SSM17C - MOONS
Contents
1. 39 5 6 4 The Deri Filter KE parameter rW YYY LII LLI LAW LL LLW nuuiiuu 39 5 6 5 Filter parameter AGAIN E 39 5 6 6 Verify the Drive Current tege 39 2627 FINS le AAA 39 5 7 Using Auto Trigger Sampling EAND FF RT 39 E Seting Up AUO de LEE 40 C 86 400 820 9661 3 Rev 1 0 0006302011 SSM17C User Manual 5 8 Setting the Notch HEES 41 6 SCL Ieet Montor ILL LG LG GL LL LG GL LL LL LL ud 42 Sub WA EE 42 6 2 Motion Gtatus wawazi wwwa 42 D AMontor nw GG GG GG LL LL LL Fu 43 6 4 VO Et EE 43 D Alamm nu GL LG GG FL LL FL LL Fu 43 6 6 Drive Status I LL LL LG GL LL LG GL LG GG GG GL LG LL FL LL Liu 45 7 Troubleshooting YY YAA AA AG LL LG GL LG GR AG AL YW YL LL Lein 46 9 Reference Materials w wwwwwwaanznnwwawananunwwawwani AT 9 1 Mechanical Outlines LG GL GG GL LG LG LG FF Lu uu AT 8 2 Technical Gpoecfcatons YHA YL YL AY YL CYLL YL LLA LL Liuiuuu 48 8 3 Torgue Speed CGunves nanu 49 8 4 SCL Command Reference eL LL LL LG LG FF FL Liu 50 9 Contacting MOONS LL LG GL LLA GG LL LY nnd nnau 52 Communications Model RS 232 CANopen SSM17C 1CG vi 7 SSM17C 2CG y 7 SSM17C 3CG 7 7 Rev 1 0 4 86 400 820 9661 0006302011 SSM17C User Manual 1 Introduction Thank you for selecting the MOONS SSM17C Integrated Motor The SSM line of integrated step servo motors combines servo technology with an integrated2. 3 3 4 Programmable Output The SSM17C drives feature one optically isolated digital output OUT This output can be set to automatically control a motor brake to signal a fault condition to indicate when the motor is moving or to provide an output frequency proportional to motor speed tach signal Or the output can be turned on and off by program instructions like Set Output SO The output can be used to drive LEDs relays and the inputs of other electronic devices like PLCs and counters The OUT collector and OUT emitter terminals of the transistor are available at the connector This allows the output to be configured for current sourcing or sinking Diagrams of various connection types follow 5 24 volt Power Supply SSM17C Connecting a Sinking Output 5 24 volt Power Supply SSM17C Connecting a Sourcing Output 5 24 volt Power Supply OUT SSM17C zi Connecting a Sourcing Output again Rev 1 0 86 400 820 9661 0006302011 ue 8 SSM17C User Manual 5 24 volt eae oe Power Supply SSM17C 1N4935 suppression diode Driving a Relay Do not connect the output to more than 30 volts The current through the output terminal must not exceed 100mA C 86 400 820 9661 19 De SSM17C User Manual 4 Drive Configuration SSM Quick Tuner is the PC based software application used to configure and perform servo tuning drive testi
3. One of these loops controls the amount of current going to the motor This loop requires no adjustment other than specifying the maximum current the motor can handle without overheating The SSM employs two control loops for the actual motor motion The first is a Velocity Loop which is designed to control only the speed of the motor The second is a Position Loop that controls the count position of the motor As shown in the drawing below the Current Loop is contained in the Velocity Loop and the Velocity Loop is contained in the Position Loop Knowing this is important as good Position Loop control requires first tuning the Velocity Loop As mentioned above Current Loop tuning is not required as it is already optimized for the motor Position Loop Velocity Loop Current Loop 5 1 Velocity Control Loop V Loop The Velocity Control Loop is designed to operate the motor in a velocity only type of servo control This means that it can control the speed of the motor but cannot cause the motor to follow a command position Gain The Jog commands available in the drive can use this loop only for operation the advantage of this is good Control Loop Y Loop P Loop Notch Filter H e IntegGain 2000 ei SI 10000 stability even with very high inertia loads The JM SEN H e Jog Mode command is available to set this feature ma S or it can be configured when selecting the Velocity LA
4. Absolute maximum power supply input is 55 VDC at which point an over voltage alarm and fault will occur When using a power supply that is regulated and is near the drive maximum voltage of 55 VDC a voltage clamp may be reduired to prevent over voltage when regeneration occurs When using an unregulated power supply make sure the no load voltage of the supply does not exceed the drive s maximum input voltage of 55 VDC 2 3 2 Regeneration Clamp If a regulated power supply is being used there may be a problem with regeneration When a load decelerates rapidly from a high speed some of the kinetic energy of the load is transferred back to the power supply possibly tripping the over voltage protection of a regulated power supply causing it to shut down This problem can be solved with the use of a MOONS RC880 Regeneration Clamp It is recommended that an RC880 initially be installed in an application If the regen LED on the RC880 never flashes the clamp is not necessary LEDs Green Power Red Regen on RC880 Regen Clamp C 86 400 820 9661 9 Den SSM17C User Manual 2 3 3 Current The maximum supply currents required by the SSM17C are shown in the charts below at different power supply voltage inputs The SSM17C power supply current is lower than the winding currents because it uses switching amplifiers to convert a high voltage and low current into lower voltage and higher current The more the power supply voltage
5. bits of the Node ID while the upper three bits are configured by using ST Configurator CANopen Node IDs are seven bits long with a range of 1 127 or 0x01 0x7F in hexadecimal notation Node ID 0x00 is reserved in accordance with the DS301 specification e OJ a 0 Mbps ba ES 3 2 2 Setting the Bitrate CD D e 6 2010p reserved _ o reserved C 86 400 820 9661 15 Deen The CANopen network bitrate is set by the ten position switch on the front of the drive The bit rate must be the same for all nodes on the CANopen network Any changes to the bit rate reguire either a power cycle or a CANopen reset command to take effect SSM17C User Manual 3 3 Inputs and Outputs The SSM17C has three optically isolated inputs that use 5 to 24V volts logict 3 3 1 Connector Pin Diagram E em em ee AA AAA ee ee ey inside drive I 1 gt IN1 r za i Md ur gt T C INI TE d _ H I C IN2 7 D gt Ge A mg e e K Ae o C IN2 gt O Se _IN3 _ ya Et yak IN3 gt SI e SSC NN o COO yc me ka 1 s dr z eC OUT k ar 100mA Limit Ji D EH Signal ae n D D i ase em a a eee eee eee eee eee eee eee al 3 3 2 IN1 amp IN2 Inputs IN1 and IN2 digital inputs are designed for high speed digital input operation between 5 and 24 volts The diagrams below show how to connect them to va
