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1. SEQ Category Command Unit Software Drive Default Range Description Double Click for Details 000 PID area 10000 10000 8000 0 32767 Global Gain 1 001 PID KG 12000 12000 10000 0 32767 Global Gain 2 002 PID KF 22500 22500 6000 0 32767 Proprotion Gain 003 PID KD 16200 16200 2500 0 32767 Deriv Gain 004 PID KV 25000 25000 8000 0 32767 Damping Gain 005 PID KI 360 360 200 0 32767 Integrator Gain RK 006 PID KK 22681 22681 0 0 32767 Inertia Feedforward Constant 007 PID KJ 5000 5000 5000 0 10 5000 Jerk Filter Frequency 008 PID VP 15000 15000 15000 0 32767 Velocity Loop Proportional Gain 009 PID VI 600 600 1000 0 32767 Velocity Loop Integral Gain 010 PID KE 15000 15000 15000 0 32767 Deriv Filter Gain 011 PID KC 20000 20000 25000 0 32767 PID Filter 012 Control Mode CM 7 7 21 1 8 11 12 15 18 21 22 25 Main Control Mode 013 Control Mode CN 21 21 21 1 6 8 11 12 15 18 21 Second Control Mode 014 Control Mode PM 2 2 2 2 5 7 8 9 Power up Mode 015 Control Mode JM 1 1 1 1 2 Jog Mode 016 Current Config GC 0 014 0 0 0 180 180 Current Command 017 Current Config CC A 1 800 1 800 0 500 0 000 1 800 Max Current 018 Current Config CP A 5 400 5 400 1 500 0 000 5 400 Peak Current 019 Current Config HC A 1 800 1 800 1 500 0 000 1 800 Current in Hard Stop Homing 020 Trajectory VM rps 60 000 60 000 60 000 0 025 100 Max Velocity 021 Trajectory AM rps s 3000 000 3000 000 3000 000 0 167 5000 Max
2. gt 0 4 Time s KK 2000 too small As shown below as KK increases the system s dynamic performance improves The position error during acceleration and deceleration is reduced significantly as a result Desired Velocity Profile Desired Velocity Profile 1 I 4 l A I 1 1 t i f i 1 4 J I 4 i d d 1 f U H 4 i 4 Velocity rps Velocity rps 0 4 i i fs 0 4 Time s Time s KK 4000 KK 11000 54 When the feedforward KK gain is too large however the opposite effect can be seen This will also decrease system dynamic performance by increasing position error and system settling time as shown below Desired Velocity Profile e LP du e p y mn e ee des lA ee a a o O a gt 0 4 Time s KK 19000 too large NOTE When adjusting control loop gain values remember that the Feedforward Term KK has no effect when operating in the Position Pulse amp Direction Control Mode A larger Follow Factor KL value will reduce system noise and eliminate overshoot but will reduce the system s dynamic following performance Lower values will increase system stiffness but may cause system noise as shown below Green Actual Speed Purple Position error Desired Velocity Profile Desired Velocity Profile Time s Time s 55 SVX Servo Suite Software Manual 920 0097A 4 4 Using Auto Trigger Sampling In cases where an ext
3. Not used Jerk Filter e 5000 Hz Not used 3 Click the Go to button next to the 2nd mode list and you can see these settings for the secondary mode 3 Control Mode 0 a ag Velocity Control Type Speed ony 9 Position over time em nm Velocity Control by Fix speed at rps Change Speed By X10 X12 Differential Analog 5 0 Hz Not used Position Error Faut 2000 gt Counts Not used Jerk Fiter 3 1 3 Control Mode Configuration 3 1 3 1 Position Mode I O Controlled Position mode has five control inputs Pulse amp Direction CW amp CCW Pulse A B Quadrature Differential Analog and Single Ended Analog Input 1 3 Control Mode Settings Position Control TE illo azad Rev 5 Pulse amp Direction Direction is CW when 2nd 20000 d CW amp CCW Pulse Pulse on X1 E e a Electronic Geari A B Quadrature Dulse on X2 de Differential Analog Not Used Numerator 1000 Single Ended Analog Input 1 Denominator 1000 Pulses Input Complete Detective Time 2 000 ms Position Error Faut 2 Counts Not used Jerk Filter 5000 Hz Not used 21 SVX Servo Suite Software Manual 920 0097A 3 1 3 2 Position Control Pulse Input Pulse Input Mode is for systems whereby the position of the motor is determined by a digital input signal in the form of pulses The three modes available are Pulse amp Direction This mode accepts step a
4. 21 920 0097A SVX Servo Suite Software Manual 920 0097A 2 4 Tool Bar The Tool Bar includes Drive Model Firmware Revision Communication Port and Address Servo Status control Alarms Upload Download buttons and the Stop button W i a Download All Sr Apple Drive SV2B3 Q AE Port come Servo On Alarm fom Dri F Teti i Products 1 Reset Rev 1 00E Addr 32 0 7 E Force EN nO 2 4 1 Drive Model The Drive drop down list shows all of the available SV200 Series AC Servo drive model numbers The Revision window will display a drive s firmware version once the drive is properly connected to the PC and power is supplied Drive SW2B3 Q AE laa Rev 1 00E 2 4 2 Communication Port You must choose the communication port to which you have connected the drive before any configuration tuning or programming can take place For RS 485 networked drives it allows you to specify the address of the drive to connect with For RS 232 drives select the blank address at the top of the list Addr x For Ethernet drives the drive s IP address need to be entered Port Ethernet gt Addr MPA 2 4 3 Servo Status The servo enable switch enables and disables the servo system When green color is shown the motor is enabled and the drive s servo ES is active A Force EN bes EN Force enable allows you enable the drive when drive is connected regardless of the external enable
5. 8 2 Drive Status Monitor Status Monitor Servo On Tuning Fault In Position Moving Jogging Stopping Wait Input Saving Alarm Homing Delay Q Program Running Initializing The Status tab shows the bits in the status code word Each bit has a meaning that is conveyed by a virtual LED in the software For example if the Alarm LED is lit there is an alarm present If the Moving LED is lit the motor is moving 67 SVX Servo Suite Software Manual 920 0097A 8 3 Alarm Monitor Status Monitor Faults Position Error Low Voltage Drive Overtemp Encoder Failed Over Voltage Blank Q Segment Internal Voltage Power Phase Lost Over Current Hall Failed Warnings CCW Limit CW Limit Flash Memory Comm Error STO Velocity Limit Regen Failed Current Foldback Move Disabled Voltage Warning If your drive experiences an alarm you can click on the Alarm tab to learn more There are two categories of alarms faults and warnings Faults are indicated in red and warnings are indicated in yellow Faults disable the motor warnings do not 8 4 Drive Parameter Monitor Status Monitor DC Bus Voltage Drive Temperature Actual Current Actual Speed Pulse Counter Command Position Encoder Position Position Error CCW Limit CW Limit 296 8 V 33 5 C 0 00 A 0 0
6. 89 SVX Servo Suite Software Manual 12 2 Data Encoding Big endian The most significant byte MSB value is stored at the memory location with the lowest address the next byte value in significance is stored at the following memory location and so on This is akin to Left to Right reading in hexadecimal order For example To store a 32bit data 0x 12345678 into register address 40031 and 40032 0x1234 will be defined as MSB and 0x5678 as LSB With big endian system Register 40031 0x1234 Register 40032 0x5678 When transfer 0x12345678 the first word will be 0x1234 and the second word will be 0x5678 Little endian The most significant byte MSB value is stored at the memory location with the highest address the next byte value in significance is stored at the following memory location and so on This is akin to Left to Right reading in hexadecimal order For example To store a 32bit data 0x 12345678 into register address 40031 and 40032 0x5678 will be defined as MSB and 0x1234 as LSB With little endian system Register 40031 0x5678 Register 40032 0x1234 When transfer 0x12345678 the first words will be 0x5678 and the second words will be 0x1234 PR defines data transfer type 12 3 Communication Baud Rate amp Protocol SV200 series servo drives have fixed communication data framing 8 data bits no parity checking one stop bit BR and PB define the communication baud rate In serial communication the change of baud rate
7. Function Function Code Starting Data Address 00H High Starting Data Address ee High Register 40125 7CH Low Register 40125 7CH Low 00 High 00 High TD Content of Data 66 Low SS Content of Data 66 Low SS 12 8 2 Velocity Mode 1 Velocity Mode Parameters JA Jog The unit for register 40028 is rev sec sec x 6 hoes rps s 40047 600 258h Example when target acceleration is 100 rev s s cceleration the value will be 600 JL Jo The unit for register 40029 is rev sec sec x 6 j 200 rps s 40048 1200 4B0h Example when target deceleration is 200 Deceleration rev s s the value will be 1200 The unit for register 40049 is rev sec x 240 JS Jog Speed 10 rps 40049 2400 960 Example when target velocity is 10 rev sec the value will be 2400 99 SVX Servo Suite Software Manual 2 Drive Setting Use SVX Servo Suite software for configuration 3 Control Mode Settings Node ID Power Up BaudRate SEL Add 138400 e bit s bps 1 Auto Execute Q Program at Power Up Transmit Delay 2 lt ms 32 Bit Word Order Big Endian Little Endian Step 1 Set acceleration deceleration and velocity Set velocity mode acceleration register 40047 to 258h deceleration register 40048 to 4B0h and velocity register 40049 to 960h Host Sending 01 10 00 2E 00 03 06 02 58 04 BO 09 60 AO 9F Drive Reply 01 10 00 2E 00 03 EO 01 Command Message Master Response Message slave ee ee 1 Function Code Functi
8. In these cases the Integral gain KI will keep adding up that error and continue to increase the torque until the motor truly returns to the target position As the next chart shows when KI is small the system will require excessive time for position errors to settle out and during acceleration deceleration and when the motor stops Desired Velocity Profile Velocity rps Time s As the next charts show increasing KI can improve system response time and reduce position error and settling time during motor acceleration deceleration and when the motor comes to rest Desired Velocity Profile Desired Velocity Profile locity rps locity rps As seen below if Kl is too large the whole servo system will vibrate and make noise This in turn will increase the position error and may greatly extend settling time due to system oscillations around the target position Desired Velocity Profile CH a gt rr O gt Time s As the motor load inertia increases the servo system will require higher damping gain KV to reduce position errors during constant speed and when the motor stops When KV is too small this low damping value will cause large position error fluctuations while the motor is running at constant velocity and while stopped holding position As the next chart shows an increasing amount of 90 SVX Servo Suite Software Manual 920 0097A position error occurs during constant velocity and
9. Q programs can also be triggered using the drive s built in I O Q programs offer e Single axis motion control e Stand alone or networked operation e Multi tasking e Conditional processing and program flow control e Math calculations e Data register manipulation e User interaction via touch screen HMI s 10 1 Sample Command Sequences What follows are sequences of commands that give examples of how to create motion and logic within a program All of the commands in this section are buffered tyoe commands 10 1 1 Feed to Length The FL Feed to Length command is used for relative or incremental moves When executed the motor will move a fixed distance using linear acceleration and deceleration ramps and a maximum velocity These move parameters are set using the DI Distance AC Acceleration DE Deceleration and VE Velocity commands The direction of the move is determined by the sign of the DI parameter DI32000 is 32000 counts in the CW direction whereas DI 32000 is 32000 counts in the CCW direction segment 1 Segment 2 _ Segment 3 Current Segment segment 1 Line Label Cmd Dar am Datramz Comment l WI ZE Wait For Falling Edge of Input 3 E WE 0 Set Velocity to 20 Rev Sec 3 DI 42000 set Distance to 4 revs 4 FL Do a Feed to Length J Here is a sample sequence showing a move of 80000 counts with a velocity of 20 rps and accel decel rates of 500 rps s The FL command initiates the move
10. 1 Differential Analog Input command voltage is the difference between the signal at Analog Input 1 and that of Analog Input 2 This provides more immunity from electrical noise 2 Single ended Analog Input 2 the command voltage comes from Analog Input 2 only 3 1 7 2 SCL Commanded SCL Commanded Mode allows a host controller to send the SCL GC command to control the motor s torque Torque Control by Differential Analog Single Ended Analog Input 2 SCL Commanded Serial Comm Control Example GC100 1 00 Amp CW 35 SVX Servo Suite Software Manual 920 0097A 3 1 8 CANopen CANopen is a communication field bus standardized by the CAN in Automation Group CiA SV200 servo drives are compliant to CIA 301 and CIA 402 and use the CAN 2 0B passive physical layer Detailed information on our CANopen implementation can be found on our website 3 Control Mode Settings ID 1 Y Hex CAN Bit Rate f Mbps Position Error Fault o 2000 Counts Not used Jerk Filter 5000 Hz Not used Node ID In the CANopen network each drive needs to have a unique NODE ID CANopen node ID addresses are 7 bit binary numbers in the range from 1 127 hexadecimal 0x01 0x7F CAN Bit Rated SV200 series CANopen drives can support these 8 CAN communication bit rates 3 1 9 Positioning Error Fault amp Electronic Gearing 3 1 9 1 Positioning Error Fault Positioning error is the difference in encoder
11. Accel em Traiaortans 1 rne 1 ann 1 ann in ano na fk lan Cnaad E S 2 3 5 5 Script You can use the scripting to write seguences of SCL commands and execute them as if they were streaming from a host controller The Endless Loop function allows you the run the script continuously until stop is clicked This is a good way to learn about SCL streaming commands before writing your host software Script Command History amp Response ns 050439 05C 0011 3A 00 10000 24 DI 10000 OVE20 D2 WE20 FL SL Run Stop Monitor when Executing Clear History Close Command Use to issue time delay in msec ex 100 for 100 ms delay 17 SVX Servo Suite Software Manual 920 0097A Checking Stop Monitor when Executing will decrease software delays on your PC and make the communication timing behave more like a real host program running on a PC or PLC It will also disable the real time display of registers and I O on your SVX Servo Suite screen 2 3 5 6 Restore Factory Default The Restore button will reset all the parameters on the drive to the default factory settings If you get into a situation where your drive is acting strangely restoring factory defaults can make your drive work the way it did when it first came out of the box Note This will erase all the parameters you have changed so you may need to save them to a file first 2 3 5 7 Restore Tuning Default This Restore button will reset all the tu
12. CR CC FY Feed to Feed to Sensor with Safety Dist with Feed to Sensor with Safety Dist Dist III Iagwe All Al drives All Step Servo drives and M2 Servo Homing Acceleration drives FHC Hard Hard Stop Current Hard Stop Current o AlStep Servodrves All Step All Step Servo drives drives All Step Servo drives and M2 Servo All Step Servo drives and M2 Servo l All Step Servo drives and M2 Servo HV Homing Velocity drives w fewa O o C NE dT id CIT 10 eii second speed e SSCS lagen RG CUT uote SCT CT TT id ews EC possas NE IRIS OCT ECON FCT FEO IES FO IEA TETAS EY 999 AO o ee OA OO ides SS CONO CTE E FET IE IA CUT e E EE EE Set Direction gt gt gt STM stepper drives with Flex I O only SH SeekHome Home III fAldrwes All Al drives a EE EE sie more OA fame sems EES des fst Sepwoion SE Cid Aves 74 SVX Servo Suite Software Manual 920 0097A Velocity Setting For Feed All drives Commands ne E EE we _ watonresion OA Tres 9 3 2 Servo Commands Command Description NV write read Immediate Compatibility only only ON Second Control Mode Control Mode ei M2 servodrives only M2 servo M2 servo drives only only eS a a Tenango Peores od ___ BefautDipiy tom oiueds resemocmes ay e mmer JO esmas oy EN Numerori Eeron Gearnaaio __ WBsenoaivesony feP____ EncoderPostion id Socios ony
13. Commands e Torque e Position Table S type only e Stored Q program Q models only e Modbus Q models only Second mode options e SCL Commanded Torque e Analog Torque e Analog Torque amp Direction e Analog Torque R S e Analog Torque R S Dir 26 SVX Servo Suite Software Manual 920 0097A e Analog Velocity e Analog Velocity R S e Fixed Velocity e Fixed Velocity R S e Fixed Velocity CS e Fixed Velocity R S CS e Point to Point Positioning Control mode switch On drive where a second control mode is allowed input X8 is used to switch between two main and ane control modes In the software click Go to for mode selection For example 1 Set the main mode as Position I O Controlled and set the second mode to SR Velocity 2 Control Mode Main Mode Position Position Y O Controlled gt Controlled Postion dala coi Sud Y 2nd Mode 11 11 Analog Velocity e Velocity X 11 Analog Velocity Goto 2 Click the Go to button beside the main mode list and you will see these options for the main control mode 3 Control Mode Settings Position Control Electronic Gearing Steps Rev Pulse amp Direction Direction is CW when 40000 Pulse on X1 AE Electronic Gearing Ratio Differential Analog E Not Used Numerator 1000 Single Ended Analog Input 1 Denominator 1000 A B Quadrature Pulses Input Complete Detective Time Position Error Fault o 2000 gt Counts
14. Details This input has three functions e In digital position mode accepts STEP pulses CW pulses or Ch A quadrature signal e Run Stop input in torque or velocity mode e General purpose input This input has three functions e In digital position mode accepts DIR signal CCW pulses or Ch B pe signal e Direction input in torque or velocity mode e General purpose input e Enable Disable input e General purpose input e Alarm Reset Input used to reset drive alarm e General purpose input e Limit Sensor Input e General purpose input e Limit Sensor Input e General purpose input e Gain Select Input in all control mode e General purpose input e Switch Control mode between main mode and second mode e General purpose input Ee CO e Dividing Switch change the pulses per revolution for electronic Gearing e General purpose input Sg e Pulse Inhibited Input Ignore the pulse input when this input is A co activated X10 in position mode e Speed Selecting Input 1 in change Speed mode e General purpose input 11 e Speed Selecting Input 2 in change Speed mode e General purpose input 12 x12 30 e Speed Selecting Input 3 in change Speed mode e General purpose input 38 SVX Servo Suite Software Manual 920 0097A 3 2 2 Digital Output Configuration This tab is used to configure the digital outputs Y1 Y6 Please refer to the SV2
