer of SynqNet is based on IEEE 802 3 standards for 100Base TX the physical layer of Ethernet The data link and application layers of SynqNet are specifically designed for motion control applications The 100BASE TX media system is based on specifications published in the ANSI TP PMD physical media standard The 100BASE TX system operates over two pairs of wires one pair for receive data signals and the other pair for transmit data signals SynqNet replaces the noise prone analog drive motion controller interface 10V Encoder with a real time digital network that brings additional diagnostic performance and reliability benefits to a machine PicoDAD SN User Manual Page 9 of 130 Danaher Motion Kollmorgen January 30 2006 3 3 Part Number PDD 04 xx 165 where e XxX refers to the current level that the drive can source o 10 10 Amps RMS continuous and 10 Amps RMS peak o 20 10 Amps RMS continuous and 20 Amps RMS peak 3 4 Electrical Interface e BusVoltage 48VDC e Logic Power 24VDC e Motor Power 10A RMS continuous with either 10A RMS or 20A RMS peak per axis For more details please ref
98. ify that it is correctly set Alternating r A B out of range For a sine encoder and a resolver the drive checks 16 and 8 that sin cos 1 within tolerance This fault indicates that the signal amplitudes are out of tolerance This fault is not relevant for Encoder feedback Flashing H Motor over temperature This fault may be triggered if the motor does 17 not contain a temperature sensing device If this is the case set THERMODE to 1 which will tell the drive to ignore this fault Alternating A Internal 1 5V reference failure 18 and 4 This is a drive hardware failure the unit must be returned for repair Alternating 3 and minus sign An Enable command was issued before an ENCSTART command When working in MENTYPE 3 an explicit ENCSTART command is required before enabling The Phase Finding procedure should be followed Three horizontal bars Watchdog drive firmware failure 11 3 Retrieving Fault Information over SynqNet The sqDriveMsg Utility displays all the faults and warnings present on the specified drive by retrieving this information over SynqNet It is typically executed from within a DOS window and run from the XMP BIN WinNT directory PicoDAD SN User Manual Page 107 of 130 Danaher Motion Kollmorgen January 30 2006 MEI 26630513 KMP bin WinNT gt sqdrivemsg he sqDriveMsg utility displays all warnings and faults for the sp
99. in the protocol so using or not using the monitor function does not affect the cycle time PicoDAD SN User Manual Page 88 of 130 Danaher Motion Kollmorgen January 30 2006 Monitoring can be performed on a number of pre defined values or on any memory location Monitoring is set up using Direct Commands and thereafter the data can be either gathered and analyzed by the application or graphed using MotionScope 9 18 1 Values Available for Real Time Monitoring The following table shows the pre defined data that are available for real time monitoring Monitor Index Data 16 bit U phase current V phase current W phase current Actual current Analogue Input 1 Analogue Input 2 Bus Voltage Analogue Input Drive Temperature Analogue Input Sine signal The signal is shown in units of milli volts referenced to the signal as it enters the drive Cosine signal Out of range calculation for sine encoder and resolver Lower 16 bits of Position Upper 16 bits of Position Notes 1 The 4 available Analog inputs are mapped as two per axis 2 The actual current appears in the same units as the torque command 9 18 2 Setting up Real Time Monitoring Monitoring is set up using the sqDriveMonitor utility The syntax is as follows SqDriveMonitor node x drive y lt monitor channel gt index lt monitor index gt poll where x is the node number Nodes are numbered from 0 y i
100. ines iia 66 9 11 3 For Encoder Feedback with Commutation SigNals ooonnonnnnnnnninonnconnconornncranonn coca non 66 9 12 COMMUTATION INITIALIZATION WITHOUT COMMUTATION SIGNALS PHASE FINDING 69 9 12 1 OVER A devas Slain 69 9 12 2 Autonomous Drive ACTIONS viii A Ai 69 9 12 3 Parameters Used During Phase Finding w ccsccscsscssesssesecssesecnseeecuseeeceseeaeeseeneeseenees 70 9 12 4 Phase Finding and the MENCTYPE Parameter socere 71 9 12 5 The PTOCESS A A add 71 9 12 6 Evaluating the Commutation Initialization Process 73 9 13 CONSIDERATIONS FOR WORKING WITH ENDAT SINE ENCODERS cooccoccoconnonnnonorinonacnnianenaons 73 9 13 1 Setting the Encoder Type shines estes ete Neste Bess A chee a gia aA ANE 73 9 13 2 Equivalent Counts per RevolutiON ooncconononnnoninnncnnnnnnnonnnnnnnnnncono canon neon con nora nc nn cra cnn 73 9 13 3 Hardware Absolute Position cccccccsccessceseseseeseesseeseeeseesseesecesecesecesecnseeesecneeeaeenaeens 73 9 13 4 ADSOLULE POSITON MOG inci ti id ath ive oa died da Etica 74 9 13 5 Positiot Feedback OS Cliniaciii alientan EER 74 9 13 6 Saving Parameters in the EnDat Encoder oonuoincninnnnnnnncnnnncnnnnonncono cano cnn crono nano nn ncnn non 75 9 13 7 Sine Cosine Calibration sorene neanta ii 75 9 14 SINE COSINE CALIBRATION vvusisoconod iii a n e aeir Ee aa EEEE rE a rs 76 9 14 1 OVET CW soi oi E A E a E E E 76 9 14 2 The PrOCESS eas NEE E E E E OEE AE E E EE 76 9 14 3 Calibrator DAA a E N E C
101. ing monitored The example above shows the address from a PCI ZMP motion controller with one PicoDAD on the network 9 19 Analog Inputs The PicoDAD has 4 external analog inputs having a range of 10V However from a The inputs can be read in one of three ways e By reading the relevant drive parameter e By using Monitored Data in the cyclic channel PicoDAD SN User Manual Page 92 of 130 Danaher Motion Kollmorgen January 30 2006 e By using the Direct Commands mechanism 9 19 1 Reading Analog Inputs using Drive Parameters The drive parameters ANIN1 and ANIN2 are used to read the analog inputs The values are returned in units of milli volts An internal offset can be applied to an analog input and this is typically used to zero an analog signal Note The physical inputs are identified as analog inputs 1 through 4 From a firmware point of view each axis on the drive has two analog inputs mapped to it e Analog inputs 1 and 3 are mapped to the first axis on the drive e Analog inputs 2 and 4 are mapped to the second axis on the drive Examples Read the first analog input on the first axis sqdriveparam node O drive O read Oxla type signed16 Read the first analog input on the second axis sqdriveparam node O drive 1 read Oxla type signed16 Note By default the sqDriveParam utility will return a 32 bit result When reading analog inputs make sure to specify 16 bit data otherwise negative values will be returne
102. ins 19 and 20 on the feedback connector 0x37 Firmware Version 0 1 6 Read Write Data Type Integer N A Range 0 1 0 EEPROM Yes Sets the motor temperature sensor type 0 PTC Positive Temperature Coefficient 1 NTC Negative Temperature Coefficient 0x38 Firmware Version 0 1 1 Read Write Data Type Integer N A Range 0 1 0 EEPROM Yes Indicates the state of the motor thermostat input O thermostat input closed normal 1 thermostat input open overheat condition 0x36 Firmware Version 0 1 6 Read only Data Type Integer N A Range 0 1 Hardware defined EEPROM No PicoDAD SN User Manual Page 61 of 130 Danaher Motion Kollmorgen January 30 2006 9 9 Setting the MPHASE Parameter 9 9 1 Introduction Brushless sine drives produce electrical commutation to match the motor sinusoidal torque curves The PicoDAD performs commutation by using one of several available position feedback devices The alignment between the motor electrical position and the commutation generated current has a significant effect on operation and performance of the system MPHASE tuning is relevant for systems with absolute electrical position sensing i e Resolver Incremental Encoder with halls and EnDat sine encoder For incremental encoder system where no electrical positioning sensors exist MPHASE should be set to zero and not tuned MPHASE tuning may be required if one of the following occurs e Motor torque is lower than expe
103. ion of PRD 8 RDRES 14 resolution of PRD 2 For encoder based systems until the encoder has been initialized PRD will be un initialized and its value will not be useful or meaningful The encoder is initialized once the first Hall transition has passed Parameter Index Ox4d Firmware Version 0 1 9 Data Access Read Data Type Integer Units N A Range 0 to 65 535 Default N A EEPROM No 9 7 3 Position Resolution The position resolution expressed as the number of equivalent encoder counts per motor revolution is set and calculated differently for each type of feedback device Feedback type Relevant Parameters Resolution Calculation Quad Encoder MENCRES MENCRES 4 Resolver RDRES RDRES 12 gt 4096 counts per rev RDRES 13 gt 8192 counts per rev RDRES 14 gt 16384 counts per rev Sine Encoder MENCRES MSININT MENCRES MSININT 4 9 7 4 Timing of the Position Update The drive processor reads the feedback device every 62 5useconds For quadrature encoder feedback the position is available in the same sample For Resolver and Sin Encoder however the position is generated by a process of interpolation and the position is available with a delay on one 62 5usecond sample An additional 62 5useconds delay is introduced because of a delay of one sample in writing the data to the SynqNet FPGA The following table shows the estimated position delays Feedback Type Delay in position being written to the F
104. it 0x05 ILIM rw signedl6 0 1000 0 Application current limit 0x07 MENCRES rw signed32 00 10000000 0 Motor encoder resolution 0x08 MENCOFF rw signed32 0 2147483647 0 Encoder index position 0x09 MICONT rw signed16 0 1750 0 Motor rated continous current Ox0A MIPEA rw signedl6 0 35007 0 Motor rated peak current Ox0B MKT rw signed16 6 64506 0 Motor Torque Constant Ox0C MLGAINC rw signedl6 1007 8 Continous Current Adaptive Gain Ox0D MLGAINP rw signedl6 100 4 Peak Current Adaptive Gain Ox0E MLMIN rw signed16 32767 0 Motor Minimum Inductance Ox0F MPHASE rw signedl6 3993 0 Encoder phase relative to standard 0x10 MPOLES rw signedl6 220 0 Motor Poles 0x11 MSPEED rw signedl6 6 17464 0 Maximum Motor speed 0x12 MIANGLC rw signedl6 0 45 10 Continuous Torque Commutation Advance 0x13 MIANGLP rw signedl16 0 45 23 Peak Torque Commutation Advance 0x14 MVANGLF rw signedl16 0907 0 Continuous Velocity Advance 0x15 MVANGLH rw signedl6 0 90 0 Peak Velocity Advance 0x16 PWMFRO ro signed16 16 16 PWM Frequency 0x17 VBUS rw signedl6 10 850 24 Bus Voltage 0x18 VER ro unsigned32 EN 0 Firmware version 0x19 PFB rw signed32 0 Position feedback Ox1A ANIN1 ro signed16 12000 12000 0 Analog Input 1 0x1B ANIN2 ro signed16 12000 12000 0 Analog Input 2 0x1C ANOFF1 rw signedl6 5000 5000 0 Analog input offset 1 0x1D ANOFF2