6. Positioning error is the difference in encoder counts between the actual position and the commanded position Se of the motor A small amount of positioning error is a 20000 steps Rev normal part of a step servo system In the event of a Gs broken wire a failed sensor the motor encounting a physical obstruction or operator error a position error fault limit can prevent damage to the system Anytime the position error as reported by the encoder exceeds this set limit the drive is disabled and a fault alarm occurs Electronic Gearing Positioning Error Fault 1000 Counts Le Maximum Acceleration nn Lol 1000 rewfs s vi The fault limit can be set as low as 10 encoder counts or as high as 32000 During initial tuning of the system this value should be set high so that the drive doesn t shut down while the tuning parameters are being adjusted Once the drive is properly tuned and the expected amount of error during normal operation is known an appropriate fault limit can be set For example with QuickTuner s oscilloscope function set to plot position error sample moves using the maximum speed and acceleration planned for use in an application should be executed If the maximum position error is 50 counts the fault limit could safely be set at 100 Rev 1 0 86 400 820 9661 0006302011 E 8 SSM17C User Manual 4 2 5 Maximum Acceleration This sets the maximum level of acceleratio
7. 7 Status OUT R I O Configurations IN1 5 to 24 Volts IN2 5 to 24 Volts IN3 5 to 24 Volts OUT 30V 100mA CW Limit CCW Limit Enable Input Brake Output General Purpose General Purpose Reset Input Alarm Output General Purpose Motion Output General Purpose In Position Rev 1 0 86 400 820 9661 0006302011 8 SSM17C User Manual 1 3 Safety Instructions Only qualified personnel should transport assemble install operate or maintain this equipment Properly qualified personnel are persons who are familiar with the transport assembly installation operation and maintenance of motors and who meet the appropriate qualifications for their jobs To minimize the risk of potential safety problems all applicable local and national codes regulating the installation and operation of equipment should be followed These codes may vary from area to area and it is the responsibility of the operating personnel to determine which codes should be followed and to verify that the equipment installation and operation are in compliance with the latest revision of these codes Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards MOONS does not guarantee the products described in this publication are suitable for a particular application nor do they assume any responsibility for product design installation or operation
8. T KK A VP Vn VIX V 9 1 4 PID Filter Torgue Command Filter Term KC This final term in the Velocity control loop can be considered an over all filter term In fact this term is always used even when the drive has been placed in the Torgue Control Mode where only the Current control loop is active The filter is a very simple single pole low pass filter that is used to limit the high freguency response of the Velocity and therefore the Position control loops Rev 1 0 86 400 820 9661 0006302011 a 8 SSM17C User Manual 5 2 Position Control Loop The Position Control Loop is designed to provide the typical positioning control for a servo system All positioning type operations use this loop including when operating in the Pulse amp Direction Position Control Mode The Position loop can also be used in the Velocity Control Mode when the Position over time control type option is selection or the Jog Mode is JM 1 The Position Control Loop has three terms that can be configured for optimum performance with the given load These control terms are described below Control Loop LW Loop P Loop i Notch Filter Gain Deri Gain Deri Filter 9 2 1 Gain The Position Proportional Term KP The simplest part of the Position loop is the proportional or KP term The drive applies current to the motor in direct proportion to the position error For example if a moto
9. e Read all available documentation before assembly and operation Incorrect handling of the products referenced in this manual can result in injury and damage to persons and machinery All technical information concerning the installation requirements must be strictly adhered to e Itis vital to ensure that all system components are connected to earth ground Electrical safety is impossible without a low resistance earth connection e This product contains electrostatically sensitive components that can be damaged by incorrect handling Follow qualified anti static procedures before touching the product e During operation keep all covers and cabinet doors shut to avoid any hazards that could possibly cause severe damage to the product or personal health e During operation the product may have components that are live or have hot surfaces e Never plug in or unplug the Integrated Motor while the system is live The possibility of electric arcing can cause damage Be alert to the potential for personal injury Follow recommended precautions and safe operating practices emphasized with alert symbols Safety notices in this manual provide important information Read and be familiar with these instructions before attempting installation operation or maintenance The purpose of this section is to alert users to the possible safety hazards associated with this eguipment and the precautions necessary to reduce the risk of personal injury and damage
