Integrate QuickStart into your System
Contents
1. Note The accuracy of velocity loop tuning is dependent on the quality and resolution of the velocity feedback Sources with relatively low resolution or higher noise will require tuning at a higher velocity in order to overcome the effects of these limitations It is best to experimentally determine the optimum tuning setup 8 On the menu bar select Tools gt Oscilloscope to open the digital oscilloscope or click the Oscilloscope icon Set up the scope view as follows a In the Channel Select area of the scope use the Change Add Signal and Remove buttons as necessary to set the Velocity Target and the Velocity Measured signals on Channels 1 and 2 b In the Trigger area of the scope use the Change button as necessary to establish Velocity Target as the Trigger Source at a level of zero RPM Up Slope 24 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 9 Ensure Trigger Mode is Normal 10 Enable the drive by clicking the Enable Disable Drive icon B ADVANCED YA MOTION CONTROLS 3b Configuration Velocity Mode Integrate QuickStart into your System Channel Select 7 Velocity Target 100 APM Div Remove Remove All Change Add Signal Offset 0 E RPM Velocity Target Velocity Measured Trigger Source Velocity Target Level 0 000 E RPM Time Div 10 msec For2. BL3408E2 DO1 DCOS80 Plug n Play Servo System with digital drive brushless motor and cables Continuous 8 4 Ib in 5100 rpm ADVANCED MOTION CONTROLS 4 Thank you for purchasing this QuickStart package QuickStart makes it easy to set up Advanced Motion Controls drives to get your system running quickly The drive and motor have been matched with each other the cables are custom made for this system and an interface board simplifies integration with your controller Remember if you need us we are here for you Our goal is to get you up and running as quickly as possible If at any point you have a question a team of applications engineers and our customer service staff are just a phone call away We are available weekdays from 8am to 5pm Pacific Time at 805 389 1935 We can also be contacted via email through our website www a m c com go to Contact Us 4 steps to success 1 2 3 4 Getting Started 5 Minute Integrate Going into What s included with QuickStart QuickStart into Production QuickStart and what Lets spin the motor your System Transitioning from to expect Get your machine prototype to working production This manual has been laid out in four sections to guide you through the process of setting up and integrating your QuickStart system By following each step in succession you will first be introduced to QuickStart then hook up the system for a simple bench test and then integrate QuickStart
3. 389 1935 Fax 805 389 1165 Quick Start Cable CBL F02 10 FEEDBACK CABLE WIRING SPECIFICATIONS CBL F02 10 CABLE Side 2 Common Side 1 i c O o 6 c O i O o c E O i R c O Single Wire Single Wire Single Wire Connector 6 Pin Molex P N 43020 0601 Twisted Pair Terminals P N 43031 0002 Plug 15 Pin AMP D SUB P N 748364 1 ite Black Wh ted Pair Twis Housing P N 748677 1 Ir Twisted Pa Terminals P N 748333 4 ted Pair ted Pair Twis 8 Pin Molex Connector P N 70107 0007 IS Tw Terminals P N 16 02 0077 ty with the connector shell see diagram Indicates contacts that share continu DIAGRAM Connector C Single Wires y 1012 05 Grounding Shell Twisted Pairs 1919901199 4 ADVANCED MOTION CONTROLS 805 389 1165 805 389 1935 Fax 3805 Calle Tecate Camarillo CA 93012 Tel Quick Start Cable Lu I lt O e T 3 D p o ur 2 e 0 I O e o O O 42 O c WIRING SPECIFICATIONS Single Wire A 4 Pin AMP Connector Terminals 3 Port Phoenix Single Wire Connector P N 1805990 Single Wire P N 1
4. Once the system is shown to be operational the next section I ntegrating QuickStart into your System will guide you through the process of integrating the system into your application Wiring On the next page 7 you will find the cables and connections sheet Use this as a reference when following the steps in this section Drive Connect either end of cable CBL DO3 to the CN2 connector on the drive Connect the other end to the C2 connector on the system interface board SIB Motor Connect the white connector on the motor power cable CBL P04 10 to the corresponding connector on the motor Connect the other end of the cable to the P3 connector on the drive Red Motor A P3 1 Motor B P3 2 Motor C P3 3 Feedback CBL F02 10 is the feedback cable Connect the black connectors and shield drain wire on this cable to the corresponding connectors on the motor Connect the 15pin D sub end of this cable to the CN3 connector on the Drive System Power With the power supply turned OFF connect the main power supply to the supplied green Phoenix connector REVERSING THE POLARITY WILL DESTROY THE DRIVE High Voltage goes to P2 2 and ground goes to P2 1 Grounding Bring all ground wires to a central point ground such as a ground bus ground plane or a single ground bolt Also don t forget to ground the drive chassis Use the silver screw marked PE on the case Motor Ground The green wire coming from motor power cable is the motor
5. 20kHz Digital current loop with programmable gain settings e PIDF velocity loop with 100microsecond update rate ADVA NCED e PID FF position loop with 100 microsecond update rate e Hall sensor encoder or encoder only based commutation AA Surface mount technology X TENET e Small size low cost ease of use RS232 485 interface for setup and networking e Windows based setup software with built in 8 channel digital scope e Operates in torque velocity or position mode with programmable gain settings e Programmable profiling in all modes e Fully configurable current voltage velocity and position limits e Step amp direction mode for stepper replacement e Encoder following with programmable gear ratio 4 programmable digital inputs e 2 programmable differential inputs configurable as step amp direction master encoder or secondary encoder for dual loop operation 4 programmable digital outputs e 2 programmable analog inputs 10 bit 14 bit reference input or programmable analog input e 2 programmable analog outputs 10 bit e Encoder output from motor optionally buffered Four quadrant regenerative operation Separate backup logic supply input Bi color LED status indicator Extensive built in protection against Over voltage programmable under voltage programmable e short circuit phase phase phase ground OVver current OVver temperature A ADVANCED MOTION
6. Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 7 3a Wiring Integrate QuickStart into your System Grounding Bring all ground wires to a central point ground such as a ground bus ground plane or a single ground bolt Motor Ground The green wire coming from CBL P04 10 is for the motor case ground If the motor case is already grounded through direct contact with the machine housing then leave the green wire disconnected Grounding the motor at both the green wire and at the motor case causes a ground loop that has been shown to disrupt the encoder signals Choose one or the other Load Coupling A non rigid coupling must be used between the motor shaft and the load to minimize mechanical stress due to radial loads axial loads or misalignment If you feel that the radial load on the motor is excessive you may want to consider connecting the motor to an idler shaft that is supported by pillow block bearings or similar Then the load can be coupled to the idler shaft without risking damage to the motor bearings 13 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 7 3b Configuration Y Integrate QuickStart into your System Configuration Software Advanced Motion Controls DR Series DigiFlex Servo Drives are configured
7. CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805 389 1935 Fax 805 389 1165 Page 1 of 7 BLOCK DIAGRAM RX RX TX TX RX TX SELECT SGND PROGR INPUT 1 4 SGND PROGR INPUT 5 6 STEP DIR AUX ENC A B PROGR INPUT 5 6 STEP DIR AUX ENC A B PROGR OUTPUT 1 4 SGND PROGR ANALOG INPUT 2 3 SGND PROGR ANALOG OUTPUT 1 2 DESCRIPTION The DR100EE Series digital PWM servo drives are designed to drive brushed and brushless servomotors These fully ADVANCED MOTION CONTROLS DR100EE BDC RS232 485 INTERFACE gt 11 lt LL 2 9 CONTROLLER CURRENT CONTROL TORQUE CONTROL VELOCITY CONTROL POSITION CONTROL LOGIC POWER SUPPLY OUTPUT STAGE MOTOR FEEDBACK DR100EE Series LOGIC POWER GROUND HIGH VOLTAGE MOTORA MOTOR B MOTOR C MOT ENC A MOT ENC A MOT ENC B MOT ENC B MOT ENC I MOT ENC I HALL A B C HALL A B C digital drives operate in torque velocity or position mode and employ Space Vector Modulation SVM which results in higher bus voltage utilization and reduced heat dissipation The command source can be generated internally or can be supplied externally In addition to motor control these drives feature dedicated and programmable digital and analog inputs and outputs to enhance interfacing with external controllers and devices DR100EE Series drives feature a single RS232 485 interface which is used for dr
8. VALUE CONTINUOUS TORQUE Nm Ib in 0 95 8 44 PEAK TORQUE Nm Ib in 2 82 25 SPEED 9 RATED VOLTAGE RPM 6000 RATED VOLTAGE V dc CONTINUOUS CURRENT A PEAK CURRENT A TORQUE CONSTANT Nm A Ib in A 7 RESISTANCE ohms VOLTAGE CONSTANT V KRPM 0 443 INDUCTNACE mH INERTIA kg cm Ib in s 1 017 0 0009 WEIGHT 2 4 4 2 2 4 MOTOR CONNECTIONS MOTOR COMNECTOR OLOR FUNCTION AMP PIN 1 430702 0 CONTACTS AMP SENSOR CONNECTOR PIN 43025 0600 i CONTACTS MOLEX P N 43030 0002 OR EQUIV AMP CONNECTOR P N 103650 7 OR EQUIVALENT ENCODER LEADS 28 AWG 18 LONG SHIELDED CABLE PHASE R TCU 350550 1 OR EQUIV 3 PHASE 4 BARE SHIELD TO CASE 18 MOTOR SHIELDED MIN CABLE 16 AMG E 218 THRU 4 EG en F n coLor FUNCTION 1 REB veo 7 Teer GROUND E BARE _ SHIELD ENCODER CONNECTIONS E Cure oursura oureurs Gwe GREEN gt oeno au er A ADVANCED MOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805 389 1935 Fax 805 389 1165 Quick Start Motor ENCODER ELECTRICAL SPECIFICATIONS VALUE INPUT VOLTAGE INPUT RIPPLE 2 Peak to Peak 5 VDC Quadrature with A leading B for CW rotation NR MEA ee Index Pulse centered over A SYMMETRY 180 Degrees 10 Typical MINIMUM EDGE SEPARATION 54 elec
9. Velocity Mode applications continue onto the next page 0 0000 RPM 0 0000 RPM 100 RPM 100 RPM Slope Up C Single Stop Down a C Auto _ Horizontal Location 502 aj 11 Use the Proportional Gain Integral Gain Derivative Gain Feedforward Gain and Feedback Filter Cut Off Frequency sliders or arrow buttons to adjust the Velocity Measured waveform on the oscilloscope and match the Velocity Target as closely as possible but with 10 20 overshoot on the leading edge Note While reducing the value of the Feedback Filter Cut Off Frequency can be used to minimize the effects of noise and enhance stability a higher value will increase system response and bandwidth The final tuning must be empirically determined as a compromise between the two results The effect of the Feedback Filter Cut Off Frequency can be seen by comparing the Velocity Feedback unfiltered and Velocity Measured filtered signals on the oscilloscope 12 When tuning is complete disable the drive with the Enable Disable Drive icon B and select Not Connected on the Waveform Generator 13 the Menu Bar select Communication gt Store or click the Store Settings icon then OK to store parameters to the drive nonvolatile memory Note for Position Mode applications the Velocity Loop is now sufficiently tuned You can now proceed to Position Mode configuration page 29 25 Advanced Motion Controls 3805 Calle Tecate
10. determined by the requirements of the controller Some controllers require that the drive be in torque mode Other controllers require that the drive be in velocity mode Check the documentation on your controller or contact the manufacturer of your controller to determine the correct mode for your drive Once the command signal and mode have been selected connect the controller to the signals as indicated in the above tables The proper gains and command settings must also be configured using the DriveSuite Software Software configuration is explained later in this section 10 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com Wiring I ntegrate QuickStart into your System Drive I nhibit recommended The inhibit line is used to turn off power to the motor while the drive is still powered on Sometimes this is necessary if power to the motor needs to be removed quickly or if the user needs to manually move the load in a freewheeling condition If your controller has an inhibit function then we highly recommend that you use it I nhibit Connection Controller SIB C3 11 PDI1 Note The inhibit input is configured to disable the drive when pulled low active low The control logic can be inverted by setting it to active high in the DriveSuite software Feedback The feedback on the motor is an inc
11. scaling e g Amps Volt and command offset voltage c Command polarity can be inverted by changing the sign on the Analog Input scaling In the screen below one would enter 200 00 to reverse the polarity d Click Apply or OK to set any modified values 2 On the Menu Bar select Communication Store or click the Store Settings icon then OK to store parameters to the drive nonvolatile memory 3 The Analog Input may now be used to apply a current command to the drive 1 0 Configuration X Analog Inputs Analog Outputs Digital Inputs Digital Outputs Analog Input 1 Value Mols 0 13 Offset 0 Assigned ta Velocity Loop volt 200 00 Analog Input 2 Value Molts 0 02 Offset 0 M Not Assigned 1 volt 1 08 Analog Input 3 Value Volts 0 00 Offset 0 Assigned to Motor Temperature 1 volt 0 08 Cancel Apply Help Further assistance is available through any of the following e DriveSuite Help files WWW a m c com e Technical Assistance via phone 805 389 1935 e Technical Assistance via e mail techsupport a m c com 21 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com e 3b Configuration Velocity Mode I ntegrate QuickStart into your System Velocity Mode Your QuickStart drive is already in Velocity Mode however since veloci