105. ita cds dies 13 5 3 SOFTWARE COMPATIBILITY TABLE ccccecsessscecececeesennscecececeeseeaecececeesenssaeseeeceesensaaeeeeecs 14 5 4 DRIVE PROCESSOR MEMORY DESCRIPTIONS ss csccececsesseececccecsessceseeccecsessaeeeeececeeneaees 14 6 Electrical SpeciticatiONS ssv c scsssesseccesssdeniesecosaceversureessevansoversevevunetnactvenssuavoassuatessveruetsecestesses LO 6 1 NP POWER oes ose Sates e Fete ties 16 6 2 PROTECTION AND ENVIRONMENT scssscsscceceesessscecececeesenssaeeeeccecsessaaeceseesesensaaeceeeeeeeesenaees 16 6 3 TU adas 17 6 4 ENCODER FEEDBACK 00 ies 18 6 5 RESOLVER AOON AOINE E E OA E redee 19 7 M unting A ossessi rrasa oO 7 1 HARDWARE SPECIFICATIONS rurinta E EE a Ea E EERE aR 20 7 2 OUTLINE DIMENSIONS ii A E E E U AEE 20 7 2 1 ETLONEVICWS E A EERE E EE EE EE EAE EEEE EEE E E 21 7 2 2 A EEE EE E ETE 21 7 3 MOUNTING ALIGNMENT seir E E E A EE E EE E E A E a 22 8 1 W IRING DIAGRAME ls aaa coto oseE 23 8 2 CONNECTOR PIN OU TS iia 24 8 2 1 DORIC ROWE AEN A E E SE 24 8 2 2 BUS P OWT A TN 24 8 2 3 Motor POWED ETE EAEE ETE E EE ENEE E 25 8 2 4 IKALA AEE OEE E EE AE A 25 8 2 5 Machine VO tia 26 8 2 6 Controller VO lt lt ii EE 28 8 2 7 SYNNE e E E a paa 30 8 2 8 INTA A E E E E A E E A E E E teeaees 30 8 3 WIRING A MOTOR TO THE DRIVE narri ea eee E e a TEES enar E RE ENET 31 8 3 1 Kollmorgen AKM Motors onocnoccionnonnnonnnoncnnnconocnno crono no nn nono n ran oran enn naar cnn cn ne conc cnn con ncons 31 PicoDAD SN
106. lgorithm When the rated RMS continuous current is exceeded a warning is issued the current folds back but the drive will not be automatically disabled when foldback occurs The warning be cleared automatically when the foldback condition no longer exists An under voltage warning is issued if the bus voltage drops below the threshold specified by the UVTRESH parameter and UVMODE is set to 1 This fault may be indicative of the bus power supply not being able to supply the current needed for the application This bit is set when phase finding commutation initialization is required Make sure that the ae parameter is set correctly It may be set lower than necessary 2 Reduce the duty cycle of the motion 3 Check the drive and motor sizing maybe higher power equipment is required 1 Check the bus voltage without motion Make sure itis as expected 2 Check that the bus power supply is able to keep the output voltage constant even when the maximum application current is being drawn Follow the Commutation Initialization procedure ON 2 a PicoDAD SN User Manual Page 80 of 130 Danaher Motion Kollmorgen January 30 2006 The warning summary bit is shown in MotionConsole in the Motor Summary window The warning status appears in the bottom section of this window and is the last entry in the I O tab aces ijt Motor Summary Controller 0 Sex Config Events 1 0 info Sincom
107. m per 360 elec Integer Length in millimeters of one degrees electrical cycle 360 electrical degrees MPOLES Motor Data Number of motor poles MSININT 0x41 R W Bits Discrete values Motor Data Sets interpolation level of the drive 1 2 4 8 16 32 64 128 256 512 MSPEED 17 464 Unsigned Integer Motor Data Motor rated maximum speed MTANGLC 0x12 R W Electrical degrees 45 Integer Motor Data Sets the value of the torque related commutation angle advance at the motor s continuous current rating MTANGLP 0x13 R W Electrical degrees 45 Integer Motor Data Sets the value of the torque related commutation angle advance at the motor s peak current MVANGLF 0x14 R W Electrical degrees Integer Motor Data Sets the value of the velocity rated commutation angle advance to be used when the motor is operating at motor max speed MVANGLH 0x15 R W Electrical degrees Integer Motor Data Sets the value of the velocity rated commutation angle advance to be used when the motor is operating at half of the motor max speed OUTRNGHIRE 32767 Integer O Outtof range high limit resolver OUTRNGHISI 0x69 R W Internal Hoei Integer Out of range high limit sine encoder OUTRNGLORE Do Integer tof range low limit resolver encoder 2 147 483 648 counter PFBOFF 0x42 R W Counts 2 147 483 647 gt Integer feedback offset that is added to counter to yield the value of PFB A 7 A PAE dependent PWMFRQ 0x6 RO KHz 16 16 Integer PWM Frequen
108. may be downloaded during the same operation To select only one of these files click on the one you DO NOT want to download and the click on CLEAR SELECTED e Once the files have been selected click on DOWNLOAD After a number of seconds a progress bar will begin to appear The entire process may take a few minutes Downloading Firmware to SqNode s ltem SqNode 0 Controller 0 Drive Processor 0 Firmware MAA Cancel PicoDAD SN User Manual Page 100 of 130 Danaher Motion Kollmorgen January 30 2006 Caution Do not cancel a drive processor firmware download operation The drive will then have invalid firmware and will not be able to boot up While the situation can be recovered without sending the drive back to the factory this situation should be avoided e During the firmware download process the drive LED will have only the decimal point lit e After download is complete the firmware download dialog box will again appear Click on CLOSE to close it The drive LED should now display an alternating and 1 fault code This code indicates that the drive has not been configured This is to be expected since we had previously cleared the drive s parameter memory Note The fault code on the drive s LED will show a flashing u under voltage if the bus power has been disconnected or if the bus voltage is less than the default value of 36V The under voltage fault has higher priority and therefore it
109. memory location in the data memory space Using the data passed Pointer_C is set to one of the tabulated values in tabulated values Using the data passed Pointer_C is set to point to a memory location in the data memory space Returns Sets up the parameter pointer to point to the motor s N parameter Accesses the value of the parameter pointed to by the parameter pointer Copies the motor s parameter table from the Drive Processor s RAM to its local EEPROM Loads the motor s parameter table in the Drive Processor s RAM with a set of factory default parameters Copies the motor s parameter table in the drive Processor s local EEPROM to the Drive Processor s RAM 3 The parameter functions provide a general way of accessing drive quantities that are not otherwise accessible by direct commands for example gains A local serial EEPROM attached to the DP Note that this Parameter EEPROM is distinct from the Identification EEPROM PicoDAD SN User Manual Page 86 of 130 Danaher Motion Kollmorgen January 30 2006 Definition Description Pipelining applicable Clear Parameters Clears the motor s parameter table from the Drive Processor s local EEPROM NOTE This instruction can only be executed when both axes are disabled Config From Parameters Causes the Drive Processor to re compute the set of internal variables that are derived from the motor s parameter list that is now in RAM Get_ADC
110. ments of A B encoder counts 1 Reversed follows the negated increments of A B encoder counts Bit 1 controls the direction of PFB 0 Normal follows the increments of A B encoder counts Positive velocity and positive PFB increments for positive increments of A B encoder counts 1 Reversed follows the negated increments of A B encoder counts Negative velocity and negative PFB increments for positive increments of A B encoder counts Bit 2 controls the inversion of the initial commutation angle according to the halls 0 Normal initial commutation angle according hall state 1 Reversed initial commutation angle equals 360 angle according hall state Parameter Index 0x29 Firmware Version 0 1 1 Data Access Read Write Data Type Integer Units N A Range 0to7 Default 0 EEPROM Yes Note Set MFBDIR once all other feedback parameters have been set 9 11 2 For Resolver Feedback For resolver feedback no commutation signals or parameters are required since the resolver sine and cosine signals themselves provide the commutation initialization information 9 11 3 For Encoder Feedback with Commutation Signals The following procedure allows the user to configure drive parameters such that commutation will be correct The procedure is valid when the feedback type is Incremental Encoder with Halls MENCTYPE 0 or MENCTYPES6 The drive parameters used in this procedure are MPHASE MFBDIR and MHINVx PicoDAD
111. mous drive Autonomous_Drive_Action_Complete Bit 14 action complete 0 The drive is busy carrying out an autonomous action such as phase finding or homing if such an action has been requested 1 The autonomous drive action has been completed 10 Reserved 11 Amp Active 1 Amplifier is applying voltages to the Bit 11 motor windings 0 Amplifier is off 12 Drive Ready Phase locked and able to exchange Bit 6 data cyclically PicoDAD SN User Manual Page 95 of 130 Danaher Motion Kollmorgen January 30 2006 Bit Description Definition Bit Location in Motor x 10 Dedicatedin 13 Capture 1 Drive Processor has captured the Bit 7 position according to the condition previously specified by a service command 0 Capture has not occurred it may or may not be armed 14 Warning The drive has a warning Bit 13 15 Fault The drive has a fault Bit 1 9 21 Position Capture 9 21 1 Controller Time Based Position Capture Position capture in the PicoDAD will always be time based since the feedback signals are connected to the drive processor only The SynqNet architecture supports time based capture at the servo cycle rate The time at which the capture trigger occurred is received at the controller every servo interval and the controller firmware calculates the position using linear interpolation between the positions prior to and following the time of capture The accuracy of the positio
112. n capture thus depends on how constant the velocity is during the servo cycle where the capture occurred The accuracy in time based capture is based on a few things The encoder position is read very regularly no time based jitter The validity of linear interpolation to get an intermediate position The closer the actual position behaves as constant velocity the better Time based capture gets more accurate at higher sample rates because the samples to interpolate between are closer together The following drive inputs for each axis can be used to trigger position capture Any of the opto isolated inputs OPTO IN1 OPTO IN2 OPTO IN3 OPTO IN4 Any of the RS422 inputs RS422 IN1 RS422 IN2 10 CW and CCW limits Home Secondary Encoder Index Firmware Upgrade Procedure Both the FPGA run time image and the drive processor firmware can be upgraded over SynqNet The best way to do this is via the SqNode Summary window within MotionConsole Alternately the firmware download can also be done using the sqNodeFlash utility Note This section describes firmware download over SynqNet In some case a user may want to download firmware over the serial port instead The process for doing this is described in the Appendix Upgrading Firmware over the Serial Port PicoDAD SN User Manual Page 96 of 130 Danaher Motion Kollmorgen January 30 2006 10 1 Identifying the Firmware Files e The FPGA run time image is provid