10. motor to create a product with exceptional feature and broad capability We hope our commitment to performance quality and economy will result in a successful motion control project 1 1 Features e Programmable Digital servo driver and motor in an integrated package e Operates from a 12 to 48 volts DC power supply e Modes of Operation CANopen complant CiA DSP402 e Profile Torque e Profile Velocity e Profile Position Homing Q Programing e Execute stored O programs via MOONS specific CANopen objects e Communications CANopen amp RS 232 e 5000 line 20 000 counts rev encoder feedback e Available torque SSM17C 1CG Up to 0 28N m Continuous 0 35 Nem Boost SSM17C 2CG Up to 0 42N m Continuous 0 52 Nem Boost SSM17C 3CG Up to 0 52N m Continuous 0 68 Nem Boost e I O 3 optically isolated digital inputs with adjustable bandwidth digital noise rejection filter 5 to 24 volts 1 optically isolated digital output 30V 100 mA max e Technological advances Full servo control Closed loop Efficient Accurate Fast Smooth Intelligent Compact C 86 400 820 9661 5 Den SSM17C User Manual 1 2 Block Diagram SSM17C Block Diagram 41248VIG Ma External am Power Supply s p e e e Ml p _ RS 232 Ec 1X RX GND ER See es Ss el SO CANopen CANH CANL GND CANopen Conn 4 motor l encoder j 2 l d Optional o co mn wn mmm
11. are automatically indicated If working offline no drive is connected the Drive model and sub model can be selected from the drop down lists The model and sub model information is found on the label of EM AAA the SSM integrated motor Flashing of the corresponding alarm a 4 1 6 Communication psza2 R5485 Ethernet When the SSM Quick Tuner is connected to an SSM Port comi w Address Integrated Motor the drive model and sub model will cause SS Ee the communications to be set to RS 232 If SSM Ouick Tuner is unable to connect to the SSM Integrated Motor manually selecting the communications type may help establish the connection Port The correct COM port may need to be selected When the software is loaded it looks for the first available COM port but may not always find the one connected to the drive After a specific COM port has been selected this setting is saved when the SSM Quick Tuner is closed If the saved COM port is available next time Ouick Tuner is started it will be automatically selected Select the port from the drop down list If the port exists and is not already in use the software will use it to communicate with the SSM Rev 1 0 86 400 820 9661 0006302011 SS G R j SSM17C User Manual Uses Check Sum The SSM Integrated Motor supports using a check sum in the communication protocol For more reliable communications this option can be selected Checksum is used automatically when the SSM i
12. composed of the command itself followed by any required parameters A carriage return denotes the end of transmission to the drive The syntax of the command is XXAB lt cr gt where XX designates the command always composed of 2 uppercase letters and A and B define the possible parameters These parameters can vary in length can be letters or numbers and are often optional Once a drive receives the lt cr gt carriage return it will determine whether or not it understood the command if it did it will either execute or buffer the command The drive can also be programmed ahead of time to send a response as to whether or not it understood the command as well as any error code Rev 1 0 86 400 820 9661 0006302011 a 8 SSM17C User Manual Some SCL commands transfer data to the drive for immediate or later use These data values are stored in data registers and remain there until new commands change the values or power is removed from the drive Some data registers in a drive are Read Only and contain predefined information about the drive which can also be read through SCL commands Because of the intense nature of serial communications required in host mode applications there is a serial communication Protocol PR command available that will adjust a drive s serial communications protocol to best fit an application Typically this command is used when configuring a drive and saved as part of the startup parameters But it ca
13. exceeds the motor voltage the less current will be required from the power supply It is important to note that the current draw is significantly different at higher speeds depending on the torque load to the motor Estimating how much current is necessary may require a good analysis of the load the motor will encounter SSM17C 1CG 12V Power Torque Continuous Supply Current Full Load No Load Torque N m Speed RPS SSM17C 1CG 24V Power Torque Continuous Supply Current Full Load No Load Torque N m Speed RPS Rev 1 0 86 400 820 9661 0006302011 W G R 3 SSM17C User Manual SSM17C 1CG 48V Power Torque Continuous Supply Current Full Load No Load Torque N m Speed RPS SSM17C 2CG 12V Power Torque Continuous Supply Current Full Load No Load S lt o ei o FE Speed RPS SSM17C 2CG 24V Power Torgue Continuous Torgue N m Supply Current Full Load No Load Speed RPS 86 400 820 9661 Rev 1 0 G i NM 0006302011 SSM17C User Manual MI ele Ss d SSM17C 2CG 48V Power Torque Continuous Supply Current Full Load No Load Torque N m Torque Continuous Supply Current Full Load No Load Torque Continuous Supply Current Full Load No Load Rev 1 0 12 86 400 820 9661 0006302011 SSM17C User Manual SSM17C 3CG 48V P
14. executing an alarm fault condition has occured check Alarm Status command position is within the PL Position Limit range Waitlnput a WI Wait on Input command is executing a WT Wait Time command is executing O Programing does not apply to an S model Initializing the drive is in the process of power up initialization C 86 400 820 9661 45 Rev 1 0 0006302011 SSM17C User Manual 7 Troubleshooting LED Error Codes The SSM17C uses red and green LEDs to indicate status When the motor is enabled the green LED flashes slowly When the green LED is solid the motor is disabled Errors are indicated by combinations of red and green flashes as shown below This feature can be disabled for certain warnings but not for alarms See section 4 1 4 on LED Flashing above for information on how to do this and which warnings may be masked Code motor disabled motor enabled position limit drive disabled ccw limit over temperature internal voltage non volatile memory error over voltage under voltage non volatile double error over current 7 red 1 green communication error 000000000 save failed Rev 1 0 86 400 820 9661 0006302011 8 SSM17C User Manual 8 Reference Materials 8 1 Mechanical Outlines ee mm Length L Length M EEN sswi7e206 mn s1 SSMI7C 306 86 400 820 9661 Rev 1 0 G i i y 0006302011 SSM17C User Manual 8 2 Technical Specifications Power Am