12. using the DriveSuite configuration software DriveSuite can be found on the CD ROM that came with your QuickStart package or it can be downloaded from the Advanced Motion Controls website at www a m c com download softaware amcds3 5 zip The basic setup of DigiFlex servo drives is designed to be user friendly These instructions will walk you through the steps necessary to configure your drive to your system gt Connect to the drive gt Configure the drive mode Torque e Velocity Set Velocity Limits e Position Set Position Limits Save your project often to the Drive Suite My Projects directory Assistance for topics not covered in this guide is available through any of the following e DriveSuite Help files e WWW a m c com e Technical Assistance via phone 805 389 1935 Technical Assistance via e mail techsupport a m c com Note The full version of the Software Start Up Guide can be found on the Advanced Motion Controls website under Support Digital 100series It is not needed but could be of benefit for more complete configuration diagnostic instructions 14 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 3b Configuration ta yi Y Integrate QuickStart into your System Connect to the Drive l 2 4 AMC Drive Suite Install the AMC DriveSuite software onto your PC F
13. www a m c com C 3b Configuration Velocity Mode I ntegrate QuickStart into your System Command Source Selection l Select the command source as follows 2 In the Block Diagram window select the Command Source block Select command source Analog Input 1 El C Step And Direction Interface Input 1 Encoder Following m C No Command Filters Cancel Help 3 Select Analog Input 4 Click OK on the Command Source window Note No Command is designed to be a non operation input source If the drive is in velocity or current mode No Command will always provide a command of zero 27 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com ckStan 3b Configuration Velocity Mode C I ntegrate QuickStart into your System Analog Input Scaling 1 Set the analog command scaling as follows a In the Block Diagram window select Configuration b For the appropriate Analog Input as previously selected set the required scaling e g RPM Volt and command offset voltage c Command polarity can be inverted by changing the sign on the Analog nput scaling e Click Apply or OK to set any modified values On the Menu Bar select Communication Store or click the Store Settings icon then OK to store parameters to the drive nonvolatile memory 2 The Analog Input may now be
14. you can cause the LED color to switch between Red and Green Set the switch so the LED is Red 3 Remove power and reconnect the white connector on CBL P04 10 Power Up Apply power to the drive If an inhibit switch has been installed enable the drive by toggling the inhibit switch so the LED turns Green 2 The motor should turn at a slow speed 3 If the motor turns then the system has been hooked up correctly Remove power and continue to the next section If not then go to Troubleshooting 4 To set the motor so it doesn t move follow the instructions in Section 3b Configuration to connect to the drive and set the offset to O Troubleshootinc LED not lit Verify that the LED is Green Verify all cables are connected LED doesn t turn Green If an Inhibit Switch has been installed toggle the nhibit switch For safety purposes the drive has been configured to disable if there is too much noise on the feedback signal Poor system grounding is the primary cause The drive worked for a little bit for excessive noise then disabled First verify that the system is properly grounded then cycle power Contact Factory If you can t get the motor turning within a few minutes please call and ask for technical support 805 389 1935 We want to get you up and running quickly ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165
15. 480703 0 P N 350873 1 DIAGRAM Connector B Connector A Single Wires Spade Single Wires 4 ADVANCED MOTION CONTROLS 805 389 1165 805 389 1935 Fax 3805 Calle Tecate Camarillo CA 93012 Tel System I nterface Board SI B 72mm x 72mm C1 Connector 15 pin to motor 4 gt Ted B gt r 4 PA s l E li Ts a 123456 7 8 9 101112 13 14 15 16 17 18 19 20 21 22 23 24 25 26 C2 Connector 26 pin to drive C3 Connector 26 pin user interface C3 Pin Functions 7 4 C 7 ADVANCED VA MOTION CONTROLS 15 Pin 05010 NI HD Female 9 10 11 12 13 14 15 1 2 4 1111111111 TTT 6 7 8 NI So EL QI Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 Phone 805 389 1935 Fax 805 389 1165 www a m c com 0 WN amp E gt gt L o o a N User Access
16. Camarillo CA 93012 Phone 805 389 1935 Fax 805 389 1165 www a m c com 3 b Configuration Velocity Mode Y Integrate QuickStart into your System Velocity Loop Command Profiling While in velocity mode Velocity Loop Command Profiling can be used to limit the rate of change of velocity or apply a constant acceleration to step velocity commands The command profiler provides independent control of acceleration and deceleration in both the positive and negative velocity directions 1 From the Main Block Diagram open the Command Profiler Command Profiler Enabled Positive Velocity Max Acceleration 16 007 RPMs Deceleration 16007 Negative Velocity Acceleration 1 007 Deceleration 007 PPR fs Events Filters Waveform Generater 2 Activate the check box for Command Profiler Enabled 3 Using the slider bars or numerical entry enter values for the maximum rates of change in velocity RPM sec Independent values can be entered for both acceleration and deceleration in both the positive and negative directions positive 1 Positive velocity acceleration 11 Positive velocity deceleration 111 III Negative velocity acceleration negative Iv Negative velocity deceleration 26 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165
17. S General Drive Configuration Configuration Drive Status Drive Control Command Command Profiler ES Divabled Position Loop usable Feedback 29 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 3b Configuration Position Mode Y Integrate QuickStart into your System 3 Select the check box for Position Loop Enabled 4 In the Position Loop window click the Limits button to open the Position Limits tab in General Drive Configuration Position Loop Proportional Gain Integral Gain Denvative Gain Velocity Feedtonvard Gain Acceleration Feedforeard Gain Events Filters Wavetorm Generator 5 Enter values for In Position Window Position Following Error Window and Max and Min Target Position Limit 6 Set the Measured Position Value to zero 0 counts 7 Click OK to accept values and close General Drive Configuration Drive Configuration Drive Current Limits Voltage Limits Velocity Limits Position Limits Temperature Settings Power up Control In Home Position Window counts In Position Window po counts Position Following Error window 100 counts Home Position Value Do courts Measured Position Value 0 counts Max Measured Position Limit 0000000 counts Disable Position Limits Min Measured Position Limit 10000000 coun