113. n on wiring Kollmorgen AKM motors Next verify that the MOTORTYPE parameter is set to 3 Then MPHASE will be zero 9 10 Encoder Index Position For motors that have hall sensors embedded in the motor for commutation initialization an index signal may be advantageous in order to improve commutation accuracy and hence motor drive efficiency The MENCTYPE parameter is used to tell the drive whether it has halls with an index MENCTYPE 0 or halls only MENCTYPES6 PicoDAD SN User Manual Page 63 of 130 Danaher Motion Kollmorgen January 30 2006 9 10 1 The MENCOFF Parameter When using an index the position of the index must be known This position is recorded in the MENCOFF parameter The value of MENCOFF is either known from the motor data sheet or it needs to be detected by the drive using an Encoder Initialization procedure MENCOFF Sets the encoder index position and is relevant only for systems that use encoder feedback and that use the Index mark The Index mark is used to provide a correction to the drive commutation It should be used when commutation may suffer from inaccuracies such as if hall effect signals are inaccurate This variable is expressed in units of encoder counts after quadrature If it is not known from the motor data sheet it can be set automatically using ENCINIT When this variable is set the drive enters a no comp state requiring a CONFIG command Parameter Index 0x08 Firmware Version Data
114. naher Motion Kollmorgen January 30 2006 Figure 9 7 Defining New Traces in MotionScope cccccceeeeceeeeeeeceeeeeeaeeeeeeeeceaeeeeaaeseeeeeseaeeesaesseaeeeeeeeess 92 Figure 10 1 SqNode Summary Window for Firmware Download oooooconccccnnccononcconocananaccnanccnnnnnnnnnn canaria 99 Figure 17 1 MotionLink Main SCree n ccccceccseeeeeeceeeeeceaeeeeeaeceeeeeeceaeeeeaaeseeeeeseaeeesaaeseeaeeseeeeesiaeeesaeeeeaes 125 Figure 17 2 MotionLink Drive Backup SCreen ccccccceeeeeeeenceeeeeeecaeeeeaeeeseaeeesaaeeeeaaeseeeeeseaeeesaeeteaeessaees 126 Figure 17 3 Ignite28xx Main SCre n cccccceceseceeeeeceeeeeeaeeeeeeeeeceeeecaaeeeeaaeseeeeeseaeeeseaeseeaeeseeeeessaeeeseeeseaes 127 PicoDAD SN User Manual Page 6 of 130 Danaher Motion Kollmorgen January 30 2006 1 Revision History Revision Number Date Description 1 0 December 22 2004 First official version 1 1 Added clarification on Rotary Switch Mounting book or brick SN Connector RJ 45 Added info on velocity limit Added info on under voltage and motor over temp processing Added clarification regarding position capture Added sine encoder input frequency limit 1 3 January 18 2005 Corrections to mating connector part numbers 1 4 Corrections to pin out of Controller I O Clarification of Current Scaling Clarification of Mounting Added information on Position Capture both Controller and Drive Bas
115. ncoder that has A B signals only commutation initialization by moving the motor a few electrical degrees The drive takes control over the motion of the motor during this process Refer to the section on Commutation Initialization without Halls PicoDAD SN User Manual Page 47 of 130 Danaher Motion Kollmorgen January 30 2006 MENCRES Parameter Index Data Access Units Default HALLS Parameter Index Data Access Units Default HALLSTYPE Parameter Index Data Access Units Default MHINVA Parameter Index Data Access Units Default Sets the resolution of the motor encoder in number of lines per revolution of the motor in the case of a rotary motor or number of lines per motor pitch in the case of linear motors This parameter is used when working with quadrature or sine encoder feedback For an incremental encoder the number of encoder counts per revolution or per pitch is obtained by multiplying MENCRES by 4 For a sine encoder the number of encoder counts per revolution is obtained by multiplying MENCRES by MSININT and by 4 The equivalent number of counts per revolution is limited by MSININT MENCRES lt 2 Setting this value puts the drive into a no comp state and requires execution of the CONFIG command to release the drive from this state 0x07 Firmware Version 0 0 1 Read Write Data Type Long Integer Rotary Lines per motor Range 100 to 10 000 000 revolution Linear Lines pe
116. nd 0x08 see section Direct Commands for details on how to use Direct Commands When using the sqCmd utility the following instruction will cause the Fault Status word to be read sqCmd node x channel y memory 3 addr Ox8 read PicoDAD SN User Manual Page 83 of 130 Danaher Motion Kollmorgen January 30 2006 where x is the node number Nodes are numbered from 0 y is the drive or axis number on that node Drives are numbered from 0 0x8 is the Direct Command identifier for reading the fault status word The following response was received from a drive that has an under voltage fault BEE iC MEI 3 62 RMP BIN WINNT gt sqemd node BM channel 1 memory 3 addr 0x8 Reading direct command x8 of drive 1 on node Data read is 6x26 iC MEI 3 62 G RAMP BIN WI NNT gt 9 16 5 Using the SqDriveMsg Utility Another way of reading faults and warnings is to use the sqDriveMsg utility as follows SqDriveMsg node x drive y where x is the node number Nodes are numbered from 0 y is the drive or axis number on that node Drives are numbered from 0 This utility has the advantage of retuning a textual description of all the faults that exist on the drive The following response was received from an axis that has an under voltage fault O x C MEING3 02 G 2MP BIN WINNT gt sqdrivemsg node A drive 1 Fault Count 1 Fault Read x26 Bus voltage is too low Warning Count C MEING
117. ne the drive continues to increment PFB based on interpolation of the sine and cosine signals Note HWPOS is not subject to the sine encoder interpolation setting in the drive MSININT It s resolution is determined solely by the encoder HWPOS Read encoder absolute position directly from the EnDat encoder This operation is relevant only for EnDat encoders Parameter 0x4A Firmware 0 0 2 9 Index Version Data Access Read only Data Type Long Integer Units Encoder counts before quadrature and before Range Depends on EnDat interpolation model Default N A EEPROM No 9 13 4 Absolute Position Mode The absolute position is read by the drive from the encoder at power up This information can be read in either signed or unsigned format and this affects the way the users sees this absolute position The ABSPOSMOD drive parameter is used to determine whether the absolute position read on power up is signed or unsigned To illustrate this let us assume that the encoder has a single turn the encoder resolution is 2048 and the interpolation level is 256 Thus the equivalent number of encoder counts per revolution is 2 097 152 e If the ABSPOSMOD parameter is set to O unsigned format then the absolute position on power up will be in the range O through 2 097 151 e If the ABSPOSMOD parameter is set to 1 signed format then the absolute position on power up will be in the range 1 048 576 through 1 048 575 ABSPOSMOD This parameter d
118. ne cosine signals are connected and are in the proper range Sine Encoder signals should be 1Vp p 10 PicoDAD SN User Manual Page 82 of 130 Danaher Motion Kollmorgen January 30 2006 Bit mask of Fault Description Possible Cause Faults Status word 0x00400000 Motor over temperature fault Motor thermistor leads are not connected should be connected between pins 13 and 25 of connector C2 Motor has overheated There is no thermistor in the motor Set THERMODE to 1 The thermistor type is not set correctly Set THERMTYPE to 0 for a PTC device or 1 for an NTC device 0x00800000 Sine quad mismatch This fault is set toggled when the digital counter quad and analog quad mismatch at least 2 consequent sample times and the motor is moving more than 3 counts in digital counter A O MA A MA E MA A A A MA O A O m O SS 9 16 3 Reading Warnings Over SynqNet The Warning register can be read using Direct Command Ox0A see section Direct Commands for details on how to use Direct Commands When using the sgCmd utility the following instruction will cause the Warning register to be read sqCmd node x channel y memory 3 addr OxA read where x is the node number Nodes are numbered from 0 y is the drive or axis number on that node Drives are numbered from 0 0x8 is the Direct Command identifier for reading the fault status word 9 16 4 Reading Faults Over SynqNet The Fault Status word can be read using Direct Comma
119. nge 0 to 45 Default 10 EEPROM Yes MTANGLP Sets the value of the torque related commutation angle advance at the motor s peak current Parameter Index 0x13 Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Electrical degrees Range 0 to 45 Default 23 EEPROM Yes The velocity based phase advance helps to achieve higher torque for a given motor speed These parameters are independent of the rotor magnets They come to compensate for computing time and current loop phase lag In general they shouldn t be set to 0 MVANGLH sets the phase advance angle at half of motor speed MSPEED 2 in electrical degrees and MVANGLF sets the phase advance angle at motor speed MSPEED in electrical degrees Together with zero angle advance at zero speed it creates two piece linear curve where the drive calculates the phase advance for a given motor speed MVANGLH Sets the value of the velocity rated commutation angle advance to be used when the motor is operating at half of the motor max speed Parameter Index 0x15 Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Electrical degrees Range 0 to 90 Default 0 EEPROM Yes MVANGLF Sets the value of the velocity rated commutation angle advance to be used when the motor is operating at motor max speed Parameter Index 0x14 Firmware Version 0 0 1 Data Access Read Write Data Type Integer Units Electrical degrees Range 0 to 90 Default 0 EEPROM Yes PicoDAD SN U
120. o configure the monitor data that is being sent from the drive SqCmd The sqCmd utility sends low level service commands to a node or drive It is used to operate Direct Commands for example to clear faults or to clear drive parameter memory sqDriveMsg The sqDriveMsg utility displays all the faults and warnings present on the specified drive SqDriveMonitor The sqDriveMonitor utility is used to configure the real time monitor data that is being sent from the drive sqDriveParam The sqDriveParam utility allows control of the drive parameters on a SynqNet node Typically this utility is used for viewing or changing a single drive parameter PicoDAD SN User Manual Page 113 of 130 Danaher Motion Kollmorgen January 30 2006 13 Appendix Application Programming Considerations 13 1 FPGA Run time Image The PicoDAD is shipped from the factory with the FPGA run time image cleared This is done because customers may have different versions of the MPI and each version may require a different version of the run time image Application programs should check the version at system initialization and download the correct run time image if necessary In general this will be done once for each drive as the image is stored in non volatile memory 13 2 Motor Position The PicoDAD firmware calculates position and communicates this data to the motion controller Thus the Primary Encoder Type must be set to DRIVE when working with