15. more current to the motor to help compensate for high inertia in the system In a servo system more current is typically required during the acceleration and deceleration phases of the move profile A reduction in the Velocity Error peak values should then be seen As seen in this plot with the KK set to 3000 the peaks in the Velocity error have been reduced With loads that have greater inertia this can provide a significant improvement NOTE The FF Term KK is not available when operating in the Pulse amp Direction Control Mode Setting this value will have no effect If the Velocity Error goes too positive during acceleration the adjustment was too large and the value should be adjusted in smaller amounts until there is as near to zero error as possible The Rescale button next to the Auto Scale may be clicked at any time to re scale the plot on the new Velocity Error value 5 5 5 Filter parameter Step servo has a control loop filter for special situations where the motor may resonate or may have significant audible noise This filter is designed as a low pass type for the control loop output When a system is subject to mechanical resonance this low pass filter can be set below the natural frequency of the system so that the control loop output does not excite the resonance Rev 1 0 86 400 820 9661 0006302011 a G R j SSM17C User Manual With a large inertial load the gain parameters especially the VP and VI terms may
16. need to be set high to get a good response The filter may then need to be decreased in value lower frequency to prevent ringing or oscillation The default of 15000 works well in many cases but can be increased or decreased with little risk 5 5 6 Verify the Drive Current The amount of drive current can be verified at any time during the tuning process to make sure the current supplied to the motor is not being limited by the drive If too much current is being required changes may be made to the move profile Select Current in one of the Plot selection lists and repeat the move from this the current can be evaluated 5 5 7 Finishing up If the SSM will only be operated in a Velocity Control Mode with a Speed only Control Type the tuning is complete The Position Loop P Loop does not need to be tuned as it is not used After verifying the drive current the Notch Filter may be the only setting still needing adjusting See section 5 8 on Setting the Notch Filter If the SSM will be operated in a Position Control Mode proceed to section 5 6 Tuning the Position Loop below See Section 5 7 below on Using Auto Trigger Sampling for tuning the SSM while using an external Pulse amp Direction controller 5 6 Tuning the Position loop 5 6 1 Entering a Sample Move Select the P Loop tab in the Control Loop dialog section This will cause the Sampling to do moves that are based on distance and operates the drive in the Poin
17. set high to get good response The filter may then need to be decreased in value lower frequency to prevent ringing or decrease the derivative noise 5 6 5 Filter parameter again Sometimes it may also be necessary to adjust the output filter when gain values increase The filter frequency may then need to be decreased in value to prevent ringing or oscillation 5 6 6 Verify the Drive Current The amount of drive current can be verified at any time during the tuning process to make sure the current supplied to the motor is not being limited by the drive If too much current is being required changes may be made to the move profile Select Current in one of the Plot selection lists and repeat the move from this the current can be evaluated 9 6 7 Finishing up After verifying the drive current the Notch Filter may be the only setting still needing adjusting See section 5 8 on Setting the Notch Filter 5 7 Using Auto Trigger Sampling In cases where an external controller is used to perform move profiles such as in the Position Control Mode using Pulse amp Direction input the Auto Trigger will allow the Sampling 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 waits for a predefined set of conditions to tell it whe
18. to equipment Failure to observe these precautions could result in serious bodily injury damage to the equipment or operational difficulty C 86 400 820 9661 7 Rev 1 0 0006302011 SSM17C User Manual 2 Getting Started The following items are needed e a12 48 volt DC power supply see the section below entitled Choosing a Power Supply for help in choosing the right one e a small flat blade screwdriver for tightening the connectors included e a PC running Microsoft Windows 2000 XP Vista or Windows 7 e the MOONS CD included e a MOONS RS 232 programming cable included 2 1 Installing Software Before utilizing the SSM17C Integrated Step Servo Motor and SSM Quick Tuner Software in an application the following steps are necessary e Install the SSM Quick Tuner software from the CD software is also available at MOONS website e Connect the drive to the PC using the RS 232 programming cable e Connect the drive to the power supply See instructions below e Launch the software by clicking Start Programs MOONS e Apply power to the drive The software will recognize the drive and display the model and firmware version At this point it is ready for use 2 2 Mounting the Hardware As with any step motor the SSM17C must be mounted so as to provide maximum heat sinking and airflow Keep enough space around the Integrated Motor to allow for airflow e Never use the drive where there is no airflo