18. be used to LOGIC supply power to the drive logic circuitry only PWR Effective only when the voltage applied to pin P1 4 is lower then the voltage applied to P1 6 CN3 Motor Feedback Connector Commutation sensor inputs Internal Lt 2K pull up to 5VDC Can be used with single ended or differential Hall 3 sensors EE NE Differential Encoder Input For single Li ended encoder signals leave the terminal open 6 MOTENCB Differential Encoder Input For single ended encoder signals leave the B terminal open 8 MOT ENC I Differential Encoder Input For single ended encoder signals leave the terminal open CN3 10 Hall A See CN3 1 Leave open in case of single ended Hall sensors See CN3 2 Leave open in case of 11 Hall B single ended Hall sensors SGND Signal ground SGND 13 45V OUT 45V 250mA max Short circuit protected Programmable analog input single 14 PAI Hall C See CN3 3 Leave open in case of ra single ended Hall sensors Contact factory for SE compatible options Page 4 of 7 ADVANCED MOTION CONTROLS DR100EE Series CN2 Connector CONNECTOR PIN DESCRIPTION 1 0 PDO1 Programmable digital output Lou 5 SGND Signal ground SGND PDO2 Programmable digital output EE EN REF reference signal input 14 bit CL MEER Can also be used as programmable analog inp
19. c com vickStan 2 5 Minute QuickStart BL3408E2 D01 DC080 Cables and Connections DR100EE20A8BDC USER SUPPLIED CONTROLLER B ME o PC PLC Stand Alone Controller RS232 Do not ground both this wire and the motor case Grounding both will cause a ground loop Choose one or the other USER INTERFACE N CBL D03 User Power 20 80VDC ir vs System Interface Board SIB Ground Bring all ground Caution connections to a central point The motor will move on initial or common plane that has solid power up See the manual to contact with Earth ground remove offset Note Actual cables are longer than they appear in these images MBL3408E2 ADVANCED ZA MOTION CONTROLS ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 2 oy 5 Minute QuickStart I nhibit Line Test optional Follow this step only if you installed the inhibit switch described in the wiring section on page 6 This is to verify that the optional inhibit switch is functioning and the drive is initially powered up in a disabled state 1 Disconnect the motor power by unplugging the white connector on CBL P04 10 Unplugging this connection allows you to power up the system without the possibility of spinning the motor 2 Apply power to the drive Toggle the inhibit switch and verify that
20. chassis ground If the motor case is already grounded through direct contact with the machine housing then leave the green wire disconnected Grounding the motor at both the green wire and at the motor case causes a ground loop that has been shown to disrupt the feedback signals Choose one or the other ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com yickSta 2 5 Minute QuickStart I nhibit Switch optional for this section A Digital Input has been assigned as the Inhibit function A switch not included can be connected between pins 11 and 16 on the Interface Board to disable power to the motor until you are ready Opening the switch Enables the drive closing the switch Disables the drive User Interface and RS232 Cable The user interface and RS232 Cable should not be hooked up for the 5 Minute QuickStart procedure Cautions Unexpected motion To avoid the motor from jumping unexpectedly and causing damage the motor should be secured either with clamps or bolted down using its mounting holes Power supply verify that the power supply is hooked up with the correct polarity Inverting the polarity will destroy the drive The power supply must have an isolation transformer ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m
21. city Loop Sinusoidal Position Loop Command Profiler Wearvetorm Attributes 411 Offset 0 Cnt Symmetry 50 14 With the Waveform Generator establish Square wave into the Position Loop with amplitude of approximately 1000 1500 counts The frequency should be slow enough to allow the motor to settle in position e g 1 2Hz Continued ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 1 ckStan AM 3b Configuration Position Mode C y I ntegrate QuickStart into your System 15 On the menu bar select Tools gt Oscilloscope to open the digital oscilloscope or click the Oscilloscope icon mm y Set up the scope view as follows In the Channel Select area of the scope use the Change Add Signal and a Remove buttons as necessary to set the Position Target and the Position Measured signals on Channels 1 and 2 b In the Trigger area of the scope use the Change button as necessary to establish Position Target as the Trigger Source at a level of zero Counts Up Slope 16 Ensure Trigger Mode is Normal o Digital Scope Channel Select _ JI E Position Measured E Change Remove es Offset JO n Ente Add Signal Remove All Position 50 Cntz 0 0000 Crs Position Measured AO 0 0000 Ente Slope Mode Sing
22. e ingle Wire ingle Wire ellow black 12 O I I 1 0 1001 1001 IO l I alo UU no IN yellow gt 26 Pin AMP D SUB Plug P N 748365 1 Housing P N 748677 2 erminals P N 748333 4 26 Pin AMP D SUB Plug P N 748365 1 Housing P N 748677 2 erminals P N 748333 4 1 4 4 4 4 1 green green white purple urple white red red white gray gray black Twisted Pair ___ brown ___ brown white Twisted Pair _pink red __ pink black Twisted Pair light green Shield NOTE For cables with only twisted pairs single wires can be paired with other single or unused wires Twisted Pair gt Twisted Pair Twisted Pair O N Twisted Pair NO O NO e mb no po gt no DIAGRAM Connector A Connector B 5 5 5 5 Re x x in e Ires I n e I res 525 RE 522 2 RE 52205 52205056 52205056 52205 5256505 Twisted Pairs Twisted Pairs Grounding Shell Grounding Shell cool 4 ADVANCED MOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805
23. e is in velocity or current mode No Command will always provide a command of zero If the drive is in position mode when the command is set to No Command the drive sets Position Target equal to the Position Measured to prevent sudden motion Enable Disable The drive can be enabled and disabled by clicking the icon in the toolbar You are now ready to configure the drive for your system Torque Mode page 18 Velocity Mode page 22 Position Mode The Velocity loop must be tuned first page 22 Then the drive can be set in Position Mode page 29 18 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 3b Configuration Torque Mode I ntegrate QuickStart into your System Torque Mode vickStan oO xy Your QuickStart drive has been configured in Velocity mode To go into torque mode simply disable the Velocity loop 1 In the block diagram select the Velocity Loop block MIA Block Diagram General Drive Configuration Command Command Profiler 5 pas able Position Loop usable ADVANCED YA MOTION CONTROLS Drive Status Dre Control Configuration Feedback Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 Phone 805 389 1935 Fax 805 389 1165 www a m c com 19 ckSta 3b Configuration Torque Mode Y Integrate QuickStart into your System 2 Th