121. of the SynqNet FPGA All General Purpose Digital I O signals are wired directly to the SynqNet FPGA and are thus processed at the controller level only The analog inputs are processed by the DSP and available for reading over either the service channel or via Real Time Monitoring 3 10 Position Capture The following inputs are available for use as triggers for Position Capture e All 8 general purpose opto isolated inputs e All 4 RS 422 inputs e The Home input on both axes e The over travel limits on both axes The user should be aware that opto isolated inputs have an inherent delay in the order of tens of microseconds 3 11 Diagnostics e 7 Segment LED shows axis status and fault codes Please refer to Drive Status 7 Segment LED for more details e SynqNet LEDs provide information on the SynqNet connection Refer to the section on SyngNet LEDs for more details e Real time indication of a warning or a fault is communicated over the cyclic status bits e The fault status word contains information on each existing fault and can be read by the motion controller e Internal analog input for measurement of Bus voltage and of Drive temperature e Real time data monitoring for the following values o Bus voltage o Drive temperature o Analog inputs o Phase currents and overall torque 3 12 Rotary Switch The PicoDAD is equipped with a 16 pole rotary switch The switch is connected to the SynqNet FPGA and its use is application sp
122. onnected to the positive terminal of the power supply to motor phase B connected to the negative terminal of the power supply Make sure the motor is locked in position Apply the same current from motor phase C to motor phase A The motor should jump 60 electrical degrees Watch the direction of the motor jump Let define this direction as positive motor phase direction 9 11 3 3 Set MFBDIR bit 2 Rotate the motor manually slowly to the positive motor phase direction and monitor the hall state using HALLS command from MotionLink Terminal Positive hall sequence is 1 5 4 6 2 3 Check only the sequence not the start point If the hall sequence is backwards set MFBDIR bit 2 to 1 Please pay attention that setting this bit doesn t change the readout of HALLS command 9 11 3 4 Align the halls to motor phase set MPHASE Apply current from motor phase C to motor phase B same way as in item 2 Read hall state Try to manually move a bit right and left the motor from where it locked while reading the hall state to see if the motor is close to hall edge PicoDAD SN User Manual Page 67 of 130 Danaher Motion Kollmorgen January 30 2006 When current is applied from motor phase C to motor phase B the motor should be locked between hall states 1 and 3 Calculate the locking location angle according to the following table Hall edge Angle Angle MFBDIR bit 2 0 MFB
123. pen collector Maximum quadrature input frequency 3MHz before quadrature Sine Encoder Signal Characteristics hoe ee Differential 1Vp p 2 5V offset Differential 1Vp p or RS422 Halls Differential single ended or open collector RS422 data clock Maximum sine encoder input 3dB at 265kHz frequency Interpolation Set by a drive parameter MSININT Maximum value is x512 before quadrature Equivalent resolution in counts per rev is MENCRES MSININT 4 Note The quadrature encoder must have differential RS 422 A B Z signals The PicoDAD will not work with single ended TTL feedback signals PicoDAD SN User Manual Page 18 of 130 Danaher Motion Kollmorgen January 30 2006 6 5 Resolver The PicoDAD can use single speed two pole resolver feedback to monitor the motor shaft position A resolver can be thought of as a transformer whose output is unique for any given shaft position an absolute position feedback The transformer is driven with a sine wave reference signal Two AC signals are returned from the resolver into the Sine and Cosine inputs Type Transformation Ratio Modulation Frequency Input Voltage From Drive Max DC Resistance Max Drive Current Output Voltage To Drive Accuracy ResBW 300 ResBW 600 Repeatability ResBW 300 ResBW 600 Single pole 0 4 to 0 6 dependant on the Resolver itself 8kHz TBD ArcMin TBD ArcMin TBD ArcMin TBD ArcMin PicoDA
124. po O Motor Set cee m AmpEnable Enabled PF Enabled Servo Servo Cmd Act Cmd Act Primary Encoder Phase Reversed Reversed Primary Encoder Type DRIVE DRIVE Primary Encoder CntsiRey___ 0 0 Secondary Encoder Phase Reversed TF Reversed QUAD_AB QUAD_AB perereca eame o 0 0 0 Delay Delay o 0 o 0 0x00000066 0x00000066 Plow fesen Feedback Faut_ tow Plow Orion ae Orion pac Low A 10 Qe Dow Figure 9 4 Warning indication in MotionConsole 9 16 2 Faults When a fault occurs a bit in the Fault Status word is latched and bit 15 in the SynqNet Cyclic Status Flags is set to indicate this state The fault status word has 32 bits Bit 14 in the lower 16 bits indicates that a feedback loss fault has occurred and the upper 16 bits are used to identify the specific faults associated with a feedback loss The fault status word is read using Direct Command 0x08 The following table describes the bits in the Fault Status word Bit mask of Fault Description Possible Cause Faults Status word 0x0001 EEPROM checksum fail EEPROM checksum invalid on power up Set all drive parameters and save them in the EEPROM PicoDAD SN User Manual Page 81 of 130 Danaher Motion Kollmorgen January 30 2006 Bit mask of Fault Description Possible Cause Faults Status word 0x0002 Over current Power stage surge current Can be caused by The over current fault can only Short circuit of motor power leads
125. provide different aspects of the drive s functionality By executing the VERSION SynqNet utility one can get information on the versions of all these entities The VERSION utility is typically executed from within a DOS window and run from the XMP BIN WinNT directory 5 2 1 FPGA Firmware The FPGA provide the SynqNet and the I O functionality It has two FPGA images one called a BOOT image and the other called a RUNTIME image A valid run time image is needed for the drive to be operational and the run time image version must be compatible with the version of the MPI Each MPI installation includes the run time files for each drive partner The PicoDAD FPGA is identified by the prefix COFE0035_xyzw while the 4 digit suffix xyzw identifies the version of the run time image When starting up MoCon a message will be displayed if the run time version of the FPGA is not compatible with the MPI and an interface provided for download the correct version refer to section on Firmware Upgrade Procedure The correct version is found in the XMP BIN sub directory of the software installation in a sff file Note The PicoDAD is shipped from the factory with the FPGA run time image cleared This is done because customers may have different versions of the MPI and each version may require a different version of the run time image Application programs should check the version at system initialization and download the correct run time image if necessa
126. r 43160 3104 Mating Connector Part Number 44441 2004 Housing 43375 0001 Pins 63813 0500 Manual Extraction Tool Pin Out Pin Description Comments 1 Chassis Refer to Grounding Tree 2 Phase C 3 Phase B 4 Phase A 8 2 4 Feedback 8 2 4 1 Connector Definition Manufacturer Connectors from any of the following manufacturers are used 3M ACON Hirose Part Number 3M N10220 52B2VC ACON HBR20 20K3211 Hirose DX106GM 20SE Mating Connector Part Number 3M Connector 10120 6000EC Housing 10320 3210 00 Cable 3M 3444C 10P 8 2 4 2 Connector Pin Arrangement Pin 2 Pin 20 Pin 1 Pin 11 PicoDAD SN User Manual Page 25 of 130 Danaher Motion Kollmorgen January 30 2006 8 2 4 3 Pin Out Pin Incremental Resolver Sine Encoder Sine Encoder Encoder EnDat C D 1 E5V E5V E5V E5V 2 E5V E5V E5V E5V 3 A Sine A A 4 A Sine A A 5 Z Ref 6 Z Ref 7 Hall1 SSI Data C 8 Hall1 SSI Data al 9 Hall3 10 Hall3 11 DGND DGND DGND DGND 12 DGND DGND DGND DGND 13 B Cosine B B 14 B Cosine B B 15 DGND DGND DGND DGND 16 DGND DGND DGND DGND 17 Hall2 SSI Clock D 18 Hall2 SSI Clock D 19 Motor temp Motor temp Motor temp Motor temp 20 Motor temp rtn Motor temp rtn Motor temp rtn Motor temp rtn 8 2 5 Machine I O 8 2 5 1
127. r file This file as the Extension a00 21 xi Lookin lt 9 PicoDAD lt e E e En Cancel a ember_ver309_D2810 a00 Files oftype Ember Program Files a00 y Cancel Open as read only 3 Select the ember_ver309_D2810 a00 file and click on the Open button This file contains the code that programs the firmware and manages the download The IGNITE program downloads this file to the DSP first Note that the Ember file name may change as new versions are released 4 Files to Download A Click on all files that are listed and DELETE them one at a time B Click on the Add button to select the file to be downloaded C Select the path to the pdad_xyz i00 file This file contains the drive firmware D Click on Open to return to the Advanced Options screen E Click on OK to return to the main Ignite screen PicoDAD SN User Manual Page 128 of 130 Danaher Motion Kollmorgen January 30 2006 17 4 3 Start Firmware Update 1 Click on the Start button to start the firmware download The 7 segment LED display will show an 2 When the process is complete click on the Exit button The 7 segment LED display will still show a steady 17 5 Resuming Operation 17 5 1 Return Drive to Operational State A SynqNet RESET is required to return the drive to its operational state 17 5 2 Restore Drive Parameters 1 Read the drive firmware version VER instruction to verify that the new firmware has indeed b
128. r motor pitch 0 EEPROM Yes Returns the hall switch values encoder feedback option only The switch values are displayed as a three bit code in the sequence C B A Although the range of values that can be read is 0 through 7 the values 0 and 7 are illegal the 3 HALL signals should never all have the same state The HALL states can also be seen in Motion Console in the Motor Summary 1 0 window 0x44 Firmware Version 0 0 1 Read only Data Type Integer N A Range 0 to 7 expressed as a bit wise value N A EEPROM No Sets the type of electrical signal used by the Halls This option is relevant only when using quadrature encoder feedback Ox6D Firmware Version 0 0 4 3 Read Write Data Type Boolean N A Range O differential 1 single ended 0 EEPROM Yes MHINVA is a variable that applies to encoder based systems that use hall switches to commutate This variable inverts the hall sensor A feedback causing the system to read the A hall channel as inverted data Ox1E Firmware Version 0 0 1 Read Write Data Type Boolean N A Range O not invert 1 invert 0 EEPROM Yes PicoDAD SN User Manual Page 48 of 130 Danaher Motion Kollmorgen January 30 2006 MHINVB Parameter Index Data Access Units Default MHINVC Parameter Index Data Access Units Default MSININT Parameter Index Data Access Units Default MHINVB is a variable that applies to encoder based systems that use hall swi