19. values that are displayed can be set from 1 to 5 times the profile length Dir the direction of the move can be set to cw ccw or alternate These directions refer to the motor shaft as viewed from the front of the motor Alternate toggles the direction after each move Start with a known direction before switching to toggle Sample Once after the Start button is clicked a single move is performed the motor stops and the results will be displayed Sample Continuously after the Start button is clicked the move will be repeated and the results displayed until the Stop button is clicked During continuous sampling the tuning gains can be changed at any time and will be updated automatically This enables more dynamic adjustment of the gains for speeding up the tuning process 5 6 2 Performing a Move Once the move settings are correct the mechanism to be moved shold also be checked to ensure it is ready to move It is especially important to make sure the direction is set correctly In some cases it is wise to select alternate to avoid running the mechanism into a hard stop Select the Sample Once button Click the Start button and observe the results If problems occurred during the move an Alarm indicating a Fault or Warning may be displayed and need to be cleared The drive may be left disabled until the Alarm is cleared and the Enable button is clicked Note Clicking the Alarm Reset button and then the Enable button will clear a faul
20. 1CG 280 g Mass SSM17C 2CG 360 g SSM17C 3CG 440 g SSM17C 2CG 38 gecm Rotor Inertia SSM17C 2CG 57 gecm SSM17C 3CG 82 gecm Rev 1 0 0006302011 48 86 400 820 9661 SSM17C User Manual 8 3 Torque Speed Curves Note all torque curves were measured at 20 000 steps rev Note 2 amp rating is continuous 3 amp rating is boost Torque N m Torque N m Torque N m Speed rps C 86 400 820 9661 49 ee SSM17C User Manual 8 4 SCL Command Reference The Serial Command Language SCL was developed to give users a simple way to control a motor drive via a serial port This eliminates the need for separate motion controllers or indexers to supply Pulse and Direction signals to the drive It also provides an easy way to interface to a variety of other industrial devices such as PLCs and HMls which often have standard or optional serial ports for communicating to other devices Some examples of typical host devices might be e AWindows based PC running MOONS software e An industrial PC running a custom or other proprietary software application e APLC with an ASCII module serial port for sending text strings e An HMI with a serial connection for sending text strings SCL commands control the motion of the step motor use of the inputs and outputs and configure aspects of the drive such as motor current and microstep resolution In SCL mode the SSM17C receives commands from the host executing them imm
21. 4th Street Beijing 101111 P R China Tel 86 0 10 59755578 Fax 86 0 10 59755579 Qingdao Branch Office m Room 10E No 73 Wangjiao Mansion mid Hongkong Road Qingdao 266071 P R China Tel 86 0 532 85879625 Fax 86 0 532 85879512 Wuhan Branch Office m Room 3001 World Trade Tower No 686 Jiefang Avenue Jianghan District Wuhan 430022 P R China Tel 86 0 27 85448742 Fax 86 0 27 85448355 Nanjing Branch Office m Room 302 Building A Tengfei Creation Center 55 Jiangjun Avenue Jiangning District Nanjing 211100 P R China Tel 86 0 25 52785841 Fax 86 0 25 52785485 Rev 1 0 86 400 820 9661 0006302011 sa 8
22. SA d Control Mode Selecting the Speed Only control type setting causes the Velocity Loop alone to be used in the various Jog or Velocity control functions JM2 Jog Mode 2 does the same Position over time control type adds in the Position control loop for precise position control during the move and when stopped JM1 Jog Mode 1 also configures this setting The Velocity Control Loop has four terms that can be configured for optimum performance with a given load This loop can be set and tuned independent of the Position Control Loop These control terms are described below 86 400 820 9661 Rev 1 0 G a 0006302011 SSM17C User Manual 5 1 1 Gain The Velocity Proportional Term VP The simplest part of the Velocity Loop is the proportional Digital Input Filter or VP term The drive applies current to the motor in 217 us Pulse Width b direct proportion to the error For example if a motor is not moving and the shaft is turned by hand or some other 230507 Kha 50 duty cycle force the drive will increase the motor current until the motor returns to 0 speed The faster the motor is moved from 0 velocity the more the opposing torque will increase The VP term also called VP gain governs how much torque will be applied for a given amount of velocity error Vn In general more load inertia or load friction requires more torque and therefore a higher VP gain The torque provided by the VP te
23. SSM17C Integrated Step Servo Motor User Manual Rev 1 0 AMP amp MOONS Automation SSM17C User Manual 1 Introduction E 5 1 1 E E 5 1 2 BIOK DIAAN FF 0 YI Oe RR IA 6 1 3 Salely MT LIC HO O hee 7 2 Getting Started manani 8 2 1 Installing SOW ANC EE 8 2 2 Mounting the lge VT 8 2 3 Choosing a e Ti ee 9 e WE ele EE 9 23 2 Regeneraton Clamp E 9 e re CUTER RY RF EN NAD NY ERYR O EFA RNA FED 10 A InstallatioN CONNECTIONS YY YAA YL LL YL LLA LL LLA LL nu niuu 14 3 1 Connecting the Power Supply YY LI YL IW LLW LLW WL nuniu 14 3 2 Connecting the SSM17C Communications ie iuuiuuuuu 15 SSC NOQG II Aa aa 15 3 2 2 Setting the Bitrate PE RF NEN lt 15 3 3 Inputs and Outputs ae ec O Ne RY Y wd EL YCC GDC wakawa 16 329 1 Con PN PO EE 16 eZ INI Ce CEA IMPUS E 16 E MINS ue AA ee 17 3 94 Programmable ee E 18 4 Drive CGonfguraton eru YY YHA ALLA AL LG LL LL LLA YL FLY Lun nnau 20 4 1 Quick Tuner Toolbar LL CCG CCG LARLL LLY LLY YLL A Ynn duuu 20 4 1 1 Open Save and Ee PE Y O RR FFF 20 aa YN Ce 21 Ata Alarm SLORY AA AAA AA AA AA NR 21 Mile WENU NG EE 22 4 19 Drive e E 22 4 1 6 EECHER ER 4 1 7 Servo Enable Disable E 23 EEN un EE 23 4 1 9 Upload Re e E 23 AZ Basic OO O OT le i Y GE NG Y i BE Gn SEO DY NU 24 2 1 MIMO UF CL E 24 4 A2 ee 24 e 9 C 86 400 820 9661 SSM17C User Manual 4 2 3 Electronic EA 24 AZO POSIMOMING ETHOL TE EE 24 4 2 5 Maximum A