24. er to include Advanced Motion Controls servo drives The attraction to OEM s is a savings of time money and the personnel needed to move from conception to production Upon receipt everything will plug in and operate within 5 minutes All systems are initially configured in velocity or voltage mode to turn the motor shaft at 30 20 rpm This is an indication that when put together it works out of the box No pots to tweak or software to configure Are the motors in the QuickStart program available for individual resale Quite simply not from Advanced Motion Controls The motors in these packages are meant to represent what is commonly available from many different manufacturers Your local Advanced Motion Controls representative can handle requests for motor model information for additional purchases How is QuickStart pricing important to me Careful selection of systems incorporate popular Advanced Motion Control s drives in order to maximize exposure and minimize costs What other considerations should you know about QuickStart Although it will be hard to find easy to configure systems like these at lower prices anywhere QuickStart isn t intended for multiple pre packaged system selling Initial exposure to Advanced Motion Controls drives is the key Each project will be followed up by our Sales department to determine overall progress and assist in determining the next step ADVANCED Advanced Motion Controls 3805 Calle Teca
25. for your needs You will also be in contact with a local representative to help you with the selection of motors and other system components such as cables gear boxes slides bearings and more Feedback Your feedback is important to us Your comments can make QuickStart better and help us improve our processes technical support customer support and product offering Please go to www a m c com feedback html 35 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com cKSta 5 o N Appendix Appendix A System Specifications B Drive C Motor D Cables E System I nterface Board ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 37 System Specifications 25 Ib in 2 82 Nm 8 44 Ib in 0 95 Nm 5100 20 80VDC 10000 counts rev 34068 2 001 0 080 Speed Torque Curve P Ew m bara 1000 2000 3000 Speed rpm 4000 5000 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com DR100EE Series DIGIFLEX amp DIGITAL SERVO DRIVES MODEL DR100EE20A8BDC FEATURES e Fully digital state of the art design opace Vector Modulation and vector control technology T
26. get 4 Click OK on the Command Source window Note No Command is designed to be a non operation input source If the drive is in velocity or current mode No Command will always provide a command of zero If the drive is in position mode when the command is set to No Command the drive sets Position Target equal to the Position Measured to prevent sudden motion Further assistance is available through any of the following e DriveSuite Help files WWW a m c com e Technical Assistance via phone 805 389 1935 e Technical Assistance via e mail techsupport a m c com 34 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com cKSta 4 o Going into Production Prototype to Production Once you have completed your proof of concept you will be ready to design for production If you decide that the QuickStart drive and motor are perfect for you then you re in luck Both are popular off the shelf items that are readily available Drives can be ordered directly from us and we can put you in touch with the appropriate motor supplier If your servo system requires a drive that better fits your application such as e Additional features e Different power range e Smaller size e Different form factor such as plug in style drives e Network connectivity Then our applications engineers can help optimize your system by selecting the best drive
27. ignals are suited for torque and velocity modes while digital command signals such as Step amp Direction and Encoder Following are associated with Position mode 10V Command Signal Single Ended Available Drive Modes SGND C3 2 SGND Torque Mode C3 4 Ref4 Velocity Mode Available Drive Modes 10V Command Signal Differential C3 4 Ref Torque Mode C3 5 Ref Velocity Mode ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 7 3a Wiring I ntegrate QuickStart into your System Step amp Direction Available Drive Mode C3 17 PDI5 C3 26 PDI5 u C3 18 PDI6 Position Mode C3 9 PDI6 Encoder Followinc Drive Mode Channel A C3 17 PDI5 Channel A C3 26 PDI5 Channel B C3 18 PDI6 C3 9 PDI 6 More I nformation on Mode Selection Drive modes can be separated into three basic categories Torque Velocity and Position The name of the mode describes what servo loops are being closed in the drive They don t describe the end result of the operation For example a drive in Torque mode can still be in a positioning application if the external controller closes the position loop In fact most high performance positioning systems use a drive in torque mode with the controller closing the velocity and position loops The correct mode is
28. into your machine and finally transition into the production stage ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 1 Getting Started BL3408E2 DO1 DCO80 What to Expect What is QuickStart QuickStart is a system offering including a drive a motor all necessary cables and an interface board with screw terminal connections all in one box ready for fast delivery How many different QuickStart systems are available QuickStart systems offer 6 selections with some of our most popular products This incorporates analog and digital drives for both brushed and brushless motors These include 12A8 30A20AC 12 6 BX25A20AC DR100EE20A8BDC and DR100EE15A40NAC All drives are matched to commercially available motors and cables with easy interfacing to each other and to a customer s control system What purpose does QuickStart serve QuickStart is intended to introduce OEMs to Advanced Motion Controls servo drives and provide a positive first experience Why is Advanced Motion Controls offering a QuickStart package We realize that many OEMs today are faced with trying to get their machinery to market using the fastest possible methods Our solution is to provide a means by which motion control can be quickly proven How does QuickStart benefit potential customers QuickStart is designed to make system prototyping easi
29. is opens the Velocity Loop screen To disable the velocity loop uncheck the box that says Velocity Loop Enabled Close the screen velocity nnn Proportional Gain 0 4 Integral Gain 0 4 Derivative Gain 0 4 Feedforward Gain 0 4 Feedback Filter Cut Freq jal Pass a Limits Events Filters Wearvetorm Generator Command Source Selection for Torque Mode In the Block Diagram window select the Command Source block Select command source Analog Input 1 s Step And Direction El Interface Input 1 Encoder Following C Command Filters Cancel Help 4 Select Analog Input 1 2 Click OK on the Command Source window Note No Command is designed to be a non operation input source If the drive is in velocity or current mode No Command will always provide a command of zero If the drive is in position mode when the command is set to No Command the drive sets Position Target equal to the Position Measured to prevent sudden motion 20 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com Qeon 3b Configuration Torque Mode x I ntegrate QuickStart into your System Analog Input Scaling 1 Set the analog command scaling as follows a In the Block Diagram window select Configuration b For the appropriate Analog Input as previously selected set the required