129. rive All current values in the drive are scaled to DIPEAK The drive current rating is coded in hardware in the power section of the drive and read by the firmware during the power up cycle Although the parameter is defined as read only writing the same value as that defined in the hardware will be accepted and the drive will enter the no comp fault state If a value different from that defined in hardware is written a Not Programmable error will be returned 0x03 Firmware Version 0 0 1 Read Only Data Type Integer Amperes RMS 0 1 Range 10 to 2 200 The value 200 implies 20Amp RMS Hardware defined EEPROM No PicoDAD SN User Manual Page 54 of 130 Danaher Motion Kollmorgen January 30 2006 DICONT Parameter Index Data Access Units Default IMAX Parameter Index Data Access Units Default Defines the rated continuous current of the drive The drive current rating is coded in hardware in the power section of the drive and read by the firmware during the power up cycle Although the parameter is defined as read only writing the same value as that defined in the hardware will be accepted and the drive will enter the no comp fault state If a value different from that defined in hardware is written a Not Programmable error will be returned 0x02 Firmware Version 0 0 1 Read Only Data Type Integer Amperes RMS 0 1 Range 10to 1 100 The value 100 implies 10Amp RMS Hardware defin
130. rive firmware version For the PicoDAD the Manufacturer and Model text will always be Kollmorgen PicoDAD Example Kollmorgen PicoDAD 0 1 9 9 6 4 3 Parameter identification Section This section contains definitions of the parameters that are valid for the firmware version s listed in the Drive Identification section The section begins with a header as follows parameters Each line in this section contains the following parameter identification information separated by whitespaces number drive parameter number in hex name drive parameter name or mnemonic read write access read write rw or read only ro data type one of the pre defined data types see table below values list of valid values range of valid values or an address default value parameter value to be used if value is not specified help string simple string to provide user help PicoDAD SN User Manual Page 41 of 130 Danaher Motion Kollmorgen January 30 2006 All service commands and drive parameters are accessed over the service channel as 32 bit quantities but these 32bits of data can represent many different types of data To support various data types with generic software tools the supported data types have been predefined Here are the data type names that are supported for the drive parameter map file Name Description unsigned8 An 8 bit unsigned binary number unsigned16 A 16 bit unsigned binary number unsigned32 A
131. rmware Version 0 1 0 Read Write Data Type Integer Rotary RPM Range 10 to VMAX Linear mm sec 10 EEPROM Yes PicoDAD SN User Manual Page 59 of 130 Danaher Motion Kollmorgen January 30 2006 9 8 13 Under Voltage Fault Processing Both the under voltage trip level and the drive s response to an under voltage situation can be programmed UVTRESH Sets the under voltage threshold level This is the voltage at and below which an under voltage event will be flagged The drive s response to the event can be programmed using the UVMODE UVTIME and UVRECOVER parameters Parameter Index 0x61 Firmware Version 0 1 6 Data Access Read Write Data Type Integer Units DC Volts Range TBD Default 36 EEPROM Yes UVMODE Defines how the drive will respond to an under voltage UV fault 0 latch fault immediately display flashing u 1 display steady u Warning only with no fault latch 2 display steady u After UVTIME elapses latch fault If UVMODE 1 and the drive is disabled the UV fault is ignored See also UVRECOVER Parameter Index 0x33 Firmware Version 0 1 6 Data Access Read Write Data Type Integer Units N A Range 0 1 2 Default 0 EEPROM Yes UVTIME Sets the amount of time an under voltage warning is displayed u before it is latched when UVMODE 2 Parameter Index 0x34 Firmware Version 0 0 2 7 Data Access Read Write Data Type Integer Units Seconds Range 1 to 300 Default 30 EEPROM
132. rs can be done using the SqDriveConfig utility The syntax is described below The syntax assumes that the utility is executed from the XMP BIN WINNT folder SqDriveConfig node x drive y get lt destination file name gt map drives dm where x is the node number Nodes are number from 0 y is the drive or axis number on that node Drives are numbered from 0 Example SqDriveConfig node O drive 1 get Axis1 txt map drives dm This command will retrieve the parameters from the second axis on node 0 and store them in a file called Axis 1 txt 17 3 2 Clear the Drive Parameters Drive parameters can be saved in non volatile memory EEPROM Clearing the drive parameters entails clearing this EEPROM e Using MotionLink 1 Execute a CLREEPROM instruction from the command prompt PicoDAD SN User Manual Page 126 of 130 Danaher Motion Kollmorgen January 30 2006 e Using SynqNet Direct Commands This is done with a Direct Command using the sqCmd utility The syntax is described below The syntax assumes that the utility is executed from the XMP BIN WINNT folder sqCmd node x channel y memory 3 addr Ox1F write where x is the node number Nodes are numbered from 0 y is the drive or axis number on that node Drives are numbered from 0 Ox1F is the Direct Command identifier for the EEPROM clear instruction Example sqCmd node O channel 1 memory 3 addr Ox1F write This command will clear the paramet
133. rting from each of the six Hall states Confirm Proper Operation in the Application Conditions Tune the servo loop Command aggressive moves and the highest acceleration used by the application Observe the peak value of DAC input required for forward and reverse motion These values should be approximately the same within about 10 If desired required adjust MPHASE up or down to give equal peak DAC output in both directions PicoDAD SN User Manual Page 68 of 130 Danaher Motion Kollmorgen January 30 2006 9 12 Commutation Initialization without Commutation Signals Phase Finding 9 12 1 Overview Servo drives need to know the electrical angle of the shaft so that they can commutate the motor correctly If the electrical angle is not known correctly this will result in a reduction of the available torque the addition of a static bias to the torque and possibly an inversion of the torque s polarity The electrical angle is available directly if a resolver commutating encoder or absolute encoder is used However in certain circumstances only an incremental position measurement is available and it is necessary to carry out a process of determining the electrical angle e Phase Finding There are various phase finding techniques generally they rely on the shaft or the forcer in the case of a linear motor being free of static loads or excessive inertias If these conditions are met then phase finding can be carried out by a
134. rw signedl6 5000 5000 0 Analog input offset 2 0x1E MHINVA rw enumerated O not_invert 1l invert 0 HallA Invert 0x1F MHINVB rw enumerated O not_invert 1l invert 0 HallB Invert 0x20 MHINVC rw enumerated O not_invert l invert 0 HallC Invert 0x23 MPITCH rw signed16 1 500 0 Pole Pitch Distance 0x24 MENCTYPE rw enumerated O ABZ_UVW 4 ABZ 0 Motor Encoder Type 6 AB_UVW 9 EnDat 0x25 REMOTE ro enumerated 0 Not_Enable 1 Enable 0 Remote Enable signal state 0x26 ACTIVE ro enumerated 0 Axis_Disabled 1 Axis_Ena 0 Axis Enable state bled 0x27 MOTORTYPE rw enumerated O Rotary 2 Linear 3 AKM 0 Motor Type 0x28 VLIM rw signed16 10327624 10 Maximum velocity 0x29 MFBDIR rw unsigned16 Lae 0 Motor Feedback direction 0x2F WNSERR ro unsignedl6 0 65535 0 Phase Finding error response 0x30 INITGAIN rw signed16 100 10000 1000 WNS initialization Gain 0x31 IENCSTART rw signed16 1 100 25 WNS Maximum current 0x32 MJ rw signed32 0 2000000000 0 Motor Inertia 0x33 UVMODE rw enumerated 0 Fault_Immediately 0 Under voltage mode 1 Warning_Only PicoDAD SN User Manual Page 115 of 130 Danaher Motion Kollmorgen January 30 2006 0x34 UVTIME rw unsigne
135. ry In general this will be done once for each drive as the image is stored in non volatile memory 5 2 2 DP Firmware The DP firmware provides the current loop and other drive configuration functionality It is updated as the need arises in order to support new features It is not necessarily related to a specific version of MPI or FPGA run time image The firmware file is identified by a file name having the following general format PicoDAD SN User Manual Page 13 of 130 Danaher Motion Kollmorgen January 30 2006 pDad_xyz i00 where xyz represents the firmware version For example 013 is firmware version 0 1 3 5 3 Software Compatibility Table There are at least three elements of software firmware in the SynqNet system e Motion controller software called the MPI e FPGA run time image e Drive Processor firmware The following table shows compatible sets of these software entities MPI FPGA Drive Processor 03 02 00 COFE0035_0343 sff 0 1 6 03 02 00 COFE0035_0343 sff 0 1 9 5 4 Drive Processor Memory Descriptions The drive contains a number of different memory types Flash Memory used to store the drive firmware RAM used to store drive parameters during run time DSP EEPROM non volatile memory used to store drive parameters even when the power is off At power up the drive will attempt to load parameter values from the EEPROM into the RAM A checksum of these parameter values is kep
136. s the F4 key to show data in hexadecimal format e Press the S key to get to the RinconBufferInternal page The monitored data is labeled by the Status Motor x Monitor y field as shown in the screen capture below ca Motion Engineering Inc FWO Ver 5 61A4 Opt O Memory Hex RinconBufferInternal Header AxB01B006100 Cyc leCount Demand Header Demand Motor DemandA Demand Motor l11 DemandA Control Header Control SruCmd Address Control SruCmd Data Control Motor BM1 l1o0utput Control Motor B1 CptCmpFlags Control Motor 11 l1o0utput Control Motor 11 CptCmpFlags TestPacket Unused 6 Unused 1i Unused 2 Status Header BxBBB40B82 Status SruCmd Response xFFFFFFFF Status Motor 1 IoInput BxB0BBBB3B2 Status Motor Monitor BxB23BBCB4 Status Motor 81 Monitor 1 1 MxB392E37B Status Motor 11 loInput 004 Status Motor 1 Monitor 8 1 5 Status Motor 11 Monitor i 1 BxB3925000E ha Ss SSSTSSSSSSOSSS9 elector Figure 9 5 VM3 Screen Showing Monitored Data In this screen the Monitored data appear in two 32 bit words Monitor 0 and Monitor 1 Monitor A and Monitor B are in the lower and upper 16 bits respectively of Monitor 0 and Monitor C is in the lower 16 bits of Monitor 1 PicoDAD SN User Manual Page 90 of 130 Danaher Motion Kollmorgen January 30 2006 9 18 3 2 Defining New Traces in MotionScope In MotionScope click on the Tra