24. ad in the same way as what will be expected during online operation Accelerating the load quickly may induce significant ring into the motion profile Accelerating slower and going to a higher velocity can minimize the ringing The best profile for a given move is sometimes arrived at more through experimentation than hard calculation SSM QuickTuner provides easy entry of the profile parameters plus a display of the profile for verification Sampling Plot 1 Actual Speed Plot 2 Target Speed sample Move Auto Trigger Time 3005 mSecond Jog Speed 10 000 mewieer w Accel Decel 100 ie reyjsfs v Plot Zoom Leo X times Direction Cw O CCW Alternate Sample Once Sample Continuously Start Stop Desired Profile Second Suto Scale Rescale Save Image Graph Option Rev 1 0 86 400 820 9661 0006302011 ge i SSM17C User Manual The mechanical system should be set up as close to the final configuration as possible so that the tuning represents what will be expected The critical components include the coupler mechanical interface and similar frictional and inertial loads As tuning can sometimes be an uncontrolled process where the mechanical system can be damaged care must be taken to minimize this possibility This could include having limit sensors or mechanical stops that help to prevent such damage Ac
25. ally on the plot window audibly or both Finding this frequency can be a difficult task and it is often discovered by experimentation Change the frequency then perform sampling moves until the resonance is reduced or removed Keeping the bandwidth wide maybe equal to the center frequency may help find the center frequency When the center is found the bandwidth may be reduced until the resonance starts to return Control Loop Y Loop P Loop Notch Filter Motch Type 86 400 820 9661 Rev 1 0 i i 0006302011 SSM17C User Manual 6 SCL Test amp Monitor 6 1 SCL Test The SCL Serial Command Language Test tool SCL Test is used to send commands to the serial port of the Command History amp Response connected drive Acommand can be entered manually 021764 in the Command window at the bottom of the screen DE 100 48 The history of the sent command and responses of CEL the drive are displayed in the Command History amp SE Response window This tool is designed to help the VE 1DM Ch user learn SCL usage prior to implementation on the SE system controller The command interface allows entry COMMAND NOT RECOGNIZED of all supported SCL commands Any command syntax errors that are encountered are also displayed in the response window The Command History amp Response window also displays commands and responses used when operating the other functions provided on the SCL Test amp Mon
26. cceleration WEE 25 ao NOQG ID ME 25 AoT VO de AI 26 5 Tuning Gampimg cece cecceeceeeceeeeeeeseceeeeeeseeeeeeeeeeeeeeeeseeeeeens 27 5 1 Velocity Control Loop V Loop 27 5 1 1 Gain The Velocity Proportional Term VD 29 5 1 2 IntegGain The Velocity Integral Term VI 29 5 1 3 FF Gain Acceleration Feed forward Term RI 29 5 1 4 PID Filter Torque Command Filter Term KC 29 5 2 Position Control LOOp EE 29 5 2 1 Gain The Position Proportional Term Kb 29 5 2 2 The Position Integral Term Kl Not Implemented annannnnnnannannaanan 29 5 2 3 Deri Gain The Derivative Term RI 29 5 2 4 Deri Filter Torque Command Filter Term RE 30 5 3 Notch HUW iau OG DUYN ODRE CWRS TEG YE NODD FUN SAGA EN A o 30 5 3 1 Frequency Notch Filter Center Frequency iu Y Fei niii 31 9 3 2 BandWidth Notch Filter Frequency DBandwudih ees 31 5 4 Getting Ready for Tunimg YY Y ALLAH LLALL IW LA LWY nuuon 32 5 5 TUNING the Velocity LOOP E 33 5 5 1 Entering a Sample EE 33 2 0 PENG MINA a e 34 5 5 3 Adjusting tuning ae 34 5 5 4 Adding in the FF Gain hhiparameier ir Y LL LL Leu iuu 36 59 9 Fier AA Lm esonora RT RF RR FFF REY FD 36 5 5 6 Verify the Drive CE UT EE 37 Ss Ee E Le E EE 37 5 6 Tuning the Position lOOD ww wwmwamanzawanwa nanma LL LL nwa nanwaa 37 5 6 1 Entering a Sample Move ENEE 37 56 2 PEN MIN Oe 38 5 6 3 Adjusting the Gain KP and Deri Gain KD parameters
27. cel Decel SSM Quick Tuner contains a sampling Oscilloscope that will display of variety of measurements of an executed move Two plots can be displayed at one time and contain the real time information about the move performance Before performing the test move make sure the desired move information is selected This can include the typical information such as Actual Speed or Position Error but also can include the Supply Voltage so that the power supply can be monitored for proper voltage during the move 5 5 Tuning the Velocity Loop 9 9 1 Entering a Sample Move Control Loop Start by selecting the V Loop tab in the Control Sa V Loop P Loop Notch Filter Loop dialog section This will cause the Sampling to perform moves that are based on Time and operates the drive in the Speed Only Velocity mode Gain Integoain Now parameters may be entered for a Velocity based move FF tai Filter Plot 1 amp Plot 2 two different values can be selected for viewing in the scope window in this case Actual Speed and Velocity Error are selected These are typical values for Velocity tuning Sampling Sample Move move profile values are entered in EE the Sample Move section This example sets a move Time of 200ms at a Jog Speed of 20 rev sec and an Accel Decel rate of 300 rev s s In the window to the right of the Sampling data entry section the Desired Profile will be displayed This provides a vi
28. download button is clicked all configuration settings will be downloaded to the drive C 86 400 820 9661 23 SSM17C User Manual 4 2 Basic Configuration The default control modes for the SSM17C integrated step servo is SCL mode There are total 5 sets of parameters 4 of them need to be configured 4 2 1 Maximum Currents Continuous The current that can be sustained indefinitely Boost An SSM drive can provide a momentary current boost This allows for greater acceleration rates than would otherwise be possible To assure reliable motor operation the drive automatically ramps the current down after one second so that the average current does not exceed the motor s rating Maximum Currents Continuous Lol amps Boost EA Amps 4 2 2 Encoder Encoder Encoder resolution is fixed at 20000 counts rev a 20000 Counts Rev 4 2 3 Electronic Gearing Genarally we recommend using the default setting 20000 steps rev With Electronic Gearing drive response to incoming step pulses can be adjusted This is very useful when a step motor drive is being replaced with a step servo system as the SSM can have the same number of steps revolution as the stepper For example SSM17C can be programmed to operate at 200 steps rev like a full step drive If the system is working in degrees the drive can be programmed to operate at 36 000 steps rev resulting in an even number of steps 100 per degree 4 2 4 Positioning Error Fault