30. ive configuration and setup as well as online operation in networked applications Drive commissioning can be accomplished through afully graphical Windows based application All drive and motor parameters are stored in non volatile memory Page 2 of 7 ADVANCED MOTION CONTROLS DR100EE Series SPECIFICATIONS POWER STAGE SPECIFICATIONS HEATSINK BASEPLATE TEMPERATURE RANGE 0 to 65 C disables at 65 C MECHANICAL SPECIFICATIONS POWER CONNECTOR P1 Plug in with crimp terminal MOTOR FEEDBACK CONNECTOR CN3 15 pin high density female D sub CONNECTOR CN2 26 pin high density female D sub COMMUNICATIONS INTERFACE RS232 485 CN1 9 pin female D sub SIZE 5 22 3 52 x 1 42 inches 132 5 x 89 5 x 35 9 mm 1 Ib WEIGHT ETA Mating connectors are not included Page 3 of 7 ADVANCED MOTION CONTROLS DR100EE Series PIN FUNCTIONS P1 Motor and Power Connector CAUTION the pin numbering of the mating connector is different from the numbering of the drive connector In the table below the second column corresponds to the drive pin numbering silkscreen The second to last column corresponds to the mating connector pin numbering DRIVE MATING Motor phase A AN gt we wewaeB 9 5 _ ws motor pase DC motor and power input This input is used 4 HVIN to supply power to the motor and drive logic 3 circuitry Logic supply input This input can
31. le Down Auto Horizontal Location 50 a Time Div 10 msec 17 Enable the drive by clicking the Enable Disable Drive icon Use the Proportional Gain Integral Gain Derivative Gain Velocity Feedforward Gain 18 and Acceleration Feedforward Gain sliders or arrow buttons to adjust the Position Measured waveform on the oscilloscope and match the Position Target as closely as possible 19 When tuning is complete disable the drive with the Enable Disable Drive icon B and select Not Connected on the Waveform Generator the Menu Bar select Communication gt Store or click the Store Settings icon 20 then OK to store parameters to the drive nonvolatile memory Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 ADVANCED Phone 805 389 1935 Fax 805 389 1165 www a m c com YA MOTION CONTROLS 33 o 3b Configuration Position Mode Y Integrate QuickStart into your System Command Source Selection 1 In the Block Diagram window select the Command Source block Select command source Analag Input 1 EN Step And Director b C Interface Input 1 Encoder Following E C Ma Command Filters Cancel Help 2 Select the appropriate command source a Step and Direction b Encoder Following 3 Clicking the ellipsis button accesses additional parameters such as step and direction and encoder following scaling and parameters for Load Tar
32. m 7 Ls m TN Ne 11 ORDERING INFORMATION Standard model DR100EE20A8BDCX X indicates the current revision letter Page 6 of 7 DR100EE Series ADVANCED MOTION CONTROLS MOUNTING DIMENSIONS 21056 VI 811221 81102 CUBE SLO GAUSS a NOLLEGJA GA 7 VAOV SSIM TINA nos __ J188V02 414004000 204890230080 WA 41 NI SNOTSNSWIC 2088V02330013 1 pes X SNOISNSWIC 11 480 1005 JON 00 29021 218 0 1 68 21771 9661 T 86141 840 04 8171 60811 6v9 v SC cETO 92 59 IG6 v 51265 9 71 2819 EI 4 29 0162 07681 02C ter 71 8960 GE 2670 B6 TM 8 003 Xp 92 521 166 ___ Page 7 of 7 Quick Start Motor MBL3408E2 BRUSHLESS SERVO MOTOR FEATURES e 3 25 Inch NEMA 34 w Heavy Duty Shaft e Continuous Torques up to 8 44 Ib in e Speeds up to 6000 rpm e Voltage Rating up to 170 Vdc e Integrated Hall Effect Commutation e 30 Lb Radial Load Capacity 1 2 from Front Face e High Precision Optical Encoders 10000 count SPECIFICATIONS SPECIFICATIONS UNITS
33. ollow instructions to assure complete installation Connect an available RS 232 communications port on your PC to the serial interface on the drive Use the cable provided with your QuickStart system If desired connect the Inhibit Enable circuit as described in the QuickStart User Manual Apply power to the drive Double click on the AMC_DriveSuite exe icon to start the setup software At the opening screen select Connect to a drive and click OK Create a new project using C AME Digital Drive Wizard 7 Select PC Interface Settings and set the appropriate communications parameters to connect to the drive Use the default settings COMI 9600 or if the interface settings are unknown select Auto Detect Connect To Drive Drive Address 3 Connect Cancel Select PC Interface 65232 15465 C SungMet FEE 15 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 1 ckStan 3b Configuration I ntegrate QuickStart into your System 2 FC Serial Port com an Cancel Baud Rate 9600 Auto Detect If connecting for the first time select Upload data from the drive to the current project tr 8 Option f download data fram the current project to the drive Lancel 9 The Upload Options window provides options on whether to Save the c
34. remental encoder with two Channels A and B and an Index I The signals are differential but are compatible with single ended circuitry simply leave the complimentary signals open A B and The resolution is 10000 counts per revolution quadrature Power Requirements Encoder power is supplied by the drive 5VDC o 125mA The screw terminals on the System Interface Board SIB provide easy access to the encoder signals Encoder Connection Signal 00 Channel A4 C3 20 Channel A C3 21 11 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com ckStan 3a Wiring I ntegrate QuickStart into your System Drive Mounting Mounting Dimensions can be found in the drive datasheet in the Appendix The drive can be mounted flat against the base plate or along the spine Mounting the drive flat on the base plate against a large thermally conductive surface for cooling will provide the most natural heat dissipation for the drive A metal back plane in a cabinet on the machine often makes a good surface Drives mounted on the spine can be mounted next to each other Maintain a minimum separation of 1 inch between drives to provide adequate convection cooling Note Additional cooling may be necessary to dissipate the heat generated by the drive depending on ambient temperatures duty cycle and natural ventila
35. t foo 5 Motor Over Speed Negative Velocity Limit 2 Motor Over Speed Cancel Apply Help Note Velocity limit values cannot exceed the Maximum Speed rating of the motor from the Motor Data window 5 Click OK to accept values and close General Drive Configuration 23 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com ckS 3b Configuration Velocity Mode or Y Integrate QuickStart into your System 6 In the Velocity Loop window click the Waveform Generator button to open the Waveform Generator Emi velocity Loop Oo Proportional Gain Integral Gain Derivative Gain Feedforward Gain Feedback Filter Cut Freg Limits Events Filters Wearvetorm Generator M Waveform Generator waveform Wearvetorm Into The DC Not Connected Square EUCH Loop C Triangle 9 Loop 4 amp Sinusnidal Position Loop Command Profiler Waveform Attributes Frequency 2 Hz Amplitude 200 ET Offset jo Symmetry 50 g E 7 With the Waveform Generator establish a Square wave into the Velocity Loop with an amplitude of approximately 1096 of nominal motor speed The Frequency should be slow enough to achieve the commanded velocity but fast enough to prevent the system from reaching a mechanical limit e g 1 3Hz