15. Mode Streaming Commands and or Stored Program 32 3 1 6 MODUS RE pisas 33 oe A A Po pat 35 3 1 8 ee 36 3 1 9 Positioning Error Fault A Electronic Gearing en000nnnnnnnnneennnnnnnnnnnnnnnnnensnnnnrrnresennnnne 36 32 A 37 3 2 1 Digital Input Contguraion 37 3 2 2 Digital Output Configuration oooccccnnnccccncooonccnnnncnonononnnnnnnnnnonnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnos 39 3 2 3 Analog Input Contfouraton nia aana a ia aaa iaa 40 A Slep2 UNIDA Sampling E 41 4 1 Servo Tuning Adjustment of Gain Harameters 41 4 1 1 Gain Parameter Introduction 00nnnnneno000nannnnnosernnnnnnensrennnrnnrensnnnnrnrrensrnnnrrrrrnssennrereeennn 41 4 2 A 43 4 2 1 Sep IESO MO eege 43 4 2 2 Step 2 Setting the Software Position Lime 44 4 2 3 Setup Software Position Limits ooocccnncccnnnccccononnnccnnnnonononanncnnnnnnonononancnnnnnnnnnnonannnnnns 45 4 2 4 Step 3 Auto Tuning Funcion 46 4 3 A 47 SVX Servo Suite Software Manual 920 0097A 4 3 1 Posion loop gain KF etario 48 4 3 2 integrator Gain A 49 4 3 3 Deia gls gan KV reisene e e lO a 50 4 3 4 D rvaive gain KD comucctrsavavtiennscdlensasswubinanncuisiustsdnaiasnsinunasuuchenaeussmetesistienasssiackavsrbesaanceps 52 4 3 5 Inertia Feedforward Constant KK ooccccccccccccconcccnonccoconoonnoconnnonononannnnnnnononononnnennnnnnnnnnnnns 54 4 3 6 FOON FACO BE VE 55 4 4 Using Auto Trigger Gamplmg 56 5 Sl p3 OH od ole In lu 57 SL e Programmer Ta spea
16. RS 485 or Ethernet communication ports The RS 485 option allows you to have multi axis multi drop applications with the drives daisy chained on one serial link When this option is selected you will need to set an address for each drive you are working with Refer to Setting the Address in the next section 3 Control Mode Settings Node ID Power Up BaudRate E SCL Add 9600 v bit s bps o UJ Y ihe P 3 Data Format Hexadecimal Decimal Transmit Delay 2 ms Position Error Fault 2000 Counts Not used Jerk Filter 5000 Hz Not used Node ID In SCL mode with RS 485 communications you will need to set the address for each drive in your system Simply select the address character and perform a download in this way up to 32 drives can be connected together on a single serial link Transmit delay This sets up the transmit delay for communications between host controller and the drive This is highly necessary for 2 wire configurations for RS 485 communication The host must disable its transmitter before it can receive data This must be done quickly before a drive begins to answer a query Baud rate At power up a drive will send its power up packet detected after 1 second and the drive is configured for SCL or Q operation see PM command the drive will set the baud rate according to the value stored in the Baud Rate NV parameter This parameter will not effect immediately it will only e
17. Settings Jerk Filter 5000 Hz Not used Pulse Input Complete Detection Time When a servo drive generates its own motion profile like it does in point to point position mode it knows when the move is over and if the target position has been reached But when the motion is commanded from an external controller using pulse amp direction how does it know For the SV200 servo drive you can define a Pulse Input Detection Time If the drive doesn t receive any pulses during this period of time the move is considered to be over and the SV200 can determine whether the motor is at the target position or not This parameter can also be set using the SCL TT command For details please see the Host Command Reference Pluses Input Complete Detective Time 100 00 e ms Targat Position B Aciual Position I TU l in Medion In Posen EA ES IA O 3 1 3 3 Position Control Analog Positioning mode using an analog input causes the motor to position the motor relative to the analog input value Position Control Pulse amp Direction 3 CW amp CCW Pulse A B Quadrature Differential Analog D Single Ended Analog Input 1 Analog positioning allows you to move the motor a relative distance according to the value of an analog input For example the configuration below would move the motor 8000 counts from its current position according to the voltage applied e g a signal of 5 volts
18. TI Test Input command If it is true i e input X5 is low we branch using QJ to line 10 set the distance to 50000 counts and make a CCW move Otherwise the program proceeds to line 7 sets the distance to 50000 counts and makes the CW move To keep from doing the CCW move right after the CW move and to repeat the segment forever QG commands are placed after each FL command 10 1 6 Calling Calling is a way to use sub routines in your Q program The QC Queue Call command allows us to exit a segment execute another segment and then return to the original segment to the line right after the call Subroutines are useful when we have a sequence of commands that is used often in a program Rather than repeatedly program these commands into our segment s we place the frequently used sequence in its own segment and then call that segment whenever we need it 83 SVX Servo Suite Software Manual Segment 1 Seament 2 Current Segment Segment 1 Line Label Cmd Parami Paramz 1 Labeli Ac 300 E DE 450 3 WE 16 5 4 DI 40000 J FL 6 OC 2 H VE 1 a DI 4000 J FL 10 OC S 11 OG FLabell In this example we are making two distinct moves FL one fast move and one slow move After each move we d like to turn 2 outputs on and off To accomplish this using the QC command we must program two segments In this example segment 1 is the primary or calling segment and in it we program the two distinct FL commands We are us
19. Tuning Sampling Step 3 Built in PLC Q Programmer Motion Simulation SCL Command History amp Response 1 Motor Information 2 Control Mode Com mand d HE 0 3x2 4 Config peed Limit 60 rps Main Mode scuQ Stram Command D Go to j Step 1 Configuration a conta l eee ge History Response __ Reverse motor rotating direction JAcc Dec Limit 3000 rps s E 2nd Mode 1 SCL Confimanded Torque Go to 3 Control Mode Settings a 8 Node ID Power Up BaudRate Step 2 Tuning Sampling samy SAA bit s bps 32 e 0 Data Format Hexadecimal Decimal e Clear Script Step 3 Q Programmer Transmit Delay ms Auto Execute Q program at PewWer Up E Hide Checksum Status Monitor is YO Status Alarm Param Begista Position Error Fault o 2000 Counts Not used Jerk Filter Oh H Hz Not used a AA e closed c 0Open o Motion Simulation inputtrSutpe Digital Input Digital Output Digital Input Digital Output Analog Input O x16 9 O pa O x2 6P fo O Y2 6rake Xi General Purpose sel X7 General Purpose y O van elle Y3 GP X2 General Purpose sl X8 General Purpose X O X4 RstAlarm c loJ Y4 GP Lei Not used Servo On when power up x9 General Purpose y FI O van o Y5 SvrRdy xe GP o O Y linPos X4 Reset alarm when opening X10 General Purpose M FI O x76 xs General Purpose X11 General Purpose D FI xs GP Analog Input X6 General Purpose X12 General Purpose
20. Word Order Big Endin Little Endian Position Error Fault e 2000 Counts Not used Jerk Filter 5000 Hz 5 Not used Node ID Each device on a Modbus network requires a unique address Only the device with the matching address will respond to a given host command In a Modbus network address 0 is the broadcast address It cannot be used for an individual drive s address Modbus RTU allows drive addresses to be set from 1 to 32 The SCL address is an ASCII code The relationship between the Modbus Node ID and the SCL address is shown in the table below We re telling you this in case you want to set or check the drive address using the SCL DA command That command works with ASCII SCL addresses so you ll need to know the corresponding Modbus address If you use addresses 1 through 9 it keeps things simple because the Modbus and SCL addresses in that range are the same Ms 2 OS A M MEA SS E A AA EES SE A AA e Modelo 7 e pa ee pa pe sommes 1 s a o jo sams y 7 0 33 SVX Servo Suite Software Manual 920 0097A Auto Execute Q Program at Power Up If this is checked the drive will execute a stored Q program from segment 1 automatically at power up 32 bit word order Big endian The most significant byte MSB value is stored at the memory location with the lowest address the next byte value in significance is stored at the following memory location and so
21. for commands in alphabetical order may be done by clicking on the drop down list above the tree Typing a valid command directly in to the commano box will find and display the command details on the right side of the panel The command s parameters can be entered in the Parameter1 and Parameter2 fields on the Parameter Edit panel or typed directly into the Param1 and Param2 cells in the Q programming area The number of parameters accepted is based on the command definition and its parameter entry requirements The following is a list of the buttons and their meanings that appear at the bottom of the Parameter Edit panel Insert Insert a blank line within the current Q segment Previous Moving up by one line within the current Q segment Next Moving down by one line within the current Q segment Apply Apply current command to the segment Apply amp Next Apply current command and move to the next line OK Apply current command to the segment and quit Cancel Quit the command editing window without save the change The Comment cells in the Q programming area allow for descriptions to be typed in by the programmer to help document and explain the program for later reference Keep in mind that these comments are not downloaded and stored in the drive s memory they are available only in the version of the Q program or segment that has been saved as a file Right clicking on the line number within the Q program area will displa
22. gain KF This parameter is the primary gain term for minimizing the position error Increasing KF will increase stiffness and reduce settling time However it might cause vibration if increased too much This is simplest part of the PID loop the drive will apply current to the motor in direct proportion to the error Because the current controls the torque output from the motor increasing this gain will increase the magnitude of torque in direct proportion to the position error Here s an example if the motor were standing still and you suddenly turned the shaft by hand you d want the drive to increase the motor current so that it goes back into position The further you disturb the motor from its target position the more the torque will increase As shown below if KF is small position error will be high at all times during acceleration constant velocity and deceleration Desired Velocity Profile 1 0 6 Time s As shown below if the KF value is set appropriately the position error during acceleration and deceleration will settle very quickly and position error of 1 count can be achieved during constant velocity as well as when the motor comes to rest at its target position 48 Desired Velocity Profile T a o OO E gt Time s The position loop gain KF alone will often not be enough to give the best performance in terms of minimizing the position error and may require a long time settling time
23. o eC o fom FE IC IEA CT ETS CES O FE FSC IS IEA CO ESO CTC FE ISC IE IEA CT ET Teseo ATA Tee 78 SVX Servo Suite Software Manual fose 00 ICO IE IEC ETT e foss FE IC IE IEA CT ET C a a a C FE IEC IE IEA ETT a fow FE IC S o CT ET on fowr FE FC IE IE CT CT foes S ISC aves ony ai foe O e EEC C MO ICI E dines ony a Sopove SSS basm o ss CET EEN Mm mo few ER ICI basem C paar JA fee m meer EU ICI ies om Watiorwoveroconpie A ae we renio osnon comerme fee wr wartime S ives ony 9 3 7 Register Commands Command Description NV write read Immediate Compatibility only nn EC A ID TS CMS GET FE IEC IE IEA CCT COMMON EEE LTL CCT Feaiserinoonen OA ee COMINO CTO FE FE FE IEC CCT CN SS DS ER ES CO Fessem O Tee Fesser RER RS REES ES CT CT dT Fose RR RER RS REES Sei SCC id ines ny Tessera esm o C a a e C a ne C FE ISC IE IEA CCT CEM EEES IEA CCT i _ Fesisertogearon OA ee REESEN ECO ETC a FCI FE IEA CCT 10 Appendix B Q Programmer Reference Q takes the SCL language to an entire new level by allowing users to create programs that can be stored in the drive s flash memory The drive can be set to automatically executed programs at power up or it can wait for the 19 SVX Servo Suite Software Manual programs to be started and stopped using streaming commands over RS 232 RS 485 Ethernet Modbus CANopen or EtherNet IP connections
24. the motor ramps to the new speed set by CS This ramp is affected by the JA and JL commands Try the same sequence above with different JA JL JS and CS values to see how the motion of the motor shaft is affected 9 3 Command Summary This section contains a set of tables that list all of the SCL commands available with your drive In each table there are a number of columns that give information about each command e Command shows the command s two letter Command Code e Description shows the name of each command NV designates which commands are Non volatile that is which commands are saved in non volatile memory when the SA Save command is sent to the drive Note that certain commands PA PB PC PI and PM save their parameter data to non volatile memory immediately upon execution and need not be followed by an SA command e Write only or Read only is checked when a command is not both Read Write compatible e Immediate designates an immediate command all other commands are buffered e Compatibility shows which drives use each of the commands The different categories for these tables Motion Servo Configuration I O Communications Q Program Register are set up to aid you in finding particular commands quickly e Motion commands have to do with the actual shaft rotation of the step or servo motor e Servo commands cover servo tuning parameters enabling disabli
25. water a 1 S l Auto Execute Q Program at Power Up Transmit Delay 2 ms 32 Bit Word Order Big Endian Little Endian 3 Moving the Motor Step 1 Set acceleration deceleration and velocity Set acceleration register 40028 258h deceleration register 40029 4B0h velocity register 40030 960h and target position 4003140032 4E20h Host Sending 011000 1B 00 05 0A 02 58 04 BO 09 60 00 00 4E 20 24 3B Rive Respond 0110001B00 05 70 0D Slave Address Slave Address Function Code Function Code mi Starting Data Address OOH High 2 Starting Data Address OOH High Register 40028 1BH Low Register 40028 1BH Low CRC Check Low CRC Check High NS 98 Number of Data bytes Content of first Data 02 High address 40028 58 Low MA OOH High 2 OOH High 2 Number of Data words Number of Data words 05H Low a Leien 05H Low SVX Servo Suite Software Manual Content of second Data 04H High address ee ee Content of fifth Data oRC Grecktow a CRC GheckHigh SB Step 2 Send the Point to Point Motion Command From the SCL Command Encoding Table we find the opcode for a point to point position move FL which is Ox66 Writing the value 0x66 to register 40125 will command the drive to execute a point to point FL move SCL Command Encoding Table Host Sending 01 06 00 7C 00 66 C8 38 Drive Reply 01 06 00 7C 00 66 C8 38 Listed As Below Content of fourth Data o address 40031 Function Code ai He
26. when stopped These oscillations seen on the graph will result in motor and system vibration as well as audible noise Desired Velocity Profile CH o o O o gt As seen below show the position error is reduced as KV increases Desired Velocity Profile Desired Velocity Profile Velocity rps Velocity rps 0 6 0 6 Time s Time s KV 10000 KV 16000 Desired Velocity Profile CH e pun EN lt gt Time s KV 32000 too large A simple PI controller without Derivative gain KD would cause the motor to overreact to small errors creating ever larger errors and ultimately becoming unstable If you knew what the motor was going to do before it did it this behavior could be prevented When pulling a car into a garage for example most people do not wait until the car is fully into the garage before stepping on the brakes Instead most people slow down as they see the distance between them and their objective get smaller A motor drive can control a motor better if it examines the rate of change of the position error and includes that in its torque calculation So as the position error decreases the torque commanded to the motor can be reduced with the appropriate KD setting In the example shown below when KD is small the system does not settle quickly after changes in the move profile Instead the respons
27. will NOT take effect immediately ONLY on next power up of the drive 1 9600bps 2 19200bps 3 38400bps 4 57600bps 5 115200bps 12 4 Function Code Applied Motion drives currently support following Modbus function codes 1 0x03 Read holding registers 2 0x04 Read input registers 3 0x06 Write single registers 4 0x10 Write multiple registers 12 4 1 Function Code 0X03 Reading Multiple Holding Registers If we want to read encoder s actual position command to drive Node ID 1 the data address for encoder s actual position is register 40005 If the register value is in decimal numbers it will be 250000 and the transfer method is P 75 PR 5 for big endian transfer Communication details are Command Message Master Response Message slave 90 SVX Servo Suite Software Manual Starting Data Address OOH High 2 Number of Data Register 40005 04H Low In Byte 00 High 2 Content of Starting Data OOH High REPEL OS 02 Low iw Address 40005 26H Low SC 1 Content of second Data 25H High RC Check L 2 me Je 40008 AO Low WA A Eege Check High Host Sending 01 03 00 04 00 02 85 CA Drive Reply 01 03 04 00 26 25 A0 01 10 If error is occurred drive reply format 01 83 XX CRC_LCRC_H Where XX 01 Function code 03 unsupported XX 02 Incorrect reading on driving address or numbers XX 03 Reading register address out of range XX 04 Reading failure 91 SVX Servo Suite Software Manua
28. would move the motor 8000 counts clockwise There is also an option for an offset voltage and a dead band The offset can be used to offset the position in case the O volt signal from your analog command does not represent the zero position on your application 29 SVX Servo Suite Software Manual 920 0097A 3 1 4 Velocity Mode I O Controlled In Velocity Mode the drive uses command signals to determine the motor speed 3 Control Mode Settings Velocity Control Type Change Speed By X10 X12 Differential Analog Single Ended Analog Input 1 Position Error Fault 2000 Counts Not used Jerk Fiter 5000 Hz Not used Accel Sets the acceleration to be used in velocity mode Decel Sets the deceleration to be used in velocity mode There are several other options for velocity mode Velocity Control Type Options are Speed Only true velocity mode or Position Over Time where position mode used to run the motor at a constant speed e Speed Only Velocity proportional gain and velocity integral gain are used in this mode and must be set Position error limit is not used so position lag will not fault the drive e Position over Time Position error limit must be set because excessive position lag can fault the drive Velocity Control By Four velocity sub modes can be used as explained the next sections 3 1 4 1 Fixed Speed The motor will run at a fixed speed Run stop and direction are controlled by di
29. you to choose a motor and set the maximum current speed limit and accel decel limit If you need the motor to rotate in the direction opposite to normal check the box marked Reverse motor rotating direction A power cycle is necessary before the direction change is valid ES Motor Select Motor Motor List Part No Motor Spec Poles Continuous Current 2 80 Peak Current 8 40 Current Settings Continuous Current 280 Peak Current SAO EJ A Encoder ITA compe NOTE The motor model number must be the same as the motor that is connected or damage could occur 3 1 1 1 Current Settings If you are using an Applied Motion products J series servo motor the current setting will be populated automatically when you select the motor from the list If you are using a motor that is not on the list choose Custom and then enter the motor s rated peak and continuous currents You ll also need to enter the motor s pole count This value should be total poles not pole pairs Motor Spec Poles B Continuous Current 3 00 A Peak Current 9 00 A The SV200 servo drive provides a peak current momentarily if needed to achieve the required torque to move the load that is attached to your motor This will provide greater acceleration rates than would otherwise be possible 25 SVX Servo Suite Software Manual 920 0097A To assure reliable motor operation the drive will automatically ramp the current d
30. zt fegenfesistorPeak Time ITT BLUACS and stace drives only 9 3 4 I O Commands Command Description NV write read Immediate Compatibility only only All stepper drives and SV servo AD Analog Deadband drives JAF Analogriter a Y eves S l All stepper drives and SV servo AG Analog Velocity Gain drives an Alarminput usage eves S All Step Servo drives and M2 AN Analog Torque Gain Servo drives ES 11 SVX Servo Suite Software Manual All stepper drives and SV servo AT Analog Threshold Analog Threshold Pe fo fff Alidrives All All drives ro O A CE m aras zero pao za as S 8 Brake pisengago Delay me O es era Engage Delay me PR es S mo Brake oupar usage PR es CO ETS FE FE FEA CTC A A All drives Note not NV on Blu Filter Input servos a ATT aa m frman ER Aes ooo CCE ER Aes S fo fomsas ER ES es is rra stars O es o mo fonos id ves oao forme SSS basm s femeas ER ES ides s feom ES Cid es mo fem E CI basm o o Jane o Eide or C ECT O E aves 9 3 5 Communications Commands Command Description NV write read Immediate Compatibility saa only AAA ce onmoriatonstrr lt i aes iF CEC FE aes Po Powerupaausrete FE aranes COM YI HE IE IE IEA CUE m lege FE IEA CT 9 3 6 Q Program Commands Command Description NV write read Immediate Compatibility em only e a 1 mo fwon ER ives ony
31. 00 User s Manual for details Digital Input Digital Output Analog Input Y v4 v2 Y5 Brake Out Settings In Position Condition Wait 200 l ms before moving for brake to release Pos Error Range 10 Counts Wait 200 ims for brake to engage before disabling servo Continuous Time 25 ms 3 2 2 1 Digital Output Functions This output has two functions e Alarm Output e General purpose output This output has two functions e Motor brake control output e General purpose output e Torque Reached Output e General purpose output e Moving signal output output signal when dynamic position error less than set value in position mode e Velocity reach output Output signal when actual speed is same as the target speed and the speed ripple less than ripple range e General purpose output e Servo ready output Output servo ready signal when the drive is ready to be controlled and without alarm e General purpose output e In position signal output output signal when in position and the position error less than set value in position mode e Tach out output Tach output produces pulses relative to the motor position with configurable resolution e General purpose output 39 SVX Servo Suite Software Manual 920 0097A 3 2 3 Analog Input Configuration Digital Input Digital Output Analog Input Analog Input Filter Analog Signal Type 500 Hz Differential 9 Single Ended An
32. 00 mes HV3 0 500 Homing Offset Steps Hard Stop Current 2000 Direction cw 1 80 A Start Stop Diagram 6 4 1 Homing Mode There are three possible homing modes that can be simulated Sensorless Hard Stop Homing Homing with Sensors Homing with Sensors and Encoder Index Homing Mode Sensorless Hard Stop Homing Sensorless Hard Stop Homing Homing with Sensors and Encoder Index bk Homing with Sensors C Homing with Sensors and Encoder Index Click the Diagram button to view a graphical representation showing details for each Homing mode 61 SVX Servo Suite Software Manual 920 0097A 6 4 1 1 Sensorless Hard Stop Homing Sensorless Hard Stop Homing means homing without any homing sensors The load will home to a fixed mechanical end stop with a preset current limit condition Homing Mode Sensorless Hard Stop Homing 1 Sensors NO LIMIT SENSOR Home Sensor X1 Sensor State Low Active Homing with Sensors Homing with Sensors and Encoder Index High Active HA1100 HL1100 HA2100 HL2100 HA3100 Command Preview HL3100 HV15 HV25 HV30 5 gt 7 HC1 8 Homing Parameters HA1 HL1 100 HA2 HL2 100 HA3 HL3 100 Homing Offset Steps 2000 DE Hard Stop Current 1 80 2 A3 A diagram of this homing process is shown here CW Ena CCW HV3_ HV2 15 Offset Index Pulse Melo Unused oa Unused patois Unused
33. 00 rps 0 steps 0 steps C 0 counts 0 counts To observe drive parameters such as motor current or encoder position while testing a Q program click the Param tab The Pulse Counter Command and Encoder Position can be reset to zero by clicking one of the buttons marked C 68 SVX Servo Suite Software Manual 920 0097A 3 9 Register Monitor Monitor R Data Register value A Acceleration A 150 Deceleration B 150 Change Distance C 474813 Distance D 200 Position Offset E Accumulator 0 User defined 1 User defined 2 M r OO TD wo FY The Data Register Monitor tab let s you see your choice of eight data registers in real time This is especially useful when manipulating registers within a Q program Select data register that are important to the program and application To replace one of the registers with a different one click on the register name then click the button that appears next to it When the following Data Register Select dialog box appears choose the desired register Data Register Select Actual Current q Average Clamp Watts r 69 SVX Servo Suite Software Manual 920 0097A 9 Appendix A SCL Reference The SCL serial command language gives users a simple way to control a motor drive via serial port This eliminates the need for separate motion controllers to supply control signals like pulse amp direction or 10V to your motor d
34. 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 7F 02 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 6F 02 00 00 Clear New Set Point Bit 0603 8 23 81 60 00 60 09 00 00 Set Profile Velocity to 10 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 600000 steps 0603 8 2B 40 60 00 7F 02 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 6F 02 00 00 Clear New Set Point Bit 87 SVX Servo Suite Software Manual 11 3 2 Profile Velocity Mode Enable Motor Power CiA 402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 01 00 00 Operation Enabled Motion Halted Set to Profile Velocity Mode 0603 8 2F 60 60 00 03 00 00 00 Set to Profile Velocity Mode Set Motion Parameters 0603 8 23 FF 60 00 GEO 00 00 00 Set Target Velocity to 1 rps 0603 8 23 83 60 00 58 02 00 00 Set Acceleration to 100 rps s 0603 8 23 84 60 00 58 02 00 00 Set Deceleration to 100 rps s Start Stop Motion 0603 8 2B 40 60 00 0F 00 00 00 Motion Starts 0603 8 23 FF 60 00 60 09 00 00 Change Target Velocity to 10 rps 0603 8 2B 40 60 00 0F 01 00 00 Motion Halts 11 3 3 Homing Mode Enable Motor Power CiA 402 State M
35. 0603 8 2B 40 60 00 4F 00 00 00 Clear New Set Point Bit Multiple Move Stopping between Moves 0603 8 23 81 60 00 B0 04 00 00 Set Profile Velocity to 5 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 5F 00 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 00 00 00 Clear New Set Point Bit 0603 8 23 81 60 00 60 09 00 00 Set Profile Velocity to 10 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 600000 steps 0603 8 2B 40 60 00 5F 00 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 00 00 00 Clear New Set Point Bit Multiple Move Continuous Motion 0603 8 23 81 60 00 BO 04 00 00 Set Profile Velocity to 5 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 5F 02 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 02 00 00 Clear New Set Point Bit 0603 8 23 81 60 00 60 09 00 00 Set Profile Velocity to 10 rps 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 600000 steps 0603 8 2B 40 60 00 5F 02 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 4F 02 00 00 Clear New Set Point Bit Multiple Move Immediate Change in Motion 0603 8 23 81 60 00 BO 04 00 00 Set Profile Velocity to 5 rps 0603 8 23 7A 60 00 40 0D
36. 11 1 CANopen Communication CANopen is a communication protocol and device profile specification for embedded systems used in automation In terms of the OSI model CANopen implements the layers above and including the network layer The CANopen standard consists of an addressing scheme several small communication protocols and an application layer defined by a device profile The communication protocols have support for network management device monitoring and communication between nodes including a simple transport layer for message segmentation desegmentation The lower level protocol implementing the data link and physical layers is usually Controller Area Network CAN The basic CANopen device and communication profiles are given in the CiA 301 specification released by CAN in Automation 1 Profiles for more specialized devices are built on top of this basic profile and are specified in numerous other standards released by CAN in Automation such as CIA 401 2 for I O modules and CiA 402 3 for motion control 11 2 Why CANopen Multi axis Control Up to 127 axis can be supported via CANopen and the maximum communication baud rate is up to 1Mbps A further advantage with CAN is the Multi Master Capability This means that each user on the bus has the same access rights The access authorization alone controls the users among one another via the priority of the communication objects and their identifiers arbitration This allows direct comm
37. 1F 00 00 00 Q Program Starts 0603 8 2B 40 60 00 1F 01 00 00 Q Program Halts 88 SVX Servo Suite Software Manual 11 3 5 Sync Q Mode Enable Motor Power CiA 402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 00 00 00 Operation Enabled Set to Sync Q Mode 0603 8 2F 60 60 00 FE 00 00 00 Set to Sync Q Mode 0603 8 2F 07 70 00 01 00 00 00 Set Q Segment Number to 1 0603 8 23 05 10 00 80 00 00 00 Set Sync Pulse to 0x80 Start Stop Q Program 80 0 Q Program Starts 0603 8 2B 40 60 00 0F 01 00 00 Q Program Halts 11 3 6 PDO Mapping Mapping TPDO2 0000 2 80 03 Return back to PreOperation Mode 0603 8 23 01 18 01 80 02 00 80 Turn off the TPDO2 0603 8 2F 01 1A 00 00 00 00 00 Set Number of Mapped objects to zero 0603 8 23 01 1A 01 10 00 41 61 Map object1 0x6041 to TPDO2 subindex1 0603 8 23 01 1A 02 20 00 0A 70 Map object2 0x700A to TPDO2 subindex2 0603 8 2F 01 1A 00 02 00 00 00 Set Number of total Mapped objects to two 0603 8 23 01 18 01 80 02 00 00 Turn on the TPDO2 11 4Downloads CANopen EDS files and the CANopen User Manual can be downloaded from the product page of your drive You can find your drive s produ
38. 3 12 5ms Fl Filter input 5 12 5ms Wait for Input wo oOo ns nim br Ww Nw Qx Execute Segment 2 pl Fal ka Mw eS CH H pd h ja ep lol A Ww Q Programmer interface built into SVX Servo Suite Control features at top of Q Programmer tab Open Q program Open Q program file from your computer disk Save Q program Save Q program file to your computer disk Print Print current Q program 57 SVX Servo Suite Software Manual 920 0097A Upload from Drive Upload Q program from the drive Download to Drive Download current Q program to the drive Clear Q Program Clear current Q program Execute Execute current Q program starts at segment 1 Stop Stop the current running Q program Set Password Set Q program password Password can be set to prevent the Q program from being uploaded from the drive Incorrect password entry will not allow for the program to be uploaded from the drive To reset your password if forgotten enter the default password 1234 doing this will erase the stored Q program from the drive s memory Auto Execute Q program at power up checking this box and downloading the Q program will cause the drive to automatically execute segment 1 of the Q program at power up 5 2 Current Segment Current Segment Upload Download Execute Clear There are 10 Q segments available for use within the Q program The Current Segment page is used to edit
39. 4 12 6 Modbus Register Table 000nnnnn00nnnnnnennnnnnennnnrosrnrnresrrnrrrrsrnrnressnnrrrnrnrrrrsrnrerennntrresrnnrrensnnrrernnne 94 127 COMMA TR OONS ge 96 12 8 Modbus RTU Applications E 98 12 8 1 POSON CO A A 98 129 2 Veb MOOG ra crease steerer EE aN EEEE EEE E EEEE E 99 SVX Servo Suite Software Manual 920 0097A 1 Introduction Thank you for purchasing an Applied Motion Products SV200 series product We hope our dedication to performance quality and economy will make your motion control project successful The SV200 Series a new generation AC Servo system features e excellent frequency response and setting time e fully compatible 40 60 and 80mm servo motors with fail safe brake option e wide selection of control modes including pulse amp direction analog torque amp velocity streaming commands over RS 232 RS 485 CANopen Ethernet EtherNet IP and Modbus stored programming using Q language o position table selected by digital inputs e available in 120 and 220VAC versions e three power levels o 200 watts 100W at 120 VAC o 400 watts 200W at 120 VAC o 750 watts 400W at 120 VAC e easy to use online auto tuning e advanced anti vibration with two notch filters The SV200 is particularly suitable for high speeds high torque high accuracy safety and long life applications such as factory automation semiconductor manufacturing equipment SMT PCB LED packaging labeling and food processing equipment robots and c
40. Also the order of the commands is not significant except that any changes to the move parameters must be done before the FL command 10 1 2 Feed to Position The FP Feed to Position command is used for absolute moves When executed the motor will move to a position with linear acceleration and deceleration ramps and a maximum velocity based on the internal motor position of the drive The move parameters are set using the AC DE VE and DI commands In the case of the FP command the DI command sets the motor position not the relative move distance 80 SVX Servo Suite Software Manual segment 1 Segment 2 Segment 3 Current Segment Segment 1 Line Label Cmd Param Param Comment 1 WI AF Wait For Falling Edge of Input 3 E WE 0 Set Velocity to 20 RewfSec A DI 32000 Set Distance to 4 revs 4 FL Do a Feed to Length WI 1 Wait 1 second D DI T Set feed position ko 0 H FP Do a Feed to Position S Here is a sample sequence showing a move to motor position 32000 counts motor may move CW or CCW depending on the actual motor position before the start of the move with a velocity of 20 rps and accel decel rates of 500 rps s Another command to keep in mind when using absolute moves is the SP Set Position command This command allows you to zero the motor position at any time by entering SPO or to set the motor position to another value The parameter in the SP command is encoder counts For example wi
41. D i f El i i EU enominator of Electronic Gearing E ay Ratio Function of the Single Anal eo ommo O o Teee ec __ GontoterGiobalGanSeecion JO veremos any E Trece Curent Comnan8 OP _ Senoaivesony TE Trenes EncoderPoston JJ _ Senodivesony S S na immediate actual cren o Senoaivesony x ___ immediatePostion ror _ senos ay ue eno veces Eeer o overar seno dT Teemomesaa w eao O O seee C E O E ony e veco Feedfoward eer LL LE C E A E C a nm ony KK IneriaFeecfoward Consist __ Senodtivesony DEE ERREECHEN RK CCE EC A A CT MS Control Mode Selection Mode Selection o M2semodrivesony M2 servo M2 servo drives only only Servo drives drives with encoder Position Fault feedback a ra E eee OoOo C FE FE E COM Jerta ME FE FE IEA ET pv ESCUETO ME weseroatves oy iv ravers i i cers ony vecina corse JA O leese 19 SVX Servo Suite Software Manual 920 0097A Velocity Mode Proportional Constant ON NN Servo drives only 9 3 3 Configuration Commands Command Description NV write read Immediate Compatibility only only AL sf AlarmCode te JAldiwes ee SE EE EE C E E a S C ERR E a EEC s feses S o o e oa renn PO sv C Paes CCOO Iesgenpes ET CTA or EEC any ee EEES HE AO ay ERR le Goren era iy en ones ie oe orange eakomren Ye Dx peinarse i Bete tis es oe ming poner Pdr DR bata RogntrtorGapine ero Servo drive
42. O When this sequence is executed by a drive the FL Feed to Length incremental move will complete before the drive waits 0 5 seconds WT0 50 and then sets output 1 low SOY1L seqment 1 Current Segment Lime Label Cmd Param Param 1 MT 1 2 FL E WI 0 5 4 S 1L In the above command sequence to the right notice that multi tasking is turned on MT1 When this sequence is executed by the drive the drive will not wait for the FL command to complete before executing the WT and SO commands In other words the drive will initiate the FL command then wait 0 50 seconds and then set output 1 low If the last distance set by the DI command is sufficiently long the drive s output 1 will be set low before the FL command has completed This example is actually quite basic even though it illustrates the function of multi tasking well If you try these sequences with your drive make sure the last DI command is sufficiently large enough to see a noticeable difference in when the drive sets the output 85 SVX Servo Suite Software Manual NOTE Because it is physically impossible for a motor to make two moves at the same time move commands are always blocked even with Multi tasking turned on For example if you have Multi tasking turned on and the program has two move commands in a row the drive will wait to execute the second move command until the first move command is finished 11 Appendix C CANopen Reference
43. Programmer software are created using buffered commands Multi tasking in Q Drives Multi tasking allows for an exception to the one at a time rule of buffered commands The multi tasking feature of a Q drive allows you to initiate a move command FL FP CJ FS etc and proceed to execute other commands without waiting for the move command to finish 9 1 2 Immediate Commands Immediate commands are executed right away running in parallel with a buffered command if necessary For example this allows you to check the remaining space in the buffer using the BS Buffer Status command or the immediate status of digital inputs using the IS Input Status command while the drive is processing other commands Immediate commands are designed to access the drive at any time We recommend waiting for an appropriate Ack Nack response from the drive before sending subsequent commands This adds limited overhead but ensures that the drive has received and executed the current command preventing many common communication errors If the Ack Nack functionality cannot be used in the application for any reason the user should allow a 10ms delay between commands to allow the drive sufficient time to receive and act on the last command sent This approach allows a host controller to get information from the drive at a high rate most often for checking drive status or motor position 70 SVX Servo Suite Software Manual 920 0097A 9 2 Using SCL Comm
44. SVX Servo Suite Software Manual Applied Motion Products A MOONS COMPANY Copyright 2015 Applied Motion Products SVX Servo Suite Software Manual 920 0097A Contents T oe AAA PP A PP 5 1 1 O VICO IV QUITO OVE MIO sara ona 6 E SS EE 7 Lo pe tall We USB Serial DIV sudor copada 7 2 Using the SVX Servo Suite software with your drive cccceeeeecsesssseeseeeeeeeecensnnseeeeeeeeoeenseeeenesseoes 7 2 1 Connecting Your Drive to the SVX Servo Suite ooccccccccccocccnncccnnnccccnoonnncnnnnnnnnnnnnnncnnnnnonnnnnnnnennnnnnnss 7 22 e ES EE ea 8 eS PA o 0 EE ER 9 2 3 1 FO CCL e Po O Po lol E A e E OE A 10 2 3 2 o 10 2 3 3 ele 10 2 3 4 dolo MNO A PUN O oo o ee re 14 2 3 9 Reich RE 15 2 3 6 Eltere 21 2 3 7 ture fe 21 e a EE 22 2 4 1 A A 22 2 4 2 Communication POM GE 22 2 4 3 JA 22 2 4 4 Upload and download ccccooocccnccccccnccnncccnoncnonononancnnnonnnannnnnononanenononnnnncnnnonnnanennnonnnanenanoss 22 2 4 5 SS ee eee ee ee 23 3 Using SVX Servo Suite for Configuration ccccceeeeeesecessseeeeeeeeeeeeeesnseeeeeeeeooensssseeeeseeooeessseeesesseoes 24 3 1 CO MGI a EE 24 3 1 1 Vleit Le BEE 25 3 1 2 CONTO MOOS Selec Mascara pct ia 26 3 153 Control Mode Configuration ccccccccccccocnnccnnnnccnononannnnnnnnonononannnonnnnnononnnnnnnnnnnnnnnnnnnnnnnns 27 3 1 4 Velocity Mode I O Controlled ooocccccccccccccnonccnnncononononoconnnonononononcnnnnnonononannnnnnnnnnos 30 Ski SCL Q
45. Searching for the mechanical end stop begins with HV1 speed The start direction comes from the sign of the HO command is CCW no sign is CW The motor will stop when the actual current equals the preset Hard Stop Current HC as the actuator reaches the end of travel Search Index behavior If YES for Search Index is checked Then the motor runs in the opposite direction at the HV3 speed to the first encoder index After that the motor moves to the Homing Offset HO position at the HV2 speed If NO for Search Index is checked Then the motor just moves to the Homing Offset HO position at the HV2 speed 62 SVX Servo Suite Software Manual 920 0097A 6 4 1 2 Homing with Sensors This option executes an Extended Homing routine which requires the input number and condition to be specified for the home sensor The speed is set by HV commands there are three velocity setting for each step of the homing routine see the detailed description below for HV1 HV2 and HV3 Acceleration and deceleration are set using HA Homing Accel and HL Homing Decel The direction of travel when homing starts comes from the sign of the HO command is CCW no sign is CW Here is a description for each command along with the expected motion HV1 Homing velocity while searching for Limit Sensor and Home sensor HV2 Homing velocity while moving the setting distance after beyond home sensor reached HV3 Homing velocity while retu
46. UO Configuration includes configuration options for digital inputs digital outputs and analog inputs each on a separate tab 3 2 1 Digital Input Configuration This tab is used to configure the digital inputs X1 X12 Please refer to the SV200 User s Manual for details 4 Input amp Output Digital Input Digital Output Analog Input xi y x2 x8 x3 x9 x4 x10 x6 x12 X1 X2 Input Noise Filter 0 417 al us Pulse Width 1200 KHz Cutoff Frequency 50 duty cycle LL 3 2 1 1 Fl Input filter This setting defines a low pass digital firmware filter for a given input The digital inout must be at the same level for the time period specified by the Fl command before the input state is updated For example if the time value is set to 100 the input must remain high for 100 processor cycles before high is updated as the input state One processor cycle is 250usec on an SV200 servo drive A value of 0 disables the filter Input Filter for X9 Range 0 32767 100 x025ms 25ms 3 2 1 2 Input Noise Filter The Input Noise Filter is a low pass digital hardware filter rejecting noise above the specified frequency Or you can set the Pulse Width and the software will calculate the filter frequency X1 X2 Input Noise Filter 0 417 H us Pulse Width 1200 KHz Cutoff Frequency 250 duty cycle 37 SVX Servo Suite Software Manual 920 0097A 3 2 1 3 Digital Input Functions Signal Symbol Pin NO
47. a KI e TI Set Limit Curr Pos fae Steps for Software Position Limit Operation EN sure Se is Enabled Click Les or lbs to rotate motor in CCW or CW SW CCW Limit direction When target position reached click LY to accept and store position SW CW Limit Same process as above WS 45 SVX Servo Suite Software Manual 920 0097A Confirm position limits Click on Set Limit Set Limit _ NOTE CW limit must be larger than CCW limit Limit Auto Tune Fine Tune Notch Fitter Accel Decel 100 rps s SW CCW Limit SW CW Limit Setting complete 200000 600000 W Ki 4 ye Set L a Clear Limit a um Curr Pos 600000 200000 600000 po 4 2 4 Step 3 Auto Tuning Function From the Auto Tune tab follow these steps to configure and run auto tuning Configuration Tuning Sampling Parameter Table Limit Auto Tune Fine Tune Notch Filter Stiffness 1 16 4 El A Desired Velocity Profile ess 1 ke Load Type General Load Sampling Plot 1 Actual Current Plot 2 Actual Voltage Sample Move Auto Trigger Tuning between CW amp CCW Lim O Distance 2 00 gt rev Speed Limit 10 000 lt rps Accel Decel 100 000 irps s Plot Zoom 1 50 X times Direction Alternate Start CW v Sample Once Sample Continuously Time s v Auto Scale Resume Res
48. achine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 00 00 00 Operation Enabled Setto Homing Mode 0603 8 2F 60 60 00 06 00 00 00 Set to Homing Mode 0603 8 2F 98 60 00 13 00 00 00 Set Homing Method to 19 Set Motion Parameters 0603 8 23 9A 60 00 58 02 00 00 Set Homing Acceleration to 100rps s 0603 8 23 99 60 01 FO 00 00 00 Set Homing Velocity Search for Switch to 1rps 0603 8 23 99 60 02 78 00 00 00 Set Index Velocity Search for Index or Zero to 0 5rps 0603 8 23 7C 60 00 40 9C 00 00 Set Homing Offset to 40000 Steps 0603 8 2F 01 70 00 03 00 00 00 Set Homing Switch to Input 3 Start Stop Homing 0603 8 2B 40 60 00 1F 00 00 00 Homing Starts 0603 8 2B 40 60 00 1F 01 00 00 Homing Stops 11 3 4 Normal Q Mode Enable Motor Power CiA 402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 SOF 00 00 00 Operation Enabled Set to Normal Q Mode 0603 8 2F 60 60 00 FF 00 00 00 Set to Normal Q Mode 0603 8 2F 07 70 00 01 00 00 00 Set Q Segment Number to 1 Start Stop Q Program 0603 8 2B 40 60 00
49. al gain KP This parameter is the primary gain term for minimizing the position error It defines the system stiffness Larger KP values means higher stiffness and faster response times However if gain values are too high vibration can result Values ranging from 6000 to 16000 are commonly used In general use default parameter values when possible 41 SVX Servo Suite Software Manual 920 0097A Position loop gain KF This parameter is also used for minimizing the position error Increasing KF will increase stiffness and reduce settling time However increasing this gain term too much may cause system vibration Derivative gain KD This parameter is used to damp low speed oscillations and increase system smoothness Integrator gain KI This parameter minimizes or may even eliminate position errors especially when motor is holding position Damping gain KV KV minimizes the velocity error and reduces vibration in position control mode Inertia Feedforward Constant KK KK improves acceleration control by compensating for the load inertia Follow Factor KL Higher values will reduce system noise and eliminate overshoot but will reduce the system s dynamic following performance Lower values will raise system stiffness but may cause system noise Derivative Filter Gain KE The differential control parameters filter frequency This filter is a simple one pole low pass filter intended for attenuating high frequ
50. alog Input 1 Analog Input2 Position 8000 ts at 1 Torque Limit 1 00 22 Offset 0 000 v Offset 0 000 vV Deadband oe mv Deadband o gt mv 3 2 3 1 Analog Input Filter The analog input filter sets the frequency in hertz Hz of the roll off point of a single pole low pass filter When using any of the Analog Input modes this filter can be used to reduce the effects of analog noise on the mode of operation Analog Input Filter Bk 3 2 3 2 Analog Input Settings 1 Range 10V 2 Offset Sets an offset value to the input that can null out a voltage bias or it can shift the input voltage value as needed Often in analog systems it is very difficult to get a true O value Using the offset feature allows adjusting out any unwanted offsets that disturb the desire for a true O volt input from an external controller The Auto Offset function can automatically detect and correct voltage biases on the input Just click the Auto Offset button and follow the instructions to accomplish this task 3 Deadband Inserts a voltage region where the input is seen as 0 Because of the sometime imprecise nature of analog signals and inputs there may be a need to create a dead zone where the analog input has no effect on the output This is normally needed around the 0 input For example when using a joystick to operate the motor the user may not want any torque output when the Joystick is at
51. ands The basic structure of a command packet from the host to the drive is always a text string followed by a carriage return ASCII code 13 No line feed is required The text string is always composed of the command itself followed by any parameters used by the command The carriage return denotes the end of transmission to the drive Here is the basic syntax YXXAB lt cr gt In the syntax above Y symbolizes the drive s RS 485 address and is only required when using RS 485 networking XX symbolizes the command itself which is always composed of two capital letters A symbolizes the first of two possible parameters and B symbolizes the second Parameters 1 and 2 vary in length can be letters or numbers and are often optional The lt cr gt symbolizes the carriage return which terminates the command string How the carriage return is generated in your application will depend on your host software Once a drive receives the lt cr gt it will determine whether or not it understood the preceding characters as a valid commana If it did understand the command the drive will either execute or buffer the command If Ack Nack is turned on see PR command the drive will also send an acknowledge character Ack back to the host The Ack for an executed command is percent sign and for a buffered command is asterisk It is always recommended that the user program wait for an ACK NACK character before subsequent
52. bias or it can shift the input voltage value as needed Often in analog systems it is very difficult to get a true O value Using the offset feature allows adjusting out any unwanted offsets that disturb the desire for a true O volt input from an external controller The Auto Offset function can automatically detect and correct voltage biases on the input Click the button and follow the instruction to accomplish this task e Deadband Defines a voltage region where the input is seen as 0 Because of the sometime imprecise nature of analog signals and inputs there may be a need to create a dead zone where the analog input has no effect on the output This is normally needed around the 0 input For example when using a joystick to operate the motor the user may not want any torque output when the Joystick is at its null position Most joysticks are not that precise and may still output a small voltage adding the dead band can eliminate the effect of the small voltage Digital Input Digital Output Analog Input Analog Input Filter Analog Signal Type t Hz Differential 9 Single Ended Analog Input 1 Analog Input2 Range 10v el Range er _ Velocity Limit 20 000 7 Current 1 00 Aat 10v Offset 0 000 v Auto Offset Offset 0 000 v Auto Offset Deadband eS mv Deadband 0 mv Analog Torque mode has two analog input options single ended input 2 and differential mode
53. cale Save Image Graph Option Operation steps Stiffness 1 16 5 Set Stiffness and Load type Load Type General Load v Set Auto Tuning Distance Speed Sampling target and Accel Decel Plot 1 Actual Current N OTE Plot 2 Actual Voltage select Tuning Between CW and E Tuning between CW amp CCW Limit E Sg SE Sample Move Auto Trigger 1 If software position limit is set Gute Tagger 1 46 SVX Servo Suite Software Manual 920 0097A CCW Limit 2 If no limit is required select Distance ensure software position limits have been cleared Click Start to start the auto tuning function When Auto Tuning IS complete 0 P Loop auto tuning completed Load Inertia Ratio 5 33 1 download parameters to the drive 7 g you want to download these parameters to the drive NOTE During the tuning process motor or load vibrations may occur This is normal and the system will correct itself For customized performance requirements use fine tuning functions 4 3 Fine tuning Depending on the mechanical system characteristics and the servo motor used the following parameters are available and may need to be adjusted to improve system performance Global gain KP Position loop gain KF Derivative gain KD Damping gain KV Integrator Gain KI Inertia feed forward gain constant KK Derivative filter gain KE PID filters KC This step shou
54. commands are sent If the ACK NACK functionality cannot be used in the application a 10ms delay is recommended between non motion commands If the drive did not understand the command it will do nothing If Ack Nack is turned on a Nack will be sent which is signified by a question mark The Nack is usually accompanied by a numerical code that indicates a particular error To see a list of these errors see the PR command details in the Appendix Responses from the drive will be sent with a similar syntax to the associated SCL command YXX A lt cr gt In the syntax above Y symbolizes the drive s RS 485 address and is only present when using RS 485 networking XX symbolizes the command itself which is always composed of two capital letters A symbolizes the requested data and may be presented in either decimal or hexadecimal format see the IF command The lt cr gt symbolizes the carriage return ASCII code 13 which terminates the response string 9 2 1 Commands in Q drives Q drives have additional functionality because commands can also be composed into a stored program that the Q drive can run stand alone The syntax for commands stored in a Q program is the same as if the commands were being sent directly from the host or XXAB Q Programmer is used to create stored Q programs and can be downloaded from www applied motion com products software The diagram below shows how commands sent from the host
55. counts between the actual position and the commanded position of the motor A small amount of positioning error is a normal part of a servo system But sometimes the unexpected can happen A wire might break a sensor could fail or the motor may encounter a physical obstruction You might even one day forget to set up and tune a drive before installing it into a system In all of these cases you ll want to know that something is wrong as soon as possible and without damaging anything For this reason the SV200 servo drives include a position error fault limit Anytime the position error as reported by the encoder exceeds this limit the drive cuts power to the motor You can set the fault limit to as little as 10 encoder counts or as much as 32000 When you re first tuning the system you should set this value high or select Not Used so that the drive doesn t shut down as you experiment with tuning parameters Once the drive is properly tuned and you know how much error to expect during normal operation you can set an appropriate fault limit For example set Quick Tuner s scope to plot position error Execute some aggressive sample moves using the maximum speed and acceleration that you plan to use in your application If the maximum position error is say 50 counts then you could safely set the fault limit at 100 Position Error Fault 2000 Counts 5 Not used 36 SVX Servo Suite Software Manual 920 0097A 3 2 UO Configuration
56. ct page by visiting the SV200 Series Page and selecting it from the list 12 Appendix D Modbus RTU Reference The Q versions of Applied Motion servo drives support the Modbus RTU communication protocol Since Modbus is a master slave protocol that means one node is a master and the others are slave nodes Our drives are always used as Modbus slaves The host is typically a PLC motion controller or HMI Each device intended to communicate using Modbus is given a unique address Only the node assigned as the Master may initiate a command A Modbus command contains the Modbus address of the device for which it is intended Only the intended device will act on the command even though other devices might receive it an exception is specific broadcast able commands sent to node 0 which are acted on but not acknowledged All Modbus commands contain checksum information to allow the recipient to detect transmission errors The basic Modbus commands can instruct an RTU to change the value in one of its registers control or read an I O port and command the device to send back one or more values contained in its registers 12 1 Communication Address In the network system each drive requires a unique drive address Only the drive with the matching address will responded to the host command In Modbus network address 0 is the broadcast address It cannot be used for individual drive s address Modbus RTU ASCII can set drive address from 1 to 31
57. d mini USB cable for communication USB serial drivers are normally installed automatically when you install the SVX Servo Suite software If your PC asks you to install the hardware driver when you connect the SV200 to your PC you can find the USB driver file on your system here C Program Files x86 Applied Motion Products SVX Servo Suite Driver Installation Tool In this folder you can choose x86 for 32 bit systems x64 for 64 bit systems After opening one of the folders above double click MCP2200DriverlnstallationTool to install the USB serial driver 2 Using the SVX Servo Suite software with your drive SVX Servo Suite offers two types of communication serial communication over USB and Ethernet communication 2 1 Connecting Your Drive to the SVX Servo Suite Connect to an SV200 drive via serial communication over USB e Connect the drive to your PC s USB port e Launch SVX Servo Suite e Select the COM port that the USB serial driver is using see picture below e Power up the drive e SVX Servo Suite will recognize the drive model and revision When launching SVX Servo Suite the software will search all COM ports available and load the drop down list Port COM v Addr v For SV200 Ethernet drives follow these steps e Connect the drive and PC to your switch or router using CAT5 or CAT6 patch cables Or you can connector the drive directly to the Ethernet port of a PC A crossover cable is not
58. ds over RS 232 RS 485 Ethernet Modbus CANopen or EtherNet IP connections Q programs can also be triggered using the drive s built in I O Q Programmer feature list e Single axis motion control e Stand alone or networked operation e Multi tasking e Conditional processing and program flow control e Math calculations e Data register manipulation e User interaction via touch screen HMI s For the SV200 Series servo drives a single Q program can have 10 individual segments with each segment containing a maximum of 62 lines 5 1 Q Programmer Tab The Q Programmer page shown here contains all of the control features needed for programming testing and setting up Q segments and complete programs to run within a programmable SV200 drive Step 1 Configuration Step 2 Tuning Sampling Step 3 Q Programmer Motion Simulation Parameter Table Open Program Upload from Drive Download to Drive Execute Stop Clear Q Program Set Password Segment 7 d Segment 8 Segment 9 Segment 10 Segment 1 Seament 2 Seament 3 Seament 4 Seament 5 Seament 6 Current Segment Open Save Print Upload Download Execute Clear Power up Initialization qsg Line Label Cmd Parami Param2 Comment 1 o 100 Set Acceleration to 100 Rev s s DE Set Deceleration to 100 Rev s s VE Set Velocity to 5 Rev s DI Set Distance to 24000 counts DL Enable End of Travel Limits FI Filter input
59. e indicates that the motor is oscillating around the target position that is being defined throughout the move profile Desired Velocity Profile Velocity rps Time s KD 3000 too small As KD increases the system takes less time to settle as shown below 92 Desired Velocity Profile Desired Velocity Profile CH C a a e E E o gt gt Time s Time s KD 4000 KD 7000 When KD is too large however the system will become highly sensitive to the commanded changes in motion which can potentially cause unexpected system vibrations and noise as shown below Desired Velocity Profile t i j D E l f J r N H A i H i s z LU L Velocity rps 0 4 Time s KD 15000 too large 93 With larger loads typically comes larger load Inertia These larger inertias can be more easily accelerated or decelerated by anticipating the control system needs The Acceleration Feedforward gain term KK does this by adding an acceleration value to the control value which reduces position error during acceleration and deceleration When KK is small the feedforward constant will not be enough to effectively reduce position error This will cause undesirable effects on the system s dynamic performance during the acceleration and deceleration The result will be larger position error and longer settling time as shown below Desired Velocity Profile w a o i
60. e update Step 1 Select a firmware file Step 2 Recycle drive s power and wait for 3 seconds Step 3 Click the Download button Note SV200 drives do not support multi axis networking firmware updates for RS 485 field bus You can only do the firmware updates for each single axis which must be offline from the network 11 SVX Servo Suite Software Manual 920 0097A 2 3 3 2 Calibration This tool helps you calibrate a servo motor which is not made by Applied Motion Products In most cases it can automatically detect your motor timing pattern and configure the drive settings for it Calibration gt the Poles Count Press Start to begin NOTE MOONS motor no need to calibrate This function only used for non MOONS motor 2 3 3 3 Move Profile Calculator The Move Profile Calculator provides an excellent tool for simulating a motion profile You can enter SCL commands for acceleration deceleration speed and distance and see a plot of velocity versus time and a listing of time to speed time at speed and total move duration Or you can specify the timing and the calculator will tell you the necessary parameters to make it happen When a drive is connected with the software you can click Test Profile to try an actual move with the parameters you ve entered Move Profile Calculator Feed to Length FL Move Profile Distance 20000 Steps 2 000 Revs FL Parameters Time Values sec Veloc
61. eature of Q drives allows you to initiate a move command FL FP CJ FS etc and proceed to execute other commands without waiting for the move command to finish Without multi tasking or more accurately with multi tasking turned off a Q drive always executes commands in succession by waiting for the completion of a particular command before moving on to the next command In the case of move commands this means waiting for the move to finish before executing subsequent commands For example if you have an FL command Feed to Length incremental move followed by an SO command Set Output the drive will wait to finish the motor move before setting the drive s digital output With multi tasking turned on a Q drive initiates a move command and then immediately proceeds to execute subsequent commands For example doing the same FL and SO commands as above but this time with multi tasking turned on the drive will initiate the move command and immediately proceed to execute the set output command without waiting for the move command to finish Multi tasking is turned on and off with the MT command MII turns multi tasking on and MTO turns it off To illustrate the use of the MT command some more here are a couple of sample command sequences Segment 1 Segment 2 Current Segment Lime Label Cmd Dar am Param 1 MT o E FL E WI 0 5 4 S 1L In the above command sequence to the right notice that multi tasking is turned off MT
62. ec at 10V Offset 0 000 v Deadband o z mV 2 Single Ended Analog Input 1 In this mode the motor speed is determined by the voltage applied to analog input 1 Single ended analog input 10VDC ANA1 ANA2 16 18 e O IL DGND 15 17 31 SVX Servo Suite Software Manual 920 0097A 4 Input amp Output Digital Input Digital Output Analog Input Analog Input Filter Analog Signal Type 500 Hz Differential 9 Single Ended Analog Input 1 Analog Input2 Range Im Range 10V Velocity 20 000 rev sec at 10V Torque Limit 1 00 1 Offset 0000 E v Auto Offset Offset 0 000 v Auto Offset Deadband CU mV Deadband A mV 3 1 5 SCL Q Mode Streaming Commands and or Stored Program 3 1 5 1 SCL SCL or serial command language gives users a simple way to control a motor drive via a serial port This eliminates the need for separate motion controllers or to supply control signals like Pulse amp Direction to your step and servo motor drives lt also provides an easy way to interface to a variety of other industrial devices like PLCs industrial computers and HMls which most often have standard or optional serial ports for communicating to other devices SCL is our host command language for applications that require the drives to be sent instructions by a host controller in real time SCL command can be sent to SV200 series drives with RS 232
63. ed Power Phase Lost STO Velocity Limit Blank Q Segment a a a Y E Uncheck the item will mask the corresponding alarm from Drive s LED display D Other Misc Setting LS 2s y Communication Regen Alarm Other LED Default Display Velocity v Drive s Control Panel Lock Unlock Lock Velocity Accel Decel Unit 9 rps rev s s rpm rpm s When drive connection is detected 7 Show upload notice Automatically Upload V Upload Q Program Q Drive only SC LED Default Display Sets the default power up LED Display of the drive Drive s Control Panel Lock Prevents the user from changing any settings thru the front panel controls Velocity Accel Decel Unit Defines the units used for velocity acceleration and deceleration You can choose rps revolutions per second and rev s s or rom and rpm s s When drive is connected If you want to automatically upload your drive s configuration and tuning parameters when the drive is connected to SVX Servo Suite check the box marked Automatically upload If you also want your drive s Q program to automatically upload upon connection check Upload Q Program 20 SVX Servo Suite Software Manual 2 3 6 Help A About Displays the software splash screen and revision SVX Servo 1 0 15 0706 B Help Content Click for help 2 3 Language The Language button allows you to choose English or Chinese
64. eginning of the capture to the trigger point The Capture delay allows viewing of the data prior to the trigger point so that a more complete profile can be observed When changing Plot 1 to other selections notice that the units for the capture trigger will change with it For example when selecting Position Error the capture will look at Counts for determining the trigger point Sample Once when the Start button is clicked the servo drive begins continuous collection of data It will constantly check the data to see if the value meets the capture trigger conditions At the same time SVX Servo Suite monitors the status of the servo drive to detect if the capture is complete When the capture is complete the data is displayed in the profile window Sample Continuously when the Start button is clicked the capture is repeated each time the trigger condition is met until the Stop button is clicked During continuous sampling the tuning gains can be changed at any time and will be updated automatically This allows for more dynamic adjustment of the gains thereby speeding up the tuning process 96 SVX Servo Suite Software Manual 920 0097A 5 Step 3 Q Programmer Q Programmer takes the SCL language to a new level by allowing users to create programs that can be stored in the drive s flash memory The drive can be set to automatically execute programs at power up or it can wait for the programs to be started and stopped using streaming comman
65. ency oscillations This value is a constant that must be calculated from the desired roll off frequency PID Filter gain KC The servo control overall filter frequency This filter is a simple one pole low pass filter intended for attenuating high frequency oscillations The value is a constant that must be calculated from the desired roll off frequency Among all the parameters changes for KP KE and KC are NOT recommended after system configuration Therefore parameter tuning is based more on KF KD KV KI KL and KK 42 SVX Servo Suite Software Manual 920 0097A 4 2 Auto Tuning SV200 servo systems can achieve real time response to the dynamic feedback of the load and optimize tuning parameters automatically The auto tuning function can save time and simplify the debugging process Auto tuning can be completed using the SVX Servo Suite software in only a few minutes NOTE Auto Tuning must operate with the load installed 4 2 1 Step 1 Select Motor Before using the auto tuning make sure the motor configuration is correct On the SVX Servo Suite Configuration panel in the Motor Information section click on Config shown below Step 1 Configuration Step 2 Tuning Sampling Step 3 Built in PLC Q Programmer Motion Simulation 1 Motor Information 2 Control Mode i DS _J Reverse motor rotating direction Acc Dec Limit 3000 mes El 2nd Mode 1 SCL Commanded Torque Go to 3 Control Mode Set
66. ength 0x66 reser el Peeler tf Mask Distance Feed and Set Output FO os Orom condon MECO La CA ICI ICI CI CI ICI Feedo Sensor Il 068 Yoron comen gt EEE E Safety Distance MA le ICA RC RC 96 SVX Servo Suite Software Manual Motor Disable MD Ox9E x x x x x A SS f SK SKD A a Stop Move Kill Buffer E1 Stop Move Kill Buffer OXE i Normal Decel For more detailed command functions description please refer to the Host Command Reference manual 2 Digital UO Function Selection and I O Status Character hex code ICO IC meoten ICO ICC CCE ICO foe one 97 SVX Servo Suite Software Manual 12 8 Modbus RTU Applications 12 8 1 Position Control 1 Target Profile Planning AC The unit for register 40028 is 1 6 rps2 when 100 40028 600 258h target acceleration is 100rps s the value will be Acceleration aan DE The unit for register 40029 is 1 6 rps2 when Deceleration 200 40029 1200 4B0h oa acceleration is 200rps s the value will be VE The unit for register 40030 is 1 240 rps When Velocity BS SECH 2400 960h target velocity is 10rps the value will be 2400 Di Re 68 20000 40031 40032 20000 4E20h The target distance will be 20000 counts 2 Drive Setting big endian data transfer communication baud rate 38400bps Use the SVX Servo Suite software for configuration 3 Control Mode Settings Node ID Power Up BaudRate Taj Sada
67. ernal controller is used to perform move profiles such as in Position Control Mode using Pulse amp Direction input the Auto Trigger function will allow the Sampling tool to collect data and display the move profile This sampling technique is different in that it is not triggered by the start of a move profile as the drive cannot know when the move is actually started remember the controller is external Instead the Auto Trigger function waits for a predefined set of conditions or triggering event before the move profile data is collected When using Auto Trigger it s important to first select the conditions that will trigger the sampling Begin by selecting the desired trigger value in the Plot 1 list This selection is what is monitored by the Auto Trigger Plot 2 will be displayed but is not monitored for scope triggering purposes See below Sampling Plot 1 Actual Speed ell Plot 3 Position Error vii Sample Move Auto Trigger Start capture when plot 1 goes ase y 1000 E revise Capture data for 0 300 secs Capture delay 10 L Sample Once Sample Continuously In the Auto Trigger tab the displayed text will indicate the value to be used and the condition that will trigger the capture of the selected data plots In the example above the capture will begin when Actual Speed is Above 1 000 rev sec the capture will Capture data for 0 300 seconds and there will be a 10 Capture delay from the b
68. ffect at next drive power up Data format To setup data transmit type between Hexadecimal and Decimal 3 1 5 2 Q Program Q takes the SCL language to an entire new level by allowing users to create programs that can be stored in the drive s flash memory The drive can be set to automatically executed programs at power up or it can wait for the 32 SVX Servo Suite Software Manual 920 0097A programs to be started and stopped using streaming commands over RS 232 RS 485 Ethernet Modbus CANopen or EtherNet IP connections Q programs can also be triggered using the drive s built in I O Q programs offer e Single axis motion control e Stand alone or networked operation e Multi tasking e Conditional processing and program flow control e Math calculations e Data register manipulation e User interaction via touch screen HMI s 3 Control Mode Settings Node ID Power Up BaudRate 5 SCL Add 9600 bit s bps 32 x 0 Data Format Hexadecimal Decimal Transmit Delay 2 ms Auto Execute Q Program at Power Up Position Error Fault 2000 Counts Not used Jerk Filter a 5000 Hz Not used Auto Execute Q Program at Power Up If this box is checked the drive will execute a stored Q program from segment 1 automatically at power up 3 1 6 Modbus RTU 3 Control Mode Settings Node ID Power Up BaudRate 32 m SCL Add 9600 w bit s bps gt 0 T Auto Execute Q Program at Power Up Transmit Delay 2 ms 32 Bit
69. g actual system operation Refer to LP and LM commands in SVX SVX Servo Suite s built in Q Programmer help for more details On the Tuning Sampling panel select the Limit tab to setup software position limits If software position limits are not required then click Clear Limit and go to the next step for the Auto Tune function description 44 SVX Servo Suite Software Manual 920 0097A Configuration Tuning Sampling Parameter Table Limit Auto Tune Fine Tune Notch Filter Desired Velocity Profile Jog Speed 1 000 rps y ty Accel Decel 100 rps s SW CCW Limit SW CW Limit 0 0 c Le le ll ed Lee _Set Limit H Clear Limit 4 gt Curr Pos 0 NULL NULL Y 0 3 Time s Auto Scale Resume Rescale Save Image Graph Option 4 2 3 Setup Software Position Limits Here are the basic steps to set the soft limits also shown below A Before rotating the motor and setting limits first set the desired Jog Speed and Accel Decel rate B Set CCW limit move to desired position with arrow buttons then click the flag button C Set CW limit move to desired position with arrow buttons then click the flag button D Confirm or Cancel position limits set in step B and C with the Set Limit or Clear Limit buttons Configuration Tuning Sampling Paramete Limit Auto Tune Fine Tune Notch Filter fee 000 es e ccel Decel 100
70. gital inputs Velocity Control by Change Speed By X10 X12 Differential Analog Single Ended Analog Input 1 3 1 4 2 Change speed level by X10 X12 Three digital inputs are assigned and allow you to select from 8 speeds Velocity Control by Fix speed at 2 000 7 rps Differential Analog Single Ended Analog Input 1 Click the Velocity Setting button to enter the 8 speeds 30 SVX Servo Suite Software Manual 920 0097A Velocity Setting Velocity Settings X10 X11 X12 Speed Speed2 Speed3 Speed4 Speed5 Speed6 Speed7 Speed8 low closed 00000000 0000000 00000000 3 1 4 3 Analog Velocity Mode Analog velocity mode has two options Differential Analog and Single Ended Analog Input 1 Velocity Control by gt Fix speed at gt Change Speed By X10 X12 rps o D Single Ended Analog Input 1 1 Differential Analog In this mode the motor speed is determined by the difference between the voltages applied to analog inputs 1 and 2 Using a differential signal can reduce interference from electrical noise and make the speed more accurate Input Type Type Pin NO Fu nctions Host controller Differential analog input Differential Analog Input JA Output DGND IS Digital Ground Digital Input Digital Output Analog Input Analog Input Filter Analog Signal Type Tag Hz Differential Single Ended Analog Input Velocity 20 000 A rev s
71. igital Output O via x General Purpose x8 General Purpose i xo General Purpose ar E x10 General Purpose n Ys inPos x11 General Purpose FI Bl Analog Input X12 General Purpose Fl Ain Diff 0 001V O X10 GP X1 X2 Input Noise Filter X11 GP Ain 1 0 004 kd 047 us Pulse Width 120 KHz Cutoff Frequency 250 duty cycle CH x12 GP Ain2 0 00 1V The features of SVX Servo Suite include e Friendly Interface e Easy setup within just three steps e Drive setup and configuration e Servo control gains Auto tuning e Servo tuning and sampling e Built in Q programmer e Motion testing and monitoring e Write and save SCL command scripts e Online help integrated If you get in trouble with using our driver or software or if you have any suggestions about our products and this manual please call 800 525 1609 or send an email to support applied motion com to let us know Our software is supported on PC s running Microsoft Windows XP Service Pack 3 Vista 7 or 8 32 or 64 bits The SVX Servo Suite requires Microsoft Net Framework 2 0 SVX Servo Suite Software Manual 920 0097A 1 2 SVX Servo Suite Setup SVX Servo Suite can be downloaded from our website s software page After downloading open the SVX Servo Suite setup file and follow the on screen instructions 1 3 Install the USB Serial Driver For configuration and tuning you ll need to connect your SV200 to your PC using the include
72. ing the same accel and decel rates for the two moves but the velocities and distances change After each move we d like to set outputs Y1 and Y2 on then off and rather than entering the necessary commands to do this after each FL command in segment 1 we place the commands in segment 2 and then use the QC command to call it a j BEE See Current Segment Segment 2 Line Label Cmd Farami Param 1 i 1L E WI 0 25 3 i EL 4 WI 0 25 sO H E WI 0 25 E sO 1H I 3 Gg 1 In segment 2 we place the desired SO Set Output commands that turn output Y1 on then output Y2 on then output Y2 off and finally output Y1 off Notice we ve also placed WT Wait Time commands of 0 25 seconds between each SO command to make the changing output states more noticeable When segment 1 reaches its first QC command with the parameter 2 indicating a call to segment 2 the program will call segment 2 as a subroutine to execute its sequence of commands Notice at the end of segment 2 we ve placed a QC command with no parameter That s a return which tells the drive to return to the calling segment and execute the line right after the original Queue Call 84 SVX Servo Suite Software Manual Upon returning to segment 1 the drive completes the second move calls segment 2 again then returns to segment 1 once more and then starts the process over by looping back to line 1 QG1 10 1 7 Multi tasking The multi tasking f
73. its null position Many joysticks are not precise and may still output a small voltage adding the dead band can eliminate the effect of the small voltage 40 SVX Servo Suite Software Manual 920 0097A 4 Step 2 Tuning Sampling Like most modern servo drives the SV200 series employs sophisticated algorithms and electronics for controlling the torque velocity and position of the motor and load Feedback sensors are used to tell the drive what the motor is doing at all times That way the drive can continuously alter the voltage and current applied to the motor until the motor meets the commanded torque velocity or position depending on the control mode selected This form of control is called closed loop control One of the loops controls the amount of current in the motor This circuit requires no adjustment other than specifying the maximum current the motor can handle without overheating The PID loop compares the intended motor position to the actual motor position as reported by the encoder The difference is called error and the PID loop acts on this error with three gain terms the Proportional term the Integral term and the Derivative term The Acceleration Feedforward term is also added to achieve greater system control 4 1 Servo Tuning Adjustment of Gain Parameters Servo tuning is used to optimize the servo system s overall performance and reduce system response time Servo tuning allows the servo motor to e
74. ity Accel Time 10 000 0 100000 Accel e Decel Time 100 000 rps s_ v 0 100000 z Decel SS Total Time 100 000 0 300000 LAN res RS485 Addr Accel Dist Ly DI20000 a 5000 Steps VE10 Aci00 Decel Dist ae DE100 5000 Steps FL Peak Velocity 10 rps UU 0 05 0 10 0 15 0 20 0 25 0 30 0 3 5 Time 12 SVX Servo Suite Software Manual 920 0097A 2 3 3 4 Export CANopen Parameters After tuning is done you can use the Export CANopen Parameters tool to export tuning parameters such as KP KD VP VI to a text file in a data format that is easy for the customer to immigrate to their CANopen program Below is an example of a saved file M2 CANopen Tuning Paramet AS ei a MHA FREE TAO SEV BH 2 3 3 5 CANopen Test Tool This provides a quick link to the installed CANopen Test Tool software If you have installed the CANopen Test Tool click this will launch CANopen Test Tool software If you see this message you need to download and install the CANopen Test Tool If the CANopen test tool has been installed you should see a screen like this 13 SVX Servo Suite Software Manual 920 0097A ee By Lei Youbing Sage Commend ee aa Got i an US pm 8 Si ic om com bm SEpewen r Crue Osetie Men Peet Pe ose Fos Cop Mode WMT Pesed S ref ES Lote FI A Oc 10 000 E e D Conmard Review ze wes H Ge 100000 et 2 3 4 Q Programmer If you
75. ive to initiate motion Point to Point Move Command Distance 20000 Steps Absolute Move Move to Sensor 60 Click Stop to interrupt motion SVX Servo Suite Software Manual 920 0097A Absolute Move Execute the absolute motion according to the Command Distance setting The Absolute ZERO is the zero count of the motor encoder Relative Move Execute the relative motion according to the Command Distance setting Move to Sensor Click the Move to after setting the input number direction of rotation and input condition 6 3 Jog The Jog section allows for setting the Jog Speed and Jog acceleration deceleration To jog the motor click and hold the CW Jog or CCW Jog button The motor will stop jogging when the mouse button is released 10 000 rps Accel Dece 100 H rps s A CW A CCW Jog Lo Jog 6 4 Homing The Homing section allows for setting the homing mode home sensor and state search speed acceleration deceleration offset hard stop current etc Click Start to start simulation of the homing routine Click the Stop button to interrupt and stop motion while the homing routine is in progress Homing Homing Mode Sensors Command Preview NO LIMIT SENSOR HA1100 Sane s HL1100 Sensor State HL2100 3 W i SC 3 Low Active High Active HL3100 HV15 Homing Parameters HV25 e HV30 5 HAI HL1 100 H rpsjs Hvi 9 000 amp HC1 8 HA2 HL2 100 E Hv2 5 000 E 402000 HA3 HL3 1
76. l 12 4 2 Function Code 0x06 Writing Single Register If we want to set motor speed to 12 5 rps on drive node ID 11 the corresponding address is register 40030 The write in data value for the register will be 12 5 x 240 3000 In hexadecimal number it is 12CH Communication details are Command Message Master Response Message slave N f N Function Data ge Function Data umber emm of Bytes Slave Address Slave Address OBH 7 Function Function Code Function Function Code a E Data Address aah Data Address S 2 Register 40030 1DH Low Register 40030 1DH Low 01 High 01 High fD Content of Data 2C Low Fe Content of Data SCH Lom ton CRC Check Low CRC Check Low eR check ag as Host Sending 0B 06 00 1D 01 2C 19 2B Drive Reply OB 06 00 1D 01 2C 19 2B If error is occurred drive reply format 01 86 XX CRC_LCRC_H Where XX 01 Function code 06 unsupported XX 02 Incorrect writing on driving address or number XX 03 Writing register address out of range XX 04 Writing failure 92 SVX Servo Suite Software Manual 12 4 3 Function Code 0X10 Writing Multiple Registers If we writing target distance 30000 7530h into drive NODE ID 10 the corresponding register address will be 40031 Communication Details are Command Message Master Slave Address 1 Function Function Code 10H E Data Address OOH High 2 Register 40031 1EH Low 2 Number of Data
77. l 920 0097A 3 Using SVX Servo Suite for Configuration Steps for drive configuration with SVX Servo Suite Step 1 Configuration Configure motor information control mode as well as l O settings Step 2 Servo tuning Tuning the driver tuning parameters to fit your motion requirements Step 3 Q programming Q programming and debugging Step 4 Motion simulation Use to simulate motion including jog mode P to P motion and homing mode 3 1 Configuration In this tab you can configure the drive for your motor select a control mode and define the functionality of inputs and outputs Step 1 Configuration Step 2 Tuning Sampling Step 3 Built in PLC Q Programmer Motion Simulation 1 Motor Information 2 Control Mode Main Mode SCL Q Stream Command E 2nd Mode i SCL Commanded Torque Go to Power Up BaudRate eier Data Format a H Decimal Hz Not used Position Error Fault o 2000 H Counts Not used Jerk Filter 9 250 E 4 Input amp Output X1 X2 Input Noise Filter 0 417 H us Pulse Width 1200 E KHz Cutoff Frequency 50 duty cycle 24 SVX Servo Suite Software Manual 920 0097A 3 1 1 Motor Configuration 1 Motor Information J0400 3X24 0 Speed Limit 60 1S _ Reverse motor rotating direction Acc Dec Lint 3000 ee To select the motor click the Config button You will a dialog that allows
78. ld be completed only after the Auto Tune function has been done and if improvements are needed for the tuning A sample move can be defined and run once for each click of the Start button or continuously to facilitate real time dynamic tuning i e adjustment of gains and filter settings while the motor is moving Among the parameters listed above changes to Global gain KP Derivative filter gain KE and PID filter KC are NOT recommended after the system has been configured with the Auto Tune function Therefore parameter adjustments during the fine tuning phase should be limited to Position loop gain KF Derivative gain KD Damping gain KV Integrator Gain KI Inertia feed forward gain constant KK See details below However if you experience mechanical resonance or hear high pitched squealing noises you can lower the PID Output Filter below the natural frequency of your system so that the PID output does not excite the resonance If you have a large inertial load you ll probably find that you or the auto tuner need to set the gain parameters high especially PP and KI to get good response Then you will want to increase the damping to prevent ringing Now the system is likely to be so tight that if you have a springy all metal coupling it may buzz or squawk Reducing the frequency of the derivative filter can remove this objectionable sound 47 SVX Servo Suite Software Manual 920 0097A 4 3 1 Position loop
79. mp CCW Pulse X1 leads X2 A B Quadrature X2 leads X1 Differential Analog Single Ended Analog Input 1 For all the pulse input modes you will need to determine a value to enter into the Electronic Gearing Box An explanation on how to do this is given in the next section Direction is CW when If the motor s direction of rotation in A B quadrature mode is the opposite of what you want select the other option for direction Direction is CW when X1 leads X2 X2 leads X1 28 SVX Servo Suite Software Manual 920 0097A Jerk Filter In pulse direction mode if the pulse train from the controller suddenly changes from a constant speed or no speed to acceleration mode the abrupt change causes a jerk in the mechanical system For many applications this is undesirable because it increases wear and tear on the mechanical linkage between motor and load If you are handling fluids jerk can cause them to slosh around or spill It might even tear the backing on a roll of labels Enabling the SV200 s jerk filter can prevent all these problems by providing a smooth transition between acceleration and constant speed The jerk filter is specified in hertz Hz Smaller values provide smoother motion The jerk filter will introduce some time delay into your motion profile but it doesn t affect the positioning accuracy The jerk filter setting is located on the Configuration tab as part of the Control Mode
80. nce set in the DI command 8000 counts and the deceleration rate set in the DE command 500 rps s to bring the motor to a stop 10 1 4 Looping There are two ways to accomplish looping or repeat loops within a pro gram The first method accomplishes an infinite loop and uses the QG Queue Goto command The parameter for this command is a line number in the segment and whenever the sequence gets to the QG command the segment will jump to the designated line Segment 1 Segment 2 Current Segment Segment 1 Lime Label Cmd Param Param l Label DI 40000 2 AC S00 E DE 500 4 YE 20 o FL 6 wT 0 5 7 OG Labell In the example to above the sequence contains an FL command with related parameter commands ahead of it AC DE DI VE After the FL command is a WT Wait Time command with a time of 0 5 seconds and then a QG command that points to line 1 This sequence will loop forever now with the segment always starting at line one after it executes the QG command Segment 1 Segment 2 Current Segment Segment 1 Line Label Cmd Param Param 1 HA 3 5 Labell DI 40000 E AL 300 4 DE 300 S VE 0 E FL r wT 0 5 a OR 3 Labeli 3 The second method for looping utilizes the QR Queue Repeat command It works by jumping to a given segment line for the number of times indicated in a user defined data register Any user defined data register will work In the example to the right the QG command from the previou
81. nd direction signals from a PLC or motion controller The frequency of the pulses determines the motor speed while the number of pulses controls the position the direction of rotation is determined by a signal fed into another input You can configure whether X2 signal closed or open represents clockwise motion Position Control Pulse amp irection Direction is CW when CW amp CCW Pulse X2 is dosed A B Quadrature X2 is Open Differential Analog Single Ended Analog Input 1 CW amp CCW Pulse The motor will move CW or CCW depending on which input the pulse is fed into The drive has two inputs allocated to this feature pulses fed into one input will generate CW motion and pulses fed into the other input will generate CCW motion Position Control Pulse amp Direction Direction is CW when Pulse on X1 A B Quadrature Pulse on X2 Differential Analog Single Ended Analog Input 1 A B Quadrature This is sometimes called slave mode or mast encoder following The motor will move according to signals that are fed to the drive from a master encoder This encoder can be mounted on a shaft on the machine or it can be another motor in the system Using quadrature input mode it is possible for a number of motors to be daisy chained together with the encoder output signal from each drive being fed into the next Position Control Pulse amp Direction Direction is CW when CW a
82. nds the entire string Try the example sequence below In this example note that lt ENTER gt means press the ENTER key on your keyboard which is the same as terminating the command with a carriage return IMPORTANT We recommend practicing with SCL commands with no load attached to the motor shaft You want the motor shaft to spin freely during startup to avoid damaging mechanical components in your system AC25 lt ENTER gt Set accel rate to 25 rev sec sec DE25 lt ENTER gt Set decel rate to 25 rev sec sec VE5 lt ENTER gt Set velocity to 5 rev sec FL20000 lt ENTER gt Move the motor 20000 steps in the CW direction If your motor didn t move after sending the FL20000 check the LEDs on your drive to see if there is an error present If so send the AR command AR lt ENTER gt to clear the alarm If after clearing the alarm you see a solid green LED it means the drive is disabled Enable the drive by sending the ME command ME lt ENTER gt and verify that you see a steady flashing green LED Then try the above sequence again Here is another sample sequence you can try 12 SVX Servo Suite Software Manual 920 0097A JA10 lt ENTER gt Set jog accel rate to 10 rev sec sec JL10 lt ENTER gt Set jog decel rate to 10 rev sec sec JS1 lt ENTER gt Set jog speed to 1 rev sec CJ lt ENTER gt Commence jogging CS 1 lt ENTER gt Change jog speed to 1 rev sec in CCW direction SJ lt ENTER gt Stop jogging In the above sequence notice that
83. ng the motor and filter setup e Configuration commands pertain to setting up the drive and motor for your application including tuning parameters for your servo drive step resolution and anti resonance parameters for your step motor drive etc e 1 0 commands are used to control and configure the inputs and outputs of the drive e Communications commands have to do with the configuration of the drive s serial ports e Q Program commands deal with programming functions when creating stored programs for your Q drive e Register commands deal with data registers Many of these commands are only compatible with Q drives 9 3 1 Motion Commands Command Description NV write read Immediate Compatibility only only EC NET ES EE IEA Siemers A es CN ESTO CI SS CTO FE FE FE FE CI aaa orPoston AO S ED Encoder Direction Servos and steppers with encoder feedback 73 SVX Servo Suite Software Manual 920 0097A Servos and steppers with encoder EG ElectronicGearing Electronic Gearing ei II JAldrwes All Al drives All Step Servo drives and M2 Servo rer impu Noise Finer moas Servos and steppers with encoder E Feed to Length with Speed Change LJ JAldwes All Alidives er rontowEneoder moes All Step Servo drives and M2 Servo FL FeedtoLength to Feed to Length o ladies All Alidives So IM CR MS e o ooms es perrea pasi n a Ces CC
84. ning parameters of the drive but leave other settings unchanged 2 3 5 8 Alarm History SV200 series drives store a log of alarm conditions Each time there is an alarm the drive stores the information of which alarms were triggered at that time Since a fault may trigger more than one alarm condition the drive stores all of them for reference This information can then be extracted using SVX Servo Suite or the Host Language to help with drive and system problem solving The drive stores up to 8 sets of alarm conditions Edit IP Address Table aan pHa ae Switch Position IP Address O Cancel Read from Drive Save to Drive Read from File Save to File OD wont Oh mM A UU V rz Positions 0 Recovery and F Use DHCP cannot be changed 18 SVX Servo Suite Software Manual 920 0097A 2 3 5 9 Misc Setting This dialog is used for defining the alarm mask regeneration resistor communication and other parameters A Communication This tab defines specific communication settings between the host controller and your SV200 Series servo drive Misc Setting e LR So W Pref all responses with address character dl Oe vond E Prefix all responses with address character Instructs driver to prefix all responses to SCL commande with its address character Useful for multi axis networks Respond to all commands with Ack or Nack Respond to all commands with Ack or Nack so you know if the dri
85. nnnnnnnnnnnnnnnnnnnnnonnnannnnnnnnnnss 80 10 1 1 A 80 WOU A o A a 80 1013 O e E A e 81 IOTA EOIN D 82 SVX Servo Suite Software Manual 920 0097A POW Lg leg UI e RE 83 A ea 83 A VE MAG Ao e e o nea 85 11 Appendix C CANopen Reference nssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn mnnn 86 11 1 CANopen Reen Uert E 86 Ce EN et e KEE 86 11 3 CANopen Example ProgramS EE 87 11 3 1 Profile Position Mode santi iii 87 11 3 2 Profle Velb ity EE 88 ISS Homino MOE EE 88 AUB Normal M ge sacando rai 88 WoS A A E E EEE 89 113 0 PDO Mapping EE 89 TEA Ren e le 89 12 Appendix D Modbus RTU Reference vcisicmiasnirancanda cc rinda 89 12 1 Communication Address ooccccnncccccccconnccnnncccnonnnncnnnnnnnononnnncnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnneninnnnnss 89 12 2 Dala EN COGING E 90 12 3 Communication Baud Rate amp Protocol nn nonaaannnnnnnonernnnnnreossnnnnrnrnnssnrnnrrreenssnnnrerrenssnnnrrrreennne 90 12 4 TA AA 90 12 4 1 Function Code 0X03 Reading Multiple Holding Registers nn000nnnnnaannnnnnannnnnneennnne 90 12 4 2 Function Code 0x06 Writing Single Register oo ccoonnonncccnnccccccnnoncccnnncononnnnnncnnnnnnnnnnnnns 92 1243 Function Code 0X10 Writing Multiple Registers n00annnnnnnnnenennnnnsnnnnnnnennensnrnrrrrreenene 93 12 5 Modbus RTU Data Frame ooocccccccnncccnnccccnnccnncncnnnconncnnnnncnnnnonnnncnnnnnnnnncnnnnnnnnnrnnnnrnnnnrnnnnrnnnnrnnennnanenns 9
86. ols Drive Help Project Ext ese Sut app acceleration deceleration etc Epon CANopen Parameters Ex CANopen Parameters to e Open Q Program P Open Q program file qpr format Save Q Program P Save Q program file qpr format A Open Segment Open Q segment file qsg format Save Q segment file qsg format Upload from Drive Firmware Downloader Calibration Tools Move Profile Calculator pino aromermemerdme eree Et serca IP address trough IP table No TOE som e ON oon set tama Regen Communicator and other optons Rese comme me veto Factory Defaut Seting tambo REES EN E A Help Hp coment Open online help SVX Servo Suite Software Manual 920 0097A 2 3 1 Project In the Project menu the SVX Servo Suite can allow you to upload and download both configurations and Q programs Drive configurations and Q programs can be saved as a single project file mdprj to your local disk SVX Servo Suite can also download the project files to a different drives directly from the hard disk In addition it can also print out the detailed project files Project Configuration Tools y 3 Open Project CO cd Save Project Ctrl S Upload from Drive Ctri U Download to Drve Ctri D Print Ctrl P Exit For the drive models that support Q programming capability the project includes the configuration and Q program see picture below Project Configuration Q Program For the drive without Q programming capablilit
87. omo ro Deco 05 8 EIN aw Lowe ICI CIN 94 SVX Servo Suite Software Manual 40036 Read SHORT Velocity Move State Read Average Clamp Power regen r C derenan R R R R R R R senso INES INE EEC me fn me ms n BR SHORT Idle Current MD SHORT Steps per Revolution SHORT Pulse Counter 40055 SHORT Time Stamp 40056 SHORT Analog Position Gain 40057 SHORT Analog Threshold A V GC S CA SHORT Running Current CC zm aD 40058 SHORT Analog Offset A W W W W MW MW MW MW MW MW MW MW MW MW IEC IN III IE CIN RECHERCHER RECHERCHER EE III Users CIN IEEE aw III PEE EN IEEE w III Users CN EII aw tone FET LN RECHERCHER O 5 SVX Servo Suite Software Manual 40099 100 LONG User Defined 40101 102 LONG User Defined 400103 104 LONG User Defined MA 40105 SHORT Brake Release Delay DO 40106 SHORT Brake Engage Delay E 40107 SHORT Idle Current Delay MA 40108 SHORT Hyperbolic Smoothing Gain A 40109 SHORT Hyperbolic Smoothing Phase besse 40110 SHORT Analog Filter Gain MN 40125 SHORT Command Opcode A 12 7 Command Register Register 40125 is defined as the command register When a command opcode is written to this register the drive will execute the corresponding command 1 SCL Command Encoding Table SCL Command Encoding Table Feedo Doubie Sensor FO 060 VO Parr Conos vO Pam2 Gonaiona LI CA CT EE Feed to FeedtoL
88. on This is akin to Left to Right reading in hexadecimal order Little endian The most significant byte MSB value is stored at the memory location with the highest address the next byte value in significance is stored at the following memory location and so on This is akin to Left to Right reading in hexadecimal order 34 920 0097A SVX Servo Suite Software Manual 3 1 7 Torque Mode When the drive is set for Torque mode it allows you to define the current that will be delivered and thus the torque generated by the motor and the direction of rotation In this mode the motor speed will depend on the load applied to the motor WARNING If the motor is not connected to the load or has no load applied downloading this mode while a command signal is present may cause the motor to accelerate to a high speed Torque Control by Single Ended Analog Input 2 SCL Commanded Serial Comm Control Torque mode has two control options Analog and SCL Commanded 3 1 7 1 Analog There are four settings that are required for getting the analog inputs to control the desired mode output e Range 10V is the only choice e Current Establishes a gain value that scales the output from the input For example if current is set to 1A at 10V a 10 volt input signal will tell the drive to apply 1 amp to the motor A 2 volt input would apply 0 2 amps to the motor e Offset Sets an offset value to the input that can null out a voltage
89. on Code 10H 1 Sar Da Data i OOH KE Ste Data SCH OOH High 2 Ke of Data oa DOH g t Aen of Data Ze OOH High 2 Content of first Data mere 2 CRC Check High 01 1 E O Ell Content of second Data on EY Content of third Data an ah geet Ad IA Step 2 Command for Executing Point to Point Motion Command Opcode describes register 40125 s control code From the SCL code list shows that for JOG mode it requires to write data 0x96 to register 40125 to start and sending OxD8 to register 40125 to stop SCL Command Encoding Table 100 SVX Servo Suite Software Manual Start Host Sending 01 06 00 7C 00 96 C8 7C Drive Reply 01 06 00 7C 00 96 C8 7C Stop Host Sending 01 06 00 7C 00 D8 48 48 Drive Reply 010600 7C 00 D8 48 48 Start Message 01H Kaerch 01H A Function Code Function Code 06H a Function Function Code Starting Data Address OOH High Starting Data Address High Register 40125 7CH Low Register 40125 7CH Low 00 High 00 High Content of Data 96 Low xs Content of Data 96 LG Gs EE CRC Check Low E E E CRC Check Low Stop Message Slave Address 01H Slave Address 01H Function Function Code Function Code 1 0H In Function Code Function Code Starting Data Address 00H High Starting Data Address 00H en Register 40125 7CH Low Register 40125 7CH Low 00 ch 00 High eein CI NA 101
90. own after one second so that the average current does not exceed the motor s rating Never continuously operate a servo motor above its rated current 3 1 1 2 Maximum Speed Here you can enter the maximum speed allowable in your application If your maximum speed is set below the speed your command signal can demand the final speed achieved will be the speed set in the Maximum Speed parameter Note Maximum Speed works with Velocity Mode and Torque Mode Only In Pulse Input Mode these values will be limited in your controllers software Speed Limit 3 1 1 3 Maximum Acceleration Deceleration Limit This will set the maximum level of acceleration for the motor Even if the command input tries to demand a higher level of acceleration the drive will only accelerate at the maximum set level Accel Decel Limit 3000 000 rps s 3 1 1 4 Reverse motor rotating direction If this is checked the motor rotating direction will be reversed without any other changes Changes to this value only take place after you power cycle the drive Reverse motor rotating direction 3 1 2 Control Mode Selection For S and Q drive models you can choose two types of control mode based on your needs 2 Control Mode 7 l gt zl 7 gt z gt J gt Main Mode Position YO Controlled Go to Y 2nd Model 21 Point to Point Pos x Goto Main mode options e Position I O Controlled e Velocity I O Controlled e SCL Streaming
91. r drive is a Q model the Q Programmer menu can save drive s Q program to your local disk as a qpr file It can also download the Q program to a different drive directly from the hard disk In addition it can print out the your Q program Q Programer Open Program Save Program Open Segment Save Segment Upload from Drive Download to Drive Clear Program Set Password Print Program 14 SVX Servo Suite Software Manual 920 0097A 2 3 5 Drive Menu The Drive menu has the following functions Drive Pan PingtorEthemetdriver Empe Parries Ethemetcrive Paramotor Table Display parameter oo Se seng Restore Factory default Ctrl Shift D Restore drive to factory default mode Restore tuning parameters Restore drive s tuning default setting Alarm history a Check alarm Check alarm history Misc Settings e for alarm mask regen resistor communication and other settings 2 3 5 1 Connect Searches for a drive and if it finds one establishes communication with the SVX Servo Suite L i Connect 2 3 5 2 Ping Clicking Drive Ping will verify your network configuration and ensure that the software can communicate with the drive If the SVX Servo Suite is able to connect with your drive the drive s communication processor firmware version also known as the ARM build number will be displayed along with the Ethernet MAC ID e Ping 2 3 5 3 IP Table IP Table is used to edit the IP addresses fo
92. r the drives with Ethernet ports Then select which address you want according to its index as shown below Note When downloading the IP address to the drive the IP address does not take effect until you power cycle the drive 15 SVX Servo Suite Software Manual 920 0097A ET Edit IP Address Table IP Address p osition 0 1 2 3 4 2 6 i 8 H Al S a a f ff ff ff Re changed ae 3 Control Mode Settings IP Address Index 16 SVX Servo Suite Software Manual 920 0097A 2 3 5 4 Parameter table This handy feature displays all drive operating parameters in a table Step 1 Configuration Step 2 Tuning Sampling Motion Simulation Parameter Table Deeg E
93. required e Launch SVX Servo Suite e Switch to Ethernet and enter the IP address of the drive as shown below a factory fresh drive will be preset to 10 10 10 10 e Power up the drive SVX Servo Suite will not detect the drive information automatically you need to click the Upload button or the Connect button in the main screen to get the drive model and revision Port Ethernet v Addr 10 10 10 10 v SVX Servo Suite Software Manual 920 0097A 2 2 User Interface To launch the SVX Servo Suite select it from the Start menu Start Programs Applied Motion Products gt SVX Servo Suite SVX Servo Suite The Main screen includes Menu Tool Bar Step 1 Configuration Step 2 Tuning Sampling Step 3 Q Programmer only for Q C models and Motion Simulation as shown below E SVX Servo Suite V1 0 15 0706 MON X Project Configuration Q Programer Tools Drive Help 3 Open Project yl Save Project Connect Ping 42 1P Table L Restore E Param Table E Alarm History Languace i3z Hep Applied vy Upload All Download All C Motion Drive SV283 Q AE Port COM6 Servo on Alarm E from Drive hA to Drive te 1 Rev 1 00E Addr 32 0 Reset d S Tool Bar C Force EN Step 1 Configuration Step 2
94. rive It also provides an easy way to interface to a variety of other industrial devices like PLCs and HMIs which frequently include serial ports for communicating with other devices For more details about SCL commands please download latest Host Command Reference from our website This document may be changed without notification to the customers 9 1 Commands There are two types of SCL commands buffered and immediate Buffered commands are loaded into and executed out of the drive s volatile command buffer also known as the queue Immediate commands are not buffered when received by the drive they are executed immediately 9 1 1 Buffered Commands After being loaded into the command buffer of a drive buffered commands are executed one at a time See Multi tasking in Q Drives below for an exception to this rule If you send two buffered commands to the drive in succession like an FL Feed to Length command followed by an SS Send String command the SS command sits in the command buffer and waits to execute until the FL command is completed The command buffer can be filled up with commands for sequential execution without the host controller needing to wait for a specific command to execute before sending the next command Special buffer commands like PS Pause and CT Continue enable the buffer to be loaded and to pause execution until the desired time Stored Programs in Q Drives Stored Q programs created with the Q
95. rning back to the home sensor after offset distance move has been completed HO Home offset distance to move after home sensor has been reached Here is an example of Extended Homing operation Conditions HO 20000 no sign CW direction DL 2 Define Limit setting 2 limit input open when limit reached For End of Travel settings in the SVX Servo Suite software see Digital Inout settings on the Configuration tab CW Limit Sensor Home Sensor CCW Limit Sensor A Homing started when the motor is positioned at point A CW Limit Sensor triggered 1 The motor searches for the home sensor at speed specified by HV1 value with HA1 HL1 for acceleration deceleration 2 Once the home sensor is reached the offset move HO distance is executed at the HV2 speed and HA2 HL2 accel decel beyond home sensor in CCW direction 3 Finally the motor returns back to the home sensor at HV3 speed and HA3 HL3 accel decel B Homing is started when the motor is positioned at point B stopped between CW Limit Sensor and Home Sensor 1 The motor moves in the CW direction to find CW limit sensor with HV1 speed and HA1 HL1 accel decel 2 The CW limit sensor triggered and motion stops 3 Then the steps described in the scenario above are followed C Homing is started when the motor is positioned at point C Home Sensor triggered 1 The motor moves to the distance specified by HO value with HV2 speed and HA2 HL2 accel decel beyond the home sensor in CCW direc
96. rs 57 52 CES SC EE 58 5939 Command CGI E 58 6 Moton SIMUlAUOIN sssini aiia i aaia aaia aa ii 60 6 1 Initialize Para nt 60 02 RONO Giele i e 60 SC DOC VE 61 CA ROMIN PAP e EE O E E 61 6 4 1 A e A 61 6 4 2 A a O y 64 LE ei En duu le RE 65 RATS MONON a orita 67 8 1 Handele tel 67 8 2 DAVE Status e te 67 09 Alarm MOMO EE 68 8 4 Drive Parameter Monitor cccccccccsseccceseeeceeeeeceeeeeceucessaeeeseeecessaeeeseueeesegeeesaueesseeesseeessnseesaaees 68 8 5 Register Monitor comentan dai ai 69 9 Appendix A SGL Referente EN 70 9 1 ert Ee A 70 9 1 1 ie ridai iaaii n niai 70 9 1 2 Immediate COMMANAS oooooccccnnnccononononcnnnnnononononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnnnnrennnnnennnnnans 70 GER le Eer Rei un En e EE 71 9 2 1 Commands in Q le 71 9 2 2 SGE DUY SONWANE deeg 72 993 Gommand SUMMAN EE 73 9 3 1 Moti n Commands satinado EER EEE 73 9 3 2 SeWo 7191 107 Le EE 75 9 3 3 Configuration Commande eooa0annnnneeooeannnnnneosennnrnnnrosrnnrrnrressnnnrrrrrrossnnntrrrersrnnnnrreeene 76 9 3 4 DS o II 77 9 3 5 Communications Commande oooccncccccccncnnncccnoncnnnononnncnnnononnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnnanenns 78 9 3 6 Q Programi A 78 9 3 7 Register een EE 79 10 Appendix B Q Programmer Reference cccccsessecssesseesseeseeeneeseeeeeenseeeoenseeeeeesseeeosseeeoenseeeoonseesnonss 79 10 1 Sample Command Sequences ccccccccccccccnnnccccnnnonnccnnnnononnnonnnnnnnnnnnnnnnnnnnn
97. s drives with encoder ED Encoder Direction feedback Servo drives drives with encoder Encoder or Resolution feedback aw 11 a A EE oe Ip immediate Distance o Distance Il Tage All Al drives Servo drives drives with encoder Immediate Encoder dia k Ce C a Tr e fmn O e Ate mo meea O e es e AO es leegen AO es o All Step Servo drives and M2 LP Software Limit CW Sire dives o All Step Servo drives and M2 LM Software Limit CCW divas a me AA fs uo CEEI ER ES ES Aes me CTE FE EI es fun Ines E es 76 SVX Servo Suite Software Manual o ion apa A OT fs m meros Resouton LL aves recae sees m Moseranevson O A L nsen for ECKER RER SEET for CTI FE AC A O ECT os fom A A es Power up Acceleration Current O O PE PF PL PM PW RE RL RS RV SA SC o All Step Servo drives and M2 In Position Counts dies SR All Step Servo drives and M2 In Position Timing eee ee Servo drives drives with encoder feedback Stepper drives only Servo drives only Position Fault a Power up Idle Current a SS pc mPostintine ER sen pu PowerpMeae E e CN ETT EN ier aivesoay pw Jee l eaves ony SS Iesel es CR B fates as B fates ev _ fates ES _ _ so E SS SS All drives Revision Level SS ERR ETE ER ES EELER ER IE FE FE ECT s femeas TA es sx sean RER FE ides rr o E O E zc Regenesistor Continuous Wattage BLuACSandSTACSdivesony zR RegenResistorvaue ITT BluAOSandSTACSdrWesony
98. s example has been replaced with the QR command and parameters have been added In this sequence the segment will jump to line 2 for the number of times indicated in register 3 Notice on line 1 of the segment that data register 3 has been loaded using the RX command with the value 5 Therefore the FL command in this example as well as the DI AC DE VE and WT commands will repeat five times 82 SVX Servo Suite Software Manual 10 1 5 Branching Branching in a program is done using the QU Queue Jump command Branching is different than looping in that a branch or jump is done based on a tested condition The QJ command will always work in conjunction with one other command TI Test Input TR Test Register or CR Compare Register Segment 1 Segment 2 Current Segment Segment 1 Line Label Cmd Param Parar L Label AC 300 2 DE 450 E VE 15 5 4 WI 0 25 5 TI aL 6 QU T Labell H DI S000 S FL 9 Qa Labelz LU Label DI 50000 11 FL 12 OG Label l Let s say we have an application with two possible moves We always want to make a CW move unless input X5 is low in which case we want to make a CCW move In this example we set all of the move parameters except distance at the top of the segment We set accel to 300 rps s decel to 450 rps s and velocity to 18 5 rps There is a WT Wait Time of 0 25 seconds so that we may have a noticeable delay between moves Then we test input X5 to see if it s low using the
99. s serial port interact with the volatile command buffer AKA the Queue and the drive s non volatile program memory storage Loading and Uploading the Queue contents via the serial port are done with the QL and QU commands respectively Similarly the Queue s contents can be loaded from NV memory using the QL and QX commands and can be saved to NV memory with the QS command Finally commands currently in the Queue can be executed with the QE or QX command 71 SVX Servo Suite Software Manual 920 0097A Non volatile Memory Locations 1 12 Program Segments The Queue vr RAM Buffer NW Memory 1 Loading Queue QL QX Saving Queue QS Line 62 Line 62 Queue Execution QE Immediate QX Buffered The Q Programmer software automates many of the functions shown in the diagram above Loading Queue QL RS 232 RS 485 Serial Port Uploading Queue QU 9 2 2 SCL Utility software The SCL Utility is an excellent software application for familiarizing yourself with host commands SCL Utility can be downloaded from www applied motion com To send commands to your drive from SCL Utility simply type a command in the command line and press the ENTER key to send it Remember that all commands are capital letters so pressing the Caps Lock key first is a good tip Pressing the ENTER key while in SCL Utility does two things it terminates the command with a carriage return and automatically se
100. se to issue time delay in msec ex 100 for 100 ms delay This panel can be used to edit load save and run a SCL command script For continuous looping of a script check the Endless Loop box and click Run Click Pause to stop the script 65 SVX Servo Suite Software Manual Script DI20000 FL 1000 DI 20000 FL 1000 Use to issue time delay in msec ex 100 for 100 ms delay 920 0097A Command History amp Response FL DI20000 FL KC DI 20000 FL Clear History Note Check the Stop Monitor when Executing box to suspend background status monitoring This will make the script run more efficiently and reduce delay time 66 SVX Servo Suite Software Manual 920 0097A 8 Status Monitor The Status Monitor displays l O status drive status alarm status parameters and registers 8 1 I O Monitor Status Monitor O Closed C O Open O Digital Input Digital Output X1Pulse o Y1 Fault X2 DIR 0 O Y2Brake X3 SvrOn olc van X4 RstAlarm o O Y4GP xs GP o Y5 SvrRdy z pr o Y5 InPos O X8 CtiMode Analog Input x9 GP Ain Diff 0 004V X10 GP X11 GP 7 X12 GP Ain 2 0 031V Ain 1 0 039V The I O tab shows the status open or closed of digital inputs and outputs and the voltage at the analog input You can also force an output on or off by clicking C for closed or O for open
101. switch status Alarm reset f an alarm occurs you can click Alarm Reset to clear it NOTE Alarms can only be cleared when drive s warning or fault problems are solved 2 4 4 Upload and download Upload lets you copy the set up and tuning parameters from your dive into SVX Servo Suite software This is useful if you want to make changes to a system that has already been configured and tuned The Download button is used to send the settings from the SVX Servo Suite software to your drive Use this if you make a change to a drive setting and want to transfer the information back to the drive A Upload All Download 2 from Drive All to Drive SE 22 SVX Servo Suite Software Manual 920 0097A Upload All from Drive and Download All to Drive will upload or download the whole project tuning configuration and Q program After performing an upload or download the background of each parameter will turn green This indicates the parameter in software matches what s in the drive See below 3 Control Mode Settings Position Control Electronic Gearing Steps Rev Pulse amp Directio Direction is CW when 10000 2nd 20006 CW amp CCW Pulse o X2 is closed E PES ps lectronic rin 0 A B Quadrature X2 is Open 9 Single Ended Analog Input 1 Denominator 108 E Pulses Input Complete Detective Time ms Counts Not used Jerk Filter e If you then change a parameter in the sof
102. t configuration sets the active signal state for the limit sensors i e high level or low 6 4 2 Command Preview The Command Preview window shows all the SCL commands used for the homing mode selected These commands Homing Homing Mode Sensors Command Preview NO LIMIT SENSOR HA1100 y HL1100 Homing with Sensors Home Sensor X1 HA2100 Sensor State HL2100 Low Active High Active Pr HV15 Homing Parameters ie o HV30 5 HA1 HL1 100 rpsjs Hvi 5 000 E pp S a HO2000 HA2 HL2 100 rps s gt HV2 5 000 HS1 Sensorless Hard Stop Homing 5 Homing with Sensors and Encoder Index HA3 HL3 100 gt rps s Hv3 0 500 Homing Offset Steps Hard Stop Current Search Index 2000 Direction CW 1 80 2 A e Se E ee Start Stop Diagram 64 SVX Servo Suite Software Manual 920 0097A 7 SCL Terminal The SCL Terminal allows you to send SCL commands to the drive regardless of the Operating Mode The terminal is also useful as a commissioning tool allowing you to test your drive using SCL commands without having to launch a separate application SCL Command History Response D120000 80 EC SAC200 E9 SDE100 E5 EC VE10 03 Hide CheckSum In the SCL Terminal window there is a Script button which will open the Script window shown below when clicked Script DI20000 FL 1000 1000 y P Stop Monitor when Executing Clear History Command U
103. th a 2000 line encoder on the motor an SP5000 command would set the current motor position to 2 5 revolutions CW from the zero position 10 1 3 Feed to Sensor The FS Feed to Sensor command causes the motor to move at a fixed velocity until an input changes state When the designated input changes state the motor decelerates to a stop The parameters of the move are set by the AC DE VE and DI commands In an FS command the DI command sets both the distance in which the motor should stop after the input changes state and the direction of the move Parameters for the FS command are the input number 0 7 and the input state the drive should look for H high L low R rising edge or F falling edge segment 1 segment 2 segment 3 Current Segment Seqment 1 Line Label Cmd Farami Datramz Comment 1 WI ZE Wat For Falling Edge of Input 3 E DL 3 Turn OFF limit detection 3 WE 5 Set Velocity to 5 RevwfSec 4 DI a000 Set offset Distance to 1 rev z FS AH Do a Feed to Sensor 7 high D WI 1 Wait 1 second H VE 0 Set velocity to 20 RewfSec D DI O Set Feed position to 0 J FP Do a Feed to Position 10 DL d Turn ON limit detection Above is an example where the motor will move in the clockwise direction starting off with an acceleration rate of 500 rps s and a maximum speed of 5 rps until drive input X7 goes high at which point the drive will use the 81 SVX Servo Suite Software Manual dista
104. the segment that is currently being viewed Control features in the Current Segment section Open Open Q segment file from your computer disk Save Save Q segment file from your computer disk Print Print current Q segment Upload Upload Q segment from the drive Download Download Q segment from the drive Execute Execute current Q segment Use Stop button in upper right corner of Q Programmer tab to stop current Q segment 5 3 Command Editing Click on any cell in the Cmd column located in the Q programming area and then click on the button that appears on the right side of the cell to open the Parameter Edit panel The Parameter Edit panel will pop up as follows Parameter Edit Alphabetical Order Command Detail Velocity Setting For Feed Commands v Command VE Software Limit CW LP A Register Structure VE Para 1 Motor Disable MD i Motor Enable ME Electronic Gearing for Full Closed m Seek Home SH ri i Stop the Move SM 5 gt pan m r Description Sets or requests shaft speed for point to point move commands like FL FP FS FD SH etc Command VE Parameterl Parameter2 Speed Value rps Range 0 025 100 5 000 Comment Set Velocity to 5 Rev s Insert Previous Next Apply 1 Appivannext 98 SVX Servo Suite Software Manual 920 0097A The Command list is shown on the left hand side of the Parameter Edit panel Searching
105. tings Torque Control by Single Ended Analog Input 2 SCL Commanded Serial Comm Control Position Error Fault a 2000 E Counts Not used Jerk Filter oa 25 E HS Not used 4 Input amp Output Analog Input Analog Signal Type Single Ended A at 10V 0 00 Offset 0 000 Auto Offset E Deadband In the pop up menu click on the drop down motor list to choose the correct motor number and then click OK 43 SVX Servo Suite Software Manual 920 0097A EE Motor Select Motor Motor List Poles Continuous Current 2 80 Peak Current 8 40 Current Settings Continuous Current oe Peak Current Encoder NOTE Refer to the SV200 Series AC Servo User Manual Chapter 2 3 Servo Motor Model Introduction for motor identification details 4 2 2 Step 2 Setting the Software Position Limits The Software Position Limit function uses encoder counts to set soft limits at user defined locations that can then be used during the tuning process These position limits ensure that the motor will ONLY rotate between the CCW and CW limits which will help to prevent accidental system damage This is especially useful when the motor is coupled to a linear actuator for instance NOTE The software Position Limits will ONLY be effective during current power up operation and will not be saved to non volatile memory for use at the next drive power up Therefore DO NOT rely on these software limits durin
106. tion 2 Then the motor returns back to the home sensor at HV3 speed and HA3 HL3 accel decel D Homing is started when the motor is positioned at point D stopped between Home Sensor and CCW Limit Sensor 1 The motor moves to the home sensor at speed HV1 in CW direction 2 After the home sensor is triggered the steps described in the scenario above are followed NOTE If the HO value is negative the motor will start in the CCW direction 63 SVX Servo Suite Software Manual 920 0097A 6 4 1 3 Homing with Sensors and Encoder Index index Pulse Home Switch Neg Limit Switch Pos Limit Switch As shown above the initial direction of movement shall be CW if the CW limit switch is inactive The home position shall be at the first index pulse reached in the CCW direction after the CW limit switch becomes inactive after being triggered In this scenario the motor will first move in CW direction and then stop when CW limit switch is triggered Then it moves in CCW direction until the first index pulse is reached after the CW limit switch transitions from active to inactive Velocity acceleration and deceleration are set by the VE AC and DE respectively in the first move Velocity acceleration and deceleration are set by the VC AC and DE commands respectively in the second move The index is masked until the motor moves in the CCW direction and the CW limit has transitioned states The DL command or the end of travel inpu
107. tware the background of that parameter will change to yellow indicating that the value of the parameter in the software and drive are now different See below 3 Control Mode Settings Position Control Electronic Gearing Steps Rev Pulse amp Direction Direction is CW when 10000 2nd 20000 Pulse on X1 A B Quadrature a D Differential Analog Not Used Numerator E Single Ended Analog Input 1 Denominator 1000 E Jerk Filter 5000 Hz Not used Performed a download after any parameter changes will transfer those values to the drive and the background of the parameter will turn back to green in the SVX Servo Suite as shown below 3 Control Mode Settings Position Control Electronic ring Steps Rev Pulse amp Direction Direction is CW when ist i0000 2nd 20000 Pulse on X1 CW R CCW F I A B Quadrature pane sin Differential Analog E 1 Not Used Numerator Single Ended Analog Input 1 Denominator 1000 Jerk Filter Hz 0 Not used If the driver is not powered up or not connected to the software or a single upload or download is not performed after the driver is powered up or connected to the software the background color of parameter is transparent or white in which means software and driver has not been synchronized by an Upload or Download 2 4 5 Stop Stop drive s motion immediately 23 SVX Servo Suite Software Manua
108. unication between the individual users without a time consuming detour over a central master Easy Wiring A shielded twisted pair cable is be used as the bus cable Less cable will cause less error reduce the wiring cost labor cost whilst maintaining availability and minimizing cost f UPTO 12 CANopen A 86 SVX Servo Suite Software Manual 11 3 CANopen Example Programs 11 3 1 Profile Position Mode Enable Motor Power CiA 402 State Machine ID DLC Data 0603 8 2B 40 60 00 06 00 00 00 Ready to Switch on 0603 8 2B 40 60 00 07 00 00 00 Switched on 0603 8 2B 40 60 00 0F 00 00 00 Operation Enabled Set to Profile Position Mode 0603 8 2F 60 60 00 01 00 00 00 Set to Profile Position Mode Set Motion Parameters 0603 8 23 81 60 00 GEO 00 00 00 Set Profile Velocity to 1 rps 0603 8 23 83 60 00 58 02 00 00 Set Acceleration to 100 rps s 0603 8 23 84 60 00 58 02 00 00 Set Deceleration to 100 rps s Single Move Absolute 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 1F 00 00 00 Set New Set Point Bit to 1 0603 8 2B 40 60 00 0F 00 00 00 Clear New Set Point Bit Single Move Relative 0603 8 23 7A 60 00 40 0D 03 00 Set Target Position to 200000 steps 0603 8 2B 40 60 00 5F 00 00 00 Set New Set Point Bit to 1
109. ustom machinery O O O SVX Servo Suite Software Manual 920 0097A 1 1 SVX Servo Suite Overview The SVX Servo Suite is a Windows PC based software application used to configure tune and program your servo system This document explains how to install the SVX Servo Suite and how to configure and tune your servo system For information regarding your specific hardware such as wiring and mounting please read the SV200 User Manual which can be downloaded from our website WE SVX Servo Suite V1 0 15 0706 Project Configuration Q Programer Tool Drive Help ES Open Project al Save Project Connect Ping 4 IP Table Restore E Param Table E Alarm History Languace izz S Herp series ove svas3QaE n Por AA Moti lle iia e from Drive to Drive Rev 1 00E Addr 32 0 zl El Frem Step 1 Configuration Step 2 Tuning Sampling Step 3 Built in PLC Q Programmer Motion Simulation SCL Command History amp Response 1 Motor Information 2 Control Mode mungen Coma speed ime SONGS man mode 507A Steam Command gt _ Reverse motor rotating direction Acc Dec Limit 3000 1ps s C 2nd Mode 1 SCL Commanded Torque Go to 3 Control Mode Settings Node ID Power Up BaudRate P SCL Add bit s bps 0 Transmit Delay 2 4 ms 4uto Execute Q Program at Power Up E Hide CheckSum Status Monitor Position Error Fault Counts Not used Jerk Filter 0 r 2000 29 O a Closed c O Open 0 Digital Input D
110. ve received the command and understood it Use Checksum Use Checksum during communication Full Duplex RS 485 Use this setting with a 4 wire connection network to allow full duplex communication sending while receiving For two wire RS 485 networks do not check this box B Regeneration Resistor This page will help you to setup an external regeneration resistor Misc Setting e LES Regen Clamp Resistor 19 SVX Servo Suite Software Manual 920 0097A C Alarm Menu There are two kinds of alarms warnings and faults Faults are critical errors that will disable the drive for protection and show an error pattern on the LED display Warnings do not disable the drive and are less critical but still show up on the LED display You might consider some warnings such as occasionally tripping and end of travel limit to be a normal part of your systems operation In that case you can uncheck the alarms you want to inhibit if the drive encounters such alarms it will not display a warning LED However the drive will still store save them in the alarm history for future examination Misc Setting e LST ez Communication Regen Alarm Other Faults Warnings Position Error Regen Failed Drive Overtemperature Voltage Warning Over Voltage Y CCW Limit CW Limit Flash Memory Comm Error Current Foldback Move While Disabled Internal Voltage Over Current Hall Failed Low Voltage Encoder Fail
111. words Content of first Data pod 2 Content of second Data ai ah CRC CheokLow 70 1 Host Sending OA 10 00 1E 00 02 04 00 75 30 70 8F OA 10 00 1E 00 02 20 B5 Drive Reply Response Message slave Function Data Slave Address SEN Function Code Nd Register 40031 1EH Low In word 02H Low If error has occurred the drive will reply in this format 01 9 XX CRC_L CRC_H Where XX 01 XX 02 XX 03 XX 04 Function code 10 unsupported Incorrect reading on driving address or number Reading register address out of range Reading failure 93 SVX Servo Suite Software Manual 12 5 Modbus RTU Data Frame Modbus RTU is a master and slave communication system The CRC checking code includes from drive s address bits to data bits This standard data framing is as follows Based on data transfer status there can be two types of response code Normal Modbus response Response function code request function code Modbus error response Response function code request function code 0x80 12 6 Modbus Register Table Modbus Register Table Register Access sie ScLcommend rf ooe reas sonr NI fs mr Lemmer oreren 59 II IE II 10Na EEE f e ora reed tone mmodo esoe Poston 1 osio wie CIN reso Peston Cormar IT mc neea SHORT redie araog pavan a mm neea sonr Spass f e EII nea one PIC CIN IEEE neea oma seroren CN M IEC TICS NN os aw SHORT P
112. xecute host control commands more precisely in order to maximize its system potential Therefore it is highly recommended that the gain parameters be optimized before actual system operation Command Command Command Command Speed Command Speed Command Speed Actual Speed Actual Speed Actual Speed Time e Time Time l l EZE ZE H Actual speed differs from the Changing the gain makes the motor more Fine tuning makes the actual speed match command speed closely follow the command the command speed achieving optimal machine performance The PID loop compares the intended motor position to the actual motor position as reported by the encoder The difference is called error The PID loop acts on this error with these three gain terms Global gain KP Integrator Gain KI Derivative gain KD In addition to the PID loop control the SV200 series drives add a number of extra terms to enable greater system control These additional terms include position loop gain KF Damping gain KV Inertia feed forward gain KK Follow Factor KL Derivative filter gain KE and PID filter KC In general for systems having stiff mechanical transmissions increasing the servo gain parameters will improve response time On the other hand for systems having more compliant mechanical transmissions increasing servo gain parameters will potentially cause system vibrations and reduce system response time 4 1 1 Gain Parameter Introduction Glob
113. y Al 0 eg Ain Diff 0 002V m O x10 GP A X1 X2 Input Noise Filter o O x16 Ain 1 0 003V 0 417 us Pulse Width 1200 gt kHz Cutoff Frequency 50 duty cycle x12 6P Ain2 0 0024 Menu The main menu provides some frequently used operations for Project Configuration Tools Q Programmer Drive and Help Tool Bar Tool Bar is used to set the communication Open Project Save Project Connect Ping IP Table Restore Parameter Table Alarm History Change Language drive model Servo status control Alarm Reset Upload amp Download Emergency stop Step 1 Configuration This tab provides the drive configuration settings such as 1 Motor Information 2 Control mode 3 Control mode settings Input Output Step 2 Tuning Sampling This tab provides the Auto tuning and sampling settings start sample and display sampling curve diagram Step 3 Q Programmer This tab provides some functionality to program environment test save and download or upload the Q program It is only shown for Q and C models Motion Simulation This tab provides motion test such as point to point motion jogging homing etc SCL Terminal The SCL Terminal allows you to send SCL commands to the drive Status Monitor Status Monitor can display I O status Drive status Alarm Parameters and Register monitor SVX Servo Suite Software Manual 920 0097A 2 3 Menu Project Configuration To
114. y the project file only contains the configuration 2 3 2 Configuration In the Configuration menu the SVX Servo Suite allows you to upload and download drive configurations It can also save as the configuration file mdcfg to your local disk and download configurations to different drives directly from the hard disk In addition it can print out the configuration details Configuration Tools Drive Help Open Configuration Ctri Shift 0 Save Configuration Ctri Shift S Upload from Drive Ctri Shift U Download to Drive Ctri Shift D Print Ctri Shift P 2 3 3 Tools The Tools menu includes Firmware Downloader Calibration Motion Profile calculator Export CANopen Parameters and CANopen Test Tool see picture below 10 SVX Servo Suite Software Manual 920 0097A Tools Drive Help Firmware Downloader Calibration Move Profile Calculator Export CANopen Parameters CANopen Test Too 2 3 3 1 Firmware Downloader The Firmware Downloader can used to upgrade your drive s firmware Before upgrading please contact the Applied Motion Products tech support team to obtain the latest firmware version Firmware Downloader pra ee a DSP Firmware Downloader Select Firmware File Path Rev Step 1 Select a Firmware File Step 2 Recycle Drives Power and wait for 3 seconds Step 3 Click Download button Status Ready Download Close Please follow this sequence to perform a firmwar
115. y the following function list Insert Blank Line s Above Insert Blank Lines Below Copy Line s Cut Line s Paste Line s Insert Line s Delete Line s Undo Delete Line s These functions are useful when creating and editing a Q program 99 SVX Servo Suite Software Manual 920 0097A 6 Motion Simulation The Motion Simulation panel provides Point to Point Move Jog and Homing simulation Step 1 Configuration Step 2 Tuning Samping Step 3 Q Programmer Initialize Parameters Velocity Acceleration Point to Point Move Command Distance 20000 Steps Absolute Move Relative Move Direction CW Stop When Sensors NO LIMIT SENSOR 2 Sensorless Hard Stop Homing Home Sensor XI Sensor State ws Low Active Homing with Sensors Homing with Sensors and Encoder Index High Active Homing Parameters HA1 HL1 100 HA2 HL2 100 HA3 HL3 100 Homing Offset Steps 2000 Direction CW 6 1 Initialize Parameters Motion Smuktion Deceleration 10 000 po 100 A y jog Command Preview HA1100 HL1100 HA2100 MLZ100 HA3100 HL3100 HV15 HV25 ros s Oz Jog tic rie Before running the simulation initialize the motion parameters velocity acceleration and deceleration 6 2 Point to Point Move The Point to Point Move section allows the Command Distance to be set for simulation Click the desired type of move button either Absolute or Relat

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