29. e serial port for configuration is included The SSM17C is configured using a combination of rotary switches and an RS 232 serial link and then may be deployed on a distributed CANopen network The RS 232 interface is used for configuration tuning node ID setting and O program downloading The CANopen network should be connected in a daisy chain fashion with a 120 ohm terminating resistor at each end of network R termination n Network must be terminated at each Cable may be made with up to 127 drive end with a 120 ohm resistor connectors Termination is only reguired at each end Locate the SSM17C within 2 5 meters of the PC Plug the DB9 connector of the communication cable that came with the drive into the serial port of the PC Plug the 3 pin spring clamp connector into the appropriate connector on the SSM17C Secure the cable to the PC with the screws on the DB9 connector Note If the PC does not have an RS 232 serial port a USB Serial Converter will be needed You can contact MOONS to buy a USB to RS 232 converter The RS 232 circuitry does not have any extra electrical hardening and care should be taken when connecting to the RS 232 port as hot plugging could result in circuit failure 3 2 1 Node ID Node ID ID Range 0x00 0x0F v Each node ID on a CANopen network must have a unique Node ID The Node ID is configured using a sixteen position switch to set the lower four es Ox20 0x2F 0x30 0x3F
30. ediately or sending them to a command buffer and then executing them directly from the buffer It cannot however create a stored program for stand alone operation For that function the SSM17Q is needed The communications protocol of SCL is simple in that the host initiates all communication with one exception The only time the drive will initiate communication is at power up At that time the drive will send an identifier to tell the software which drive is connected and what the firmware version is There are two types of SCL commands buffered and immediate Buffered commands are loaded into and then executed out of the drive s command buffer Buffered commands are executed one at a time and in sequential order The buffer can be filled with commands without the host controller needing to wait for a specific command to execute before sending the next command Special buffer commands enable the buffer to be loaded and to pause for a desired time Immediate commands are not buffered but are executed immediately running in parallel with a buffered command if necessary Immediate commands are designed to access the drive at any time and can be sent as often as needed This allows a host controller to get information from the drive at a high rate most often for checking drive status or motor position The basic structure of a command packet from the host to the drive is always a text string followed by a carriage return The text string is
31. ful to be able to exactly duplicate each set up When development of one machine is completed and the motion control is working correctly it can be saved to a file When the next machine is built the set up file may be opened and downloaded to that drive One of the advantages of programmable digital control is this easy duplication of system settings With the Save button a set up can be saved to the hard drive Long file names may be used just as with other 32 bit Windows programs such as Microsoft Word or Excel The Print button allows a hard copy of a program to be printed on any system printer The standard Windows printer dialog is used allowing the choice of typical printer settings Rev 1 0 86 400 820 9661 0006302011 a 8 SSM17C User Manual 4 1 2 Restore The Restore button will reset all parameters in the drive to the ones set by the factory defaults Note as this will erase all parameters that have been changed it may be desired to save them to a file first 4 1 3 Alarm History The SSM stores a log of previous alarm conditions viewable in the Alarm History When an alarm occurs the drive stores the information on which alarm conditions were triggered As a fault may trigger more than one alarm condition the drive stores all of them for reference This information can then be viewed in the Alarm History dialog to help with drive and system problem solving The drive stores up to 8 sets of alarm conditions The A
32. he Quick Tuner software calculates the filter constants used by the drive Control Loop wv Loop P Loop Notch Filter eee aT SC Frequency 500 Band Width 400 Motch Type Rev 1 0 86 400 820 9661 0006302011 n SSM17C User Manual 5 3 1 Frequency Notch Filter Center Frequency This defines the center frequency the frequency where the most gain reduction occurs For now finding the center frequency is a bit of a guessing game and different frequencies can be tried until the system resonance is eliminated 5 3 2 BandWidth Notch Filter Frequency Bandwidth This defines the frequency span where the signal is reduced by at least 3dB For example if the center frequency is set to 400Hz and the bandwidth to 200 the signal will be reduced by 3dB starting at 300hz It will have the greatest reduction at 400HZz and then will be greater than 3dB above 500Hz When setting the notch filter a chart is displayed that provides an indication of the filtering that will be accomplished Notch Filter Amplitude dB 40 0 Sift Bib 10 det in Freguency Hz 86 400 820 9661 Rev 1 0 G i i a 0006302011 SSM17C User Manual 5 4 Getting Ready for Tuning Before testing a servo system a few more parameters need to be entered These include the Max Speed Acceleration and Distance or time requirements of the sample move The proper profile shape of the move is needed to operate the lo