36. te Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 1 7 Getting Started Package Contents DR100EE20A8BDC MBL3408E2 System Interface Board SIB CBL F02 10 04 10 OD Drive Cable 1 5 foot CBL D03 O RS232 Communication Cable CBL RS232 Quick Connect Sheet O Documentation User Manual Brochure with CD ROM Additional Requirements Requirements e Output voltage between 20 80VDC e Current output of 10A continuous e Isolation transformer between the AC input and DC output Power Supply Selected AMC Power supplies 1 choice PS16L80 PS16L72 274 choice PS16L60 Note Power Supplies with voltages lower than 80VDC will be speed limited Speed Supply Voltage 3 19 15 1000 Supported command inputs e 10V command signal e Step and Direction e Encoder Following electronic ing With serial port To run the DriveSuite software for drive Windows PC Controller ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 2 oy 5 Minute QuickStart Let s spin the motor This quick setup procedure will get the motor moving in a short amount of time without the need for a controller The drive has been pre configured for velocity mode with a slight offset This will turn the motor at a slow steady speed on power up to demonstrate operation
37. tion Motor Mounting Mounting Dimensions can be found in the motor datasheet in the Appendix The mounting surface must be stiff enough so it does not deflect when radial loads are applied to the motor shaft The mounting surface should also have good thermal conductivity especially if peak performance is demanded of the motor SI B Mounting Mounting Dimensions can be found in the SIB datasheet in the Appendix The SIB can be mounted using the mounting holes or a DIN tray such as from Phoenix Contact If using the mounting holes standoffs must be used to keep the bottom of the SIB from shorting with the mounting surface Cable Routing Cable Datasheets can be found in the Appendix QuickStart cables come with excellent shielding and make proper grounding easy This makes proper cable routing less critical however proper routing practices should still be followed Route cables to minimize length and minimize exposure to noise sources The motor power wires are a major source of noise and the motor feedback wires are susceptible to receiving noise This is why it is never a good practice to route the motor power wires close to the motor feedback wires even if they are shielded Although both of these cables originate at the amplifier and terminate at the motor try to find separate paths that maintain distance between the two A rule of thumb for the minimum distance between these wires is 1cm for every 1m of cable length 12 ADVANCED
38. tion v 0 Unlimited Load Measured Position 0 Load Measured Position d Unlimited DK Apply Cancel 9 From the Main Block Diagram click Configuration and select the Digital Inputs tab 10 Set the Measured Position to zero by checking Load Measured Position under an unassigned input and click the Apply button 1 0 Configuration x Analog Inputs Analog Outputs Digital Inputs Digital Outputs Digital Input 4 E Status 9 3 Active Low Functian Inhibit Bridge Positive Torque Inhibit Negative Torque Inhibit I E u E Motor Over Temperature Phase Detection E js Dynamic Brake a E Load Measured Position v E u Load Target Apply Help 11 the Load Measured Position check box and once again click Apply 12 Click OK to close the Configuration window The measured now equals the target 13 In the Position Loop window click the Waveform Generator button to open the Waveform Generator 31 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 32 oS 3b Configuration Position Mode I ntegrate QuickStart into your System 3 Waveform Generator Waveform Waveform Into The L DE C Not Connected Square Current Loop Triangle Velo
39. tore parameters to the drive nonvolatile memory Note Some PC s may not communicate reliably at higher baud rates If increasing the communications baud rate results in communications errors use a lower rate AMC DriveSuite dri00eel 5a4Onac adf Fille Communication Options Tools Window Help gt amp 5 EIN NUN El Block This is a General Drive 170 Configuration Configuration Drive Status Drive Control Command Command Profiler Source m Position Loop Velocity Loop Enabled Feedback screen shot of the DriveSuite software with the Block Diagram screen shown 17 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com ui ckS tany e 7 3b Configuration Y Integrate QuickStart into your System Drive Mode Configuration The drive has been configured with an offset to make the motor turn without a command Before you configure the drive remove the offset so the motor doesn t keep turning In the Block Diagram window select the Command Source block Select command source Analog Input 1 Step And Direction Interface Input 1 mi Encoder Following C Ma Command Filters Cancel Help 1 Select No Command 2 Click OK on the Command Source window Note No Command ts designed to be a non operation input source If the driv
40. trical degrees COMMUTATION FORMAT COMMUTATION ACCURACY ENVIRONMENTAL SPECIFICATIONS STORAGE TEMPERATURE 40 to 125 C MECHANICAL SPECIFICATIONS VALUE LINE COUNT 2500 lines revolution MAXIMUM SHAFT SPEED 8000 RPM 0 250 0 0000 0 0005 RADIAL SHAFT MOVEMENT 0 007 TIR AXIAL SHAFT MOVEMENT 0 030 MAX HOUSING Carbon Fiber Composite case ground via cable TERMINATION 15 conductor cable 28 AWG 18 long MOUNTING 1 812 Bolt Circle MOMENT OF INERTIAL 1 5 x 10 oz in s ACCELERATION 1 x 10 Radians s ACCURACY 1 0 Arc Minutes Mechanical OutlIne ROTATION 2 CW ROTATION FOR OUTPUT WAVEFORMS OUTPUT WAVEFORMS pe ELECTRICAL TYP la ELECTRICAL 10 OUTPUT A OUTPUT A JJ OUTPUT 1111111111 OUTPUT E l l OUTPUT I EHCODER CABLE 2 100 FOU SHIELD 1 Y OUTPUT l B AE WITH B LONG CLOCKWISE SHAFT ROTATION 4 ADVANCED MOTION CONTROLS 3805 Calle Tecate Camarillo CA 93012 Tel 805 389 1935 Fax 805 389 1165 Quick Start Cable CBL D03 DRIVE CABLE WIRING SPECIFICATIONS CABLE CBL D03 Side 1 Drive Side 2 SIB Connector Contact Contact Connector Single Wire red black ingle Wire pink ingle Wire blue in le ire blue white ingle Wire black in le ire black white ingle Wire orange ingle Wire orange white ingle Wire orange black ingle Wire whit