137. s the drive or axis number on that node Drives are numbered from 0 lt monitor channel gt is one of MonitorA MonitorB or MonitorC lt monitor index gt identifies the data to be monitored The poll flag is optional When used the monitored data are displayed constantly in the DOS window until the ESC key is hit Using this flag provides an easy way to see if the monitor configuration was done correctly The following are examples of how to set up monitoring using the sqDriveMonitor utility PicoDAD SN User Manual Page 89 of 130 Danaher Motion Kollmorgen January 30 2006 Actual Torque on Monitora SqDriveMonitor node x drive y monitorA index 10 Analog input 2 on channel B SqDriveMonitor node x drive y monitorB index 31 Bus Voltage on channel C SqDriveMonitor node x drive y monitorC index 36 9 18 3 Viewing Monitored Data on MotionScope When using MPI version 03 03 00 or later the real time monitors can be selected from the trace selection window in MotionScope In order to view monitored data on MotionScope when using MPI versions prior to but not including 03 03 00 one needs to know the internal address at which the data appears Once the address known a trace can be created in MotionScope The following section describes how to find that address and how to set up the trace in MotionScope 9 18 3 1 Finding the Monitored Data Address The address is found using the VM3 utility e Open VM3 e Pres
138. s to read a file of data from a drive Of course the map file must exist and must be valid 9 7 Motor Position 9 7 1 Position Feedback Parameter The motor feedback device is read and processed by the drive processor and stored in a drive parameter called PFB Position Feedback This is a 32 bit signed value and may be read over the serial port or over SynqNet This is the position value that the drive communicates to the motion controller for use in closing the position loop PFB Position feedback Displays the cumulative position feedback from the feedback device Parameter Index 0x19 Firmware Version 0 0 1 Data Access Read only Data Type 32 bit signed Integer Units Encoder counts Range 2147483648 to 2147483647 Default Set to 0 at power up for EEPROM No incremental quad or sine encoder and for resolver For EnDat the value at power up is based on the value read from the EnDat encoder see HWPOS PicoDAD SN User Manual Page 43 of 130 Danaher Motion Kollmorgen January 30 2006 9 7 2 Mechanical Position PRD Sets the absolute position feedback of the hardware feedback device for both resolver and encoder based systems PRD will increment from 0 to 65 535 throughout the course of one mechanical motor shaft revolution 360 degrees The range of PRD will not change lts resolution for resolver feedback systems is dependent upon the value of RDRES e RDRES 12 resolution of PRD 16 counts RDRES 13 resolut
139. sdeeascacescdesedepuendaedseveseagecate 111 12 Appendix SynqNet Utilities scccscccecssocoessconssevacossenscssnevavcssveveresosenasseeseesecevesenessnceessese L13 13 Appendix Application Programming Considerations ooooomm 114 13 1 FPGA RUN TIME IMAGE 0 ccccccecececececscecececececececececececececececececececececececececececececececececesececs 114 13 2 MOTOR PO MAN iicupunies cabaes dicevned Socbents E a iove vous Sosounesspouvons R E ters 114 13 3 DRIVE PARAMETERS 0 0cscecececscvvevevv cove cvcscvcvvevevvvsvvvcvsvvevecvevsvessvsvevessvevsvevsvevessvevsvsvessvsees 114 14 Appendix Sample Drive Parameter Map Fille sccssscsssscssssscesssscssssccssssccssssecees L15 15 Appendix Sample Drive Configuration File oooooooooc LIS 16 Appendix Reference Guide ooosmosssssssssss 119 16 1 INSTRUCTIONS se od o aia cat ote 119 16 2 PARAMETERS ea rne E so bit 119 16 3 EFFECT OF RSTVAR AND CLREEPROM 0 ccccccececececececececececececececececececececeeeceseeeceeeseeess 123 17 Appendix Upgrading Firmware over the Serial Port ooooomomos 125 17 1 TERMINOLOGY icon iria 125 17 2 IMPORTANT FILES cusco 125 17 3 PREPARATION Sica 125 17 3 1 Retrieve Drive Paramete lS ooooconnccnnnccncinnonnnconnnonanannnocnnnnnnnnnnnnnnrnnnnnnnnoncnnn nn nn nnnninccnnnns 125 17 3 2 Clear the Drive Parameters oooooncnnnncnncnonononononononononononononononononononononononononenocenenones 126 17 4 UPDATE DRIVE FIR
140. ser Manual Page 52 of 130 Danaher Motion Kollmorgen January 30 2006 9 8 6 Back EMF Compensation The Back EMF is a feed forward for the current loop It takes the velocity multiplies it by motor torque constant set using MKT and multiplies the result by the specified Back EMF gain MBEMFCOMP Then it performs commutation multiplies the above result by the same sin sin 120 and sin 240 as it multiplies the current command The results one per phase are added to the output of the corresponding current controller outputs and the sums generate the PWM commands for each phase One can consider the Back EMF of the motor as a disturbance to the current loop The drive has the capability to estimate the amount of Back EMF and to inject feed forward correction Higher currents will be used when Back EMF compensation is on since the Back EMF is a feed forward to the current loop The advantage of using Back EMF compensation is that it bypass the current controller with its finite bandwidth the back EMF comp is a gain only and has unlimited bandwidth As the motor speed increases the commutation frequency increases the current controller gets closer to its bandwidth and the Back EMF compensation effect is more emphasized The disadvantage with using Back EMF compensation is that it injects noise since it has unlimited bandwidth As always a balance needs to be found Since the torque constant and the back EMF constant are equivalent
141. ss Units Default FOLDTIME Parameter Index Data Access Units Default Foldback recovery time 0x53 Firmware Version 0 0 1 Read Write Data Type Integer Milli seconds Range 1 to 32 767 12000 17000 EEPROM Yes depends on power stage rating Sets the mode for drive current foldback and motor current foldback operation Only one value is supported for FOLDMODE 0 normal foldback from ILIM to ICONT 0x52 Firmware Version 0 0 1 Read Write Data Type Integer N A Range 0 to 0 0 EEPROM Yes Sets the time from foldback detection to foldback fault latch for FOLDMODE 1 only 0x55 Firmware Version 0 0 1 Read Write Data Type Integer Milli seconds Range 1 to 300 30 EEPROM Yes 9 8 12 Application Velocity Limit VLIM Parameter Index Data Access Units Default Sets an application maximum velocity VLIM is used in the drive as follows 1 For velocity calculation and reporting 2 In back EMF compensation 3 In speed phase advance 4 In WNS commutation initialization process The drive supports a large variety of feedback resolutions and speeds In order to be able to provide for all options the drive s internal velocity variables are scaled so that 16384 internal bits 250usec are equivalent to VLIM in RPM This means that the lower the VLIM the better the velocity resolution is Thus this value should be set to maximum application speed VLIM is not used directly rather the actual velocity is used 0x28 Fi
142. t and this is verified when the EEPROM contents are loaded If the checksum is invalid default values for drive parameters are loaded into RAM These default values are hard coded and are as such part of the firmware file When parameter values are set these values are stored in RAM and will be lost when power is removed form the drive Once a working set of drive parameters has been found the parameters can be stored in non volatile EEPROM memory This is done using either the serial SAVE command or the SynqNet 0x1C Direct Command Changes made to parameter values are stored in RAM It is possible to revert to a saved configuration by explicitly loading the parameters from the EEPROM This is done using either the serial LOAD command or the SynqNet 0x1E Direct Command The default parameter values can be loaded into RAM by executing either the serial RSTVAR command or the SynqNet 0x1D Direct Command The EEPROM may be cleared using either the serial CLREEPROM command or the SynqNet 0x1F Direct Command PicoDAD SN User Manual Page 14 of 130 Danaher Motion Kollmorgen January 30 2006 The following diagram illustrates the relationship between the different types of memory wN are Flash RAM EEPROM Stores Firmware and Stores run time Non volatile memory for default parameter values parameter values parameter values CLREEPROM REEPROM loads default values into RAM and clears
143. t this oscillation is not seen 9 13 Considerations for Working with EnDat Sine Encoders 9 13 1 Setting the Encoder Type The MENCTYPE parameter is used to tell the drive with which type of encoder it is working Set MENCTYPE to the value 9 when working with EnDat encoder 9 13 2 Equivalent Counts per Revolution The equivalent number of counts per revolution is calculated from MENCRES MSININT 4 Where MENCRES is the encoder resolution in lines per rev and MSININT is the interpolation level 9 13 3 Hardware Absolute Position The EnDat encoder provides an absolute position value that can be read using the HWPOS parameter The resolution and range of this value is dependant of the encoder model For example the ECN 1113 encoder is a single turn encoder having 512 lines per rev and 8192 position values per rev Querying HPWOS on this encoder will show 8192 values per rev and a range of 0 to 8192 The EQN 1125 on the other hand is a multi turn encoder It also has 512 lines per rev and 8192 position values per rev but it supports 4096 revolutions In this case HWPOS will increment by 8192 values for each revolution PicoDAD SN User Manual Page 73 of 130 Danaher Motion Kollmorgen January 30 2006 The HWPOS value is read by the drive at power up and after a feedback loss fault and is used together with the analog information from the sine and cosine signals to calculate the initial 32 bit position value PFB Once this is do
144. tches to commutate This variable inverts the hall sensor B feedback causing the system to read the B hall channel as inverted data Ox1F Firmware Version 0 0 1 Read Write Data Type Boolean N A Range O not invert 1 invert 0 EEPROM Yes MHINVC is a variable that applies to encoder based systems that use hall switches to commutate This variable inverts the hall sensor C feedback causing the system to read the C hall channel as inverted data 0x20 Firmware Version 0 0 1 Read Write Data Type Boolean N A Range O not invert 1 invert 0 EEPROM Yes This parameter is used with the sine encoder option and sets the interpolation level of the drive The equivalent number of counts per revolution is calculated from MSININT MENCRES 4 The equivalent number of counts per revolution is limited by MSININT MENCRES lt 2 0x41 Firmware Version Read Write Data Type Integer N A Range 1 2 4 8 16 32 64 128 256 512 256 EEPROM Yes PicoDAD SN User Manual Page 49 of 130 Danaher Motion Kollmorgen January 30 2006 The following parameters must be set when using resolver feedback RDRES Sets the resolution of the resolver feedback in resolver systems The value is in bits and indicates how many equivalent encoder counts there are per mechanical revolution Higher resolution may also result in greater noise on the feedback signal Parameter 0x4B Firmware Version 0 1 6 Index Data Access Read
145. technique such as e Applying a forced commutation to move the motor to a predetermined position where the torque generated is zero and updating controller variables accordingly e Using a motion control algorithm that will bring the commutation angle of the motor from the initial unknown position to the current motor position instead of moving the motor The disadvantage of the first method is that it requires the motor to be moved which produces a jumpy motion that may not be tolerable in some cases for example linear motor applications The second method is designed to solve this problem by implementing a closed loop commutation lock algorithm that adjusts the commutation angle to the motor position rather than moving the motor to a predetermined place The motor will move very slightly motion of about 4 electrical degrees is expected but it can also be as high as 15 electrical degrees Phase Finding is commonly used on applications with linear scales The presence of a static load such as gravity or an end stop spring is problematic and may cause phase finding to generate an erroneous value 9 12 2 Autonomous Drive Actions An autonomous drive action is one where the motion is controlled and sequenced locally by the drive rather than by the motion controller Phase Finding is a typical autonomous drive action Normal networked controlled closed loop operation of a drive under SynqNet involves supplying a torque dem
146. th the drive over the serial port Description Command SynqNet Direct Notes Mnemonic Command Save Parameters SAVE 0x1C Save all parameters to non volatile memory Clear non volatile CLREEPROM Ox1F Clear contents of non volatile memory memory CLREEPROM sets all parameters to their default values and sets motor parameters to the value zero Reset parameters to RSTVAR 0x1D Reset application parameters to default their default values This command does not affect motor parameters Load parameters from LOAD Ox1E Load a set of saved parameters memory from non volatile memory Both the CLREEPROM command Direct Command 0x1F and the RSTVAR command Direct Command 0x1D return parameters to their default values The difference however is that RSTVAR does not affect motor or current limit parameters The specific parameters not affected by RSTVAR are Motor Parameters MIPEAK MICONT MPITCH MOTORTYPE MSPEED MKT MBEMF MENCRES MSININT MENCTYPE MENCOFF MPHASE MPOLES MBEMFCOMP MLMIN MLGAINC MLGAINP MTANGLC MTANGLP MVANGLH MVANGLF Current Limit Parameters ILIM ICONT Foldback Parameters FOLDD FOLDR FOLDT 9 6 2 Accessing Individual Parameters Use the sqDriveParam utility for accessing individual parameters For the syntax below the following conventions hold PicoDAD SN User Manual Page 39 of 130 Danaher Motion Kollmorgen January 30 2006 x is the node number Nodes are n
147. the 7 segment LED that is located on the front panel This display shows drive status and drive fault codes In the case that more than one fault exists fault codes are displayed on the 7 segment LED according to their priority and only one fault code will be displayed Read the Fault Status Word for a complete fault summary Most faults except for Over Current are resettable and do not require power cycling When a fault occurs remove the source of the fault and then execute the Fault Clear instruction See section on Clearing Faults PicoDAD SN User Manual Page 105 of 130 Danaher Motion Kollmorgen January 30 2006 The following table shows the display codes the description and the fault priority Description Comments Fault Display Priority Decimal point After logic power is applied the LED will show a decimal point only only The drive is not operational at this point A SynqgNet RESET needs to be executed in order to bring the drive to an operational state Steady 2 only Torque Mode the drive is configured and ready to be enabled Steady 2 with The decimal point is on when the drive is enabled a decimal point Flashing 2 When using MENCTYPE 4 WNS encoder initialization this indicates that the drive is configured and ready to be enabled The encoder initialization process will begin when the drive is enabled Steady F Drive in fol
148. thm CA E process ILIM ofDIPEAK 01_ 0 IMAX integer o Application current limit IMAX MA ES of DIPEAK 0 1 EA 1 000 Min DIPEAK System maximum current IDEAR pase oea aw msec 1800 neers ree rer ZERO 089 RW ofMICONT ofMICONT from MPHASE for debug A oot PAW YPacon tf 100 rege 50 J MotorBack EMF compensation MENCOFF Bia pS counts FE ell Integer Motor Data Encoder index position revolution R MENCRES Nal W Rotary Lines per 10 00 000 Long Integer Motor Data Motor encoder resolution motor revolution Linear Lines per motor pitch MENCTYPE 0x24 R W N A Discrete values Motor Data Motor encoder type 0 4 6 7 8 9 10 Integer CTC Motor feedback direction Hall sensor A invert RINE oF DR te 0 ricer ive MHINVC____ 0x0 Rw wa CT 0 Integer Jo HallsensorCinvet MJ 0x32 RwW KkKg m2 t06 o 2000 000 000 Long Integer Motor Data Motor rotor inertia PMKT 0x0B_ RW N m 1000 Amp 16 64548 Unsigned Integer Motor Data Motor torque constant A i G at continuous motor current A Ap Ga a at peak motor current a PP ee ee inductance MOTORTYPE NA Discrete values 0 2 3 Motor Data Motor type selection MPHASE 0x0F R W Electrical degrees i Integer Motor Data Defines the encoder phase relative to the standard commutation table PicoDAD SN User Manual Page 121 of 130 Danaher Motion Kollmorgen January 30 2006 Index MPITCH 0x23 R W m
149. tion controller When the phase finding process completes the drive remains enabled and the drive resumes responding to the torque command Since the phase finding process moves the motor it should be assumed that there will be a non zero torque command at the end of the phase finding process The drive will then see this as a step command Depending on the size of the torque step the resultant motion can be violent Thus when using MENTYPE 4 the motion controller s Output Offset should be set to zero before the drive is enabled After the phase finding the drive should be disabled the output offset restored and then the drive can be re enabled For these reasons it is strongly recommended to use MENCTYPE 3 only 9 12 5 The Process 1 Disable the drive 2 Select the encoder initialization process by setting MENCTYPE to 3 Execute the CONFIG instruction after changing MENCTYPE At this point the 7 segment LED on the drive should show a flashing 2 If MENCTYPE 3 has been saved in the non volatile memory the drive will be in this state automatically after power up and explicit setting of MENCTYPE will not be required At this point bit 2 in the drive Warning Register will be set 3 Set the encoder initialization current using the ENCSTAAT instruction Set this to the maximum allowed application current 4 Set the gain for the process using the N TGAIN instruction This value will be adjusted during the tuning process and
150. to find the index position This procedure should be used only when the drive is configured for working with encoder feedback containing commutation tracks or hall effect signals and an index signal MENCTYPE 0 This is an action type instruction it does not read or write a parameter but causes a specific action to be take Use this parameter as if it were a write only parameter with a data value of zero 0x62 Firmware Version 0 0 2 9 Action Data Type Integer N A Range 0 N A EEPROM No Displays the status of the encoder initialization function This variable is reset to 0 when the index position is set manually see MENCOFP 0 initialization process has not begun 1 encoder initialization is in progress 2 encoder initialization has been completed 0x63 Firmware Version 0 0 2 9 Action Data Type Integer N A Range 0 2 N A EEPROM No PicoDAD SN User Manual Page 65 of 130 Danaher Motion Kollmorgen January 30 2006 9 11 Commutation Initialization with Commutation Signals 9 11 1 The MFBDIR Parameter MFBDIR Sets the motor feedback direction MFBDIR is a bit wise value with bits 0 1 and 2 being significant This parameter must be set correctly to ensure that a positive torque command results in motion in the positive direction and vice versa When this variable is set the drive enters a no comp state requiring a CONFIG command Bit 0 controls the direction of PRD 0 Normal follows the incre
151. tors the motor inertia refers to the motor coil mass linear motors MOTORTYPE 2 This parameter is necessary when Wake No Shake encoder commutation initialization is used 0x32 Firmware Version 0 1 1 Read Write Data Type Integer rotary Kg m 10 Range 0 to 2 000 000 000 linear grams 0 EEPROM Yes PicoDAD SN User Manual Page 70 of 130 Danaher Motion Kollmorgen January 30 2006 9 12 4 Phase Finding and the MENCTYPE Parameter The MENCTYPE parameter is set by the user to tell the drive what type of encoder is connected When using an encoder that has A B lines only and for which execution of the Phase Finding process is necessary the MENCTYPE parameter may be set to either of the values 3 or 4 When MENCTYPE is set to 3 phase finding is triggered by two conditions e Anexplicit command called ENCSTART is issued to command phase finding followed by e Enable of the servo drive When MENCTYPE is set to 4 phase finding is triggered by the Enable signal only Note however that once phase finding has been successfully executed enabling the drive will not trigger phase finding again In this case if the user wishes to execute phase finding again an ENCSTART command needs to be issued prior to enabling the drive Caution When using MENCTYPE 4 the phase finding process is triggered by Enable only When the Enable signal is set the drive takes control over the motion and ignores the torque command from the mo
152. uery 0 no request 1 process running 2 velocity too high Parameter Index 0x3B Firmware Version 0 0 2 9 Data Access Read only Data Type Integer Units N A Range 0 1 Default 0 EEPROM No 9 14 3 Calibration Data The calibration data are stored in the drives non volatile memory SINPARAM1 Queries the sine signal offset Parameter Index 0x3C Firmware Version 0 0 2 9 Data Access Read Only Data Type Hexadecimal Integer Units N A Range 0 to OXFFFO The least significant 4 bits are always zero Default 0 EEPROM Yes SINPARAM2 Queries the cosine signal offset Parameter Index 0x3D Firmware Version 0 0 2 9 Data Access Read Only Data Type Hexadecimal Integer Units N A Range 0 to OXFFFO The least significant 4 bits are always zero Default 0 EEPROM Yes PicoDAD SN User Manual Page 77 of 130 Danaher Motion Kollmorgen January 30 2006 SINPARAM3 Parameter Index Data Access Units Default SINPARAM4 Parameter Index Data Access Units Default SINPARAM5 Parameter Index Data Access Units Default SINPARAM6 Parameter Index Data Access Units Default Queries the sine to cosine matching gain The algorithm requires that the sine and cosine signals should have the same amplitude The factor used to match them is calculated from SINPARAM3 2 SINPARAM4 and represents the amplitude difference of the sine and cosine signals It should be close to 1 The firmware multiplies the Sine signal samples by this
153. umbered from 0 y is the drive or axis number on that node Drives are numbered from 0 lt parameter index gt identifies the parameter being accessed lt data value gt is the data being written to the parameter lt map file name gt is the name of the map file being used Syntax for reading drive parameters sqdriveparam node x drive y read lt parameter index gt Syntax for writing drive parameters sqdriveparam node x drive y write lt parameter index gt data lt value gt Examples Read the value of the drive rated peak current sqdriveparam node x drive y read 0x3 Set the encoder resolution to 2048 sqdriveparam node x drive y write 0x7 data 2048 9 6 3 Accessing an Entire Parameter Set Use the sqDriveConfig utility for reading or writing an entire set of drive parameters The utility uses a map file see next section that contains definitions and properties of the drive parameters The map file needs to match the drive processor firmware version in terms of version number and in terms of the set of supported parameters Syntax for reading an entire set of parameters to a file SqDriveConfig node x drive y get destination file name gt map lt map file name gt Syntax for writing an entire set of parameters from a file SqDriveConfig node x drive y set lt source file name gt map lt map file name gt 9 6 4 Drive Parameter Map File The drive parameter map file is a text file that contains a list of v
154. us Current unless that value exceeds IMAX in which case ICONT is set equal to IMAX This variable is reset to its default whenever DICONT or MICONT is changed The user can override the default Parameter 0x04 Firmware Version 0 0 1 Index Data Read Write Data Type Integer Access Units of DIPEAK 0 1 Range 0 to IMAX Default min of DICONT and MICONT EEPROM Yes 9 8 9 Reading Actual Current The actual current can be read in two ways e Reading an instantaneous value of the current by querying a drive parameter e Getting a continuous reading of current using the real time monitoring feature This section will describe the parameter used to read instantaneous value of current For continuous readings refer to the section on Real Time Data Monitoring l This parameter reads overall motor current Motor current is calculated as the root mean square of the individual phase currents I J Ia 2 Ib 2 Ic 2 Note that this is an absolute value Note too that it is not in the same units as the torque command In order to get a signed value of current in the same units as the torque command the current must be read using the Real Time Monitoring feature Parameter Index 0x45 Firmware Version 0 0 2 9 Data Access Read Only Data Type Integer Units of DIPEAK 0 1 Range O to 1 000 Default N A EEPROM No IA This parameter reads the instantaneous value of the current on phase A Parameter Index Ox2A Firmware Version 0 0 1 Dat
155. valid MENCRES MENCRES 203 Config failed invalid Config process failed due to invalid MENCOFF MENCOFF i i i Config failed MSPEED Config process failed due to invalid MSPEED Config failed MBEMF Config process failed due to invalid MBEMF PicoDAD SN User Manual Page 111 of 130 Danaher Motion Kollmorgen January 30 2006 Returned Error Description value 214 Config failed MENCTYPE MENCTYPE mismatch The command cannot be executed with the presently defined motor encoder type MENCTYPE and feedback type FEEDBACK Examples e Executing ENCSTART if MENCTYPE is not 3 or 4 The message will also be received if the Config process failed due to invalid MENCTYPE Config failed Velocity Config process failed during velocity controller config controller design PicoDAD SN User Manual Page 112 of 130 Danaher Motion Kollmorgen January 30 2006 12 Appendix SynqNet Utilities The following is a list of useful SynqNet utilities These utilities are located in the XMP BIN WINNT folder and are executed through a DOS command prompt window Any utility may be entered with the argument 2 in order to get syntax help The Motion Engineering support site http support motioneng com contains more detailed information Utility Name Description sqDriveConfig The sqDriveConfig utility is used to upload and download drive parameters SqDriveMonitor The sqDriveMonitor utility is used t
156. value to get the same amplitude for the Sine and the Cosine signals Ox3E Firmware Version 0 0 2 9 Read Only Data Type Integer N A Range 1 to 32767 0x4000 EEPROM Yes Queries the sine to cosine matching scale The algorithm requires that the sine and cosine signals should have the same amplitude The factor used to match them is calculated from SINPARAM3 2 SINPARAM4 and represents the amplitude difference of the sine and cosine signals It should be close to 1 The firmware multiplies the Sine signal samples by this value to get the same amplitude for the Sine and the Cosine signals Ox3F Firmware Version 0 0 2 9 Read Only Data Type Integer N A Range 1 to 15 14 EEPROM Yes Queries the full scale gain This parameter is relevant for resolver feedback only The algorithm requires that the sine and cosine signals should be scaled to 32768 The final value equals gain 2 scale and it represents the factor to multiply the sine and cosine signals It should be in the range 1 2 to 1 3 The firmware multiplies the sine and cosine signals samples by this value Ox5A Firmware Version 0 0 2 9 Read Only Data Type Integer N A Range 1 to 32767 0x4000 EEPROM Yes Queries the full scale matching scale This parameter is relevant for resolver feedback only The algorithm requires that the sine and cosine signals should be scaled to 32768 The final value equals gain 2 scale and it represents the factor to multiply the sine an
157. ved information on drive controlled position capture not supported Added wiring diagram information 1 9 December 5 2005 Added clarifications to the Phase Finding description Removed MPHASE calculation for AKM motors When using AKM always set MOTORTYPE 3 Clarification regarding setting MENCOFF for AKM motors Corrected range for MSININT MKT MJ MICONT MOTORTYPE FOLDMODE Added descriptions for analog input zeroing offset and low pass filtering Removed irrelevant parameters from the reference Clarification added for requiring CONFIG when changing parameters Added descriptions for READY and ACTIVE Added descriptions for zeroing the analog input offset Added descriptions of the analog input low pass filter PicoDAD SN User Manual Page 7 of 130 Danaher Motion Kollmorgen January 30 2006 e Added descriptions for changing the allowed range of sine cosine inputs 2 0 e Clarifications to Product Description e Removed reference to linear motors The PicoDAD will only work with rotary brushless motors Refer to the MOTORTYPE parameter e Clarification regarding supported feedback types PicoDAD SN User Manual Page 8 of 130 Danaher Motion Kollmorgen January 30 2006 2 Conventions Warning identifies hazards that could result in personal injury or death Caution identifies hazards that could result in personal injury or equipment damage gt Not
158. version The version is indicated in the 3 letter digit suffix of the file name 17 3 Preparations 17 3 1 Retrieve Drive Parameters It is recommended to retrieve and store the drive parameters before upgrading the firmware New versions of firmware may have different sets of parameters the drive verifies the checksum of the parameters and if a checksum error is found then the parameters are not loaded Thus if the new version has a different parameter set the checksum will fail when the drive is powered up and the parameter settings will be lost e Using MotionLink 1 Go the Drive Backup screen ESERVOSTAR MOTIONLINK Off Line E loj x Eile Edit_ View Configure Tune Options Help EX HE Off Line Off Line Other Operation Mode Serial Velocity ATTU Encoder TEH Feedback Oe Z Output E Device O 000 System 1 Set Sooo Se Avis O y _ Set C Disable Enable D Exit Figure 17 1 MotionLink Main Screen PicoDAD SN User Manual Page 125 of 130 Danaher Motion Kollmorgen January 30 2006 He SERYOSTAR MOTIONLINK Editor lt none gt Off Line File Edit Help FILE RECN PRINT Anis He Ol C Disable Enable D Close Figure 17 2 MotionLink Drive Backup Screen Click on the Receive button to get the parameters from the drive Click on the Save button to save the file to disk e Using SynqNet Direct Commands Retrieving the drive paramete
159. wags E E A ido 77 9 15 DRIVE ENABEE piine neresen Ee a eai E R a ainda 79 9 16 FAULTS AND WARNING Sinsister sareni eaae naia aR E A REEE Race 80 9 16 1 WANES nirin oiean A A TCR E ERE E E R R ad 80 9 16 2 Faults la E ECR sade daa a 8l 9 16 3 Reading Warnings Over SynqNet oooooniccnccnoncconnconccononnnonnnonnnonnnnnnnnnnnnnncnnncnno cacon nera nono 83 9 16 4 Reading Faults Over SynqNet oooccciccnccnnonnonnconoconocnnonnncnnnonnnonnnnnnnnnonnncnnn cre cn neon nccn conos 83 9 16 5 Using the SqDriveMsg Utility iisciinicin piriccc tardando caseta casacas 84 9 16 6 Clearing Faults anrea a a a i a es iE AEEA 84 9 16 7 Fa lt History is e A A da ai 85 9 17 DIRECT COMMANDS teta ticd 85 9 17 1 Table of Direct Command Codes ooooococccocinaconanonanonannnnnnnnannn canon nono no nn nora nora no nan rnn nino 85 9 17 2 Direct Command SYNIOK vo cisisscasetestsvegessesssesandincea niaaa ria i saraaa kE Eaa 88 9 17 3 Examples of Direct Commands ocooncconononinonnnoncnnnonanonnnonnnnnn conc cono cnno cone cn nc on nora ncnn cra cnn 88 9 18 REAL TIME MONITORING i ger R e E AA dae E 88 9 18 1 Values Available for Real Time MonitoriM8 oononncnoninnnonncncnnannnnnnnnn cano cano cano rn nora non 89 9 18 2 Setting up Real Time Monitoring coononnnononinonnnanonnncnanonnnnnnnnan cnn cnn cono cono cane cn nc onncon nono 89 9 18 3 Viewing Monitored Data on MotionS cope oonocicccocccononanonanonnnnnnnnn cnn cono canon noo nconacnn 90 9 19 PANALOGANPUTS A a
160. ynqNet cables are in 10 and 1 place Alternating r Encoder wire break Check that the encoder is properly connected 11 and 4 Check that differential encoder signals are being used Alternating r Illegal Halls A state of either 000 or 111 was detected on the Halls 12 and 6 signals Alternating r Index line break Check that the Index is properly connected and that 13 and 5 a differential signal is being used This fault may also appear if the drive is configured using the MENCTYPE parameter to recognize an index pulse but the index is not connected In this case set MENCTYPE to the value 6 PicoDAD SN User Manual Page 106 of 130 Danaher Motion Kollmorgen January 30 2006 Description Comments Fault Display Priority Alternating 4 The commutation initialization process has failed Make sure that the 14 and minus sign values for MJ IENCSTART and INITGAIN are set correctly Alternating r EnDat communications fault 15 and 1 and 0 The firmware initializes communication with the EnDat in following cases 1 Commutation initialization required power up feedback loss CONFIG command when encoder related parameters changed e g MSININT MENCRES etc 2 Execution of a user command that initializes communication with EnDat HWPOS HSAVE Check that the EnDat encoder is connected or check the MENCTYPE parameter to ver

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