33. ing Bad Encoder CCW Limit when the DL Define Limits command is configured Input 2 has been triggered CW Limit when the DL Define Limits command is configured Input 1 has been triggered Under Voltage Move While Disabled Current Foldback the command current exceeded either the boost or continuous limit Blank Q Segment Flash memory NV Memory Error Comm Error the drive has detected a communications error either in the hardware or in the protocol Rev 1 0 86 400 820 9661 0006302011 i G y i SSM17C User Manual 6 6 Drive Status The Drive Status is an overall indication of the drive condition In a typical application this is the most common o EW information that should be collected from the drive Tuning Collecting the drive status information allows the system Fault controller to keep track of drive operations and conditions 7 SE oving Jogging Stopping Wait Input Saving Alarm Homing Delay LI Programming Initializing Drive Status E eoo A n z e a ki iF ii ii Fn E Kaf Ka GN GN a mie i I Gi Fn ff Ka NN ND Si oe if Gf 4 i As Drive Status Enabled the drive is enabled and ready for moving operations Moving a commanded move is in process Jogging commanded jogging is in process Stopping the motor is decelerating the drive is in the process of tuning data capture drive is saving parameter data an Alarm Code is present the SH Seek Home command is
34. itor tab such as Jog Move or Single Move SSM Quick Tuner communicates to the connected drive using a high baud rate of 115200 and a protocol that includes the Checksum These protocol Hide CheckSum Clear settings are used to provide high speed and reliable Command communications with the drive during the configuration tuning or testing operations The response window will indicate the exact command syntax that is being used This means that the user will be able to see both the Checksum calculated for that command and the Checksum provided in the response by the drive This is a useful feature to help the system programmer determine the proper Checksum calculation in the system controller An option that is not recommended is to check the Hide Checksum box turns off the Checksum A user might also select hiding the Checksum so that it is not visible in the Command History amp Response window 6 2 Motion Status The Motion Status tool provides the most common Motion Status information needed about the moving or position status of Command Position 5 Steps the drive Four parameters are displayed that will show the EE 5 Steps Command Position Actual Position Position Error and the Actual Speed Although the drive is being constantly Position Error 0 Steps polled for this status information the information is not real Actual Speed 0 000 rps time as there is a slight delay in the polling routine The Clear Position button i
35. larm History dialog can also be used to clear the Alarm History Fl Alarm History Faults Position Error Drive Overtemperature Over Voltage Internal voltage Motor Short Open Winding Bad Encoder Warnings CCW Limit ww Limit Under Voltage Move While Disabled Current Foldback Blank CO Segment Flash Memory NV Memory Error comm Error Ee Ee WI TTTTTT ETTTTTFTT a i a a a a BTTTTTT es mTTTTTF ETTTTTF E OCCT mi OE TT FF RITTTTTET E COCCOLE RITTTTTT EOC mrrrrrrr ETTTTTrr Column 1 is the most recent indicates a warning indicates a fault Rev 1 0 a 0006302011 C 86 400 820 9661 SSM17C User Manual 4 1 4 LED Flashing Clicking on this button will bring up a screen where the F amp I LED Flash LED flashing for certain warnings can be masked Alarm _ fault conditions are not allowed to be masked and will always be indicated by the drive s LEDs Masking alarm warnings only prevents the indication of the alarm by the LEDs The alarm warning will still be set in the Alarm status code and in the Alarm History See section 7 on Troubleshooting below for an explanation of these codes Alarms Faults 4 1 5 Drive amp Revision Warnings Drive CCW Limit SES Cw Limit Revision 1020 Under Voltage Move While Disabled Current Foldback Blank O Segment Flash Memory When SSM Quick Tuner is connected to an SSM Integrated Motor the drive model sub model and firmware revision
36. le Once button Click the Start button and observe the results If problems occurred during the move an Alarm indicating a Fault or Warning may be displayed and need to be cleared The drive may be left disabled until the Alarm is cleared and the Enable button is clicked Note Clicking the Alarm Reset button and then the Enable button will clear a fault and enable the drive Now the motion parameters will need to be adjusted to achieve the desired move profile The move can be repeated by clicking the Start button If the drive continues to fault it is possible the maximum current or position error parameters are being exceeded These can be set in the Drive Configuration tab The current setting can be checked by selecting Current in one of the Plot lists and clicking Start again to see what current is being reduired of the drive during a move The current profile of the move will be displayed and may give a clue as to why a fault is occurring 9 9 3 Adjusting tuning parameters The two primary parameters for a Timed move are the Proportional VP amp Integral VI gain parameters of the velocity loop Starting with these two terms is a good way to begin tuning as they are the minimum required terms in Velocity Loop tuning The FF Gain is not required but adds to the tuning this will be discussed later Note 1 The Disable button in the Menu bar of the SSM Quick Tuner window under the label Servo will disable the motor should a serious
37. n be used at any time to dynamically alter the serial communications The SCL Utility Software Manual contains the complete command listing as well as instructions on connecting and configuring the SSM17C for use in SCL mode using the Data Registers and the Protocol command It also contains detailed information on e Host Serial Communications e Host Serial Connections e Alarm and Status Codes e Working with Inputs and Outputs The Manual is available from the MOONS website at http www moonsindustries com Products Drives Software under the SCL Utility download section 86 400 820 9661 Rev 1 0 G i i a 0006302011 SSM17C User Manual 9 Contacting MOONS Service Center i 86 400 820 9661 m Headquarters No 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107 P R China Tel 86 0 21 52634688 Fax 86 0 21 62968682 E mail info moons com cn m MOONS Industries Europe S r l Via Torri Bianche n 1 20059 Vimercate MB Italy Tel 39 039 62 60 521 Fax 39 039 96 31 409 m MOONS Industries South East Asia Pte Ltd 33 Ubi Avenue 3 08 23 Vertex Singapore 408868 Tel 65 6634 1198 Fax 65 6634 1138 m Shenzhen