41. ts Target Position Limit 0000000 counts Min Target Position Lirit 10000000 counts Cancel Apply Help 30 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com o yr 3b Configuration Position Mode I ntegrate QuickStart into your System Caution The drive has been configured to disable due to a following error if the Measured Position doesn t match the Target Position A following error is very likely if you have been running the motor in Velocity mode and then switched to Position mode To set the Measured Position equal to the Target Position you can load the Measured Position into the Target 8 Open Drive Control to the Position Events tab and ensure that the Load Measured Position event is not checked Drive Protection Voltage and Temperature Bridge Control Current Control Commutation Control Velocity Events Command Position Events Response Recovery Time out Window Maximum Unlimited Disabled Time ms Event Action Time ms ms Recoveries Recoveries Max Measured Position Limit D No Action Unlimited Min Measured Position Limit 0 No Action Unlimited 1 At Home Position 0 NoAction y Unlimited Position Following Error 0 No Action Unlimited Max Target Position Limit 0 No Action y Unlimited Min Target Position Limit 0 No Ac
42. ty loop tuning is dependent on the mechanical load velocity loop tuning should be performed with the motor installed in the system connected to the load 1 Verify that the drive is disabled B 2 From the Main Block Diagram select the Velocity Loop block MIA Block Diagram _ Ef ES General Drive Configuration Configuration Orive Status Dre Control Command Command Profiler Position Loop Feedback 3 In the Velocity Loop window click the Limits button to open the Velocity Limits tab in General Drive Configuration 22 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com ar Stan 3b Configuration Velocity Mode I ntegrate QuickStart into your System velocity Loop _ Proportional Gain 0 ___ Integral Gain af Detivative Gain 0 x1 Feedforward Gain 0 __ Feedback Filter Cut Freq jal Events Filters MW aveharm Generator 4 Enter values for At Velocity Window Velocity Following Error Positive Velocity Limit and Negative Velocity Limit Drive Configuration Position Limits Temperature Settings Power up Control Drive Current Limits Voltage Limits Velocity Limits Motor Over Speed foo era Yelocity Window jo AtVelocity Window IU Velocity Following Error ooo Positive Velocity Limi
43. urrent DriveSuite project before uploading from the drive Discard the current DriveSuite project before uploading from the drive or upload the data from the drive to Replace the data in the current DriveSuite project If connecting to a drive immediately after starting DriveSuite the only available option is to Discard the current project and start a new project with the uploaded data Upload Options What would you like ta do Save the curent project and start a new project with the uploaded data C Replace the data the current project with the uploaded data OF Cancel Note You are now connected to the drive The status indicators on the bottom right corner of the DriveSuite main window should indicate CONNECTED 16 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com 5 X 3b Configuration 2 I ntegrate QuickStart into your System 10 To change the RS 232 communications baud rate perform the following steps a the Menu bar select Communication Connect or click the Connect icon Click the PC Interface Settings button to open the RS 232 Settings window Select the appropriate baud rate Click Connect in the Drive Connection Window to set the selected baud rate On the Menu Bar select Communication Store or click the Store Settings icon cis then OK to s
44. used to apply a velocity command to the drive h 1 0 Configuration X Analog Inputs Analog Outputs Digital Inputs Digital Outputs Analog Input 1 Value Mols 0 13 Offset 0 M Assigned to Velocity Loop volt 200 00 Analag Input 2 Value Molts 0 02 Offset 0 y Not Assigned 1 volt 1 08 Analog Input 3 Value Volts 0 00 Offset 0 Assigned to Motor Temperature 1 volt 0 05 ap Cancel Apply Help Further assistance is available through any of the following e DriveSuite Help files WWW a m c com e Technical Assistance via phone 805 389 1935 e Technical Assistance via e mail techsupport a m c com 28 ADVANCED Advanced Motion Controls 3805 Calle Tecate Camarillo CA 93012 MOTION CONTROLS Phone 805 389 1935 Fax 805 389 1165 www a m c com NN ckS 3b Configuration Position Mode I ntegrate QuickStart into your System Position Mode Before the drive can be configured in Position Mode the Velocity Loop must be tuned Follow the instructions for Velocity Mode configuration first Position loop tuning is dependent on the mechanical load of the motor and therefore will change with any mechanical system changes Position loop tuning should be performed with the motor installed in the system 1 Verify that the drive is disabled 2 From the Main Block Diagram open the Position Loop window MIA Block Diagram _ E
45. ut 1 PAI2 Programmable analog input PAO1 Programmable analog output 0 PAO2 Programmable analog output 36 Programmable Input see 2 18 or Direction or Aux Enc B PDO3 Programmable digital output Programmable digital input PDI2 Programmable digital input NN NEN PDI3 Programmable digital input PDO4 Programmable digital output 5VDC Note the total current on CN2 15 5V OUT 15 and CN3 13 combined should not 250 SGND Sigaalgound ground SGND Programmable differential digital input or Step or Aux Enc A 18 Programmable differential digital input or Direction or Aux Enc B 19 PDI4 Programmable digital input pow Y Encoder Channel A Encoder Output from connector CN3 E j 21 Encoder Channel Not buffered Encoder Channel Encoder Output from connector CN3 Encoder Channel B not buffered o Encoder Channel l Encoder Output from connector CN3 Encoder Channel l not buffered Programmable Input See CN2 17 gt Step or Aux Enc A Contact factory for SE compatible options CN1 Communications Interface RS232 485 CONNECTOR NAME jDESCRIPTON ne selection Pull to ground ES TX TX RS232 Transmit RS485 TX MN RX RX RS232 Receive RS485 RX Page 5 of 7 ADVANCED MOTION CONTROLS DR100EE Series 3 71 Ls
46. www a m c com e 7 wiring I ntegrate QuickStart into your System The following instructions are a continuation of the 5 Minute QuickStart This section explains controller wiring drive configuration drive mounting motor mounting SIB mounting and load coupling Signal Ground Almost all signals between the drive and the controller are referenced to signal ground Without this reference the drive and the controller would not be able to transmit signals to each other To ensure that the signals between the drive and the controller are referenced to the same potential the signal grounds on the controller and the drive must be connected together This is especially important for e Single ended command signals e Inhibit line e Other inputs and outputs You will need to identify the signal ground on your controller and connect it to the signal ground on the drive For your convenience the Signal Ground is accessible at two locations on the SIB However to avoid ground loops there should only be one connection between the drive signal ground and the controller signal ground Don t add a connection if there is already continuity between the two grounds Available Signal Ground Locations on the SI B Controller SIB ____ C3 2 SGND Signal Ground C3 16 SGND Command Signal Command signal and mode selection are dictated by the capabilities of your controller and the desired operation of your system Analog command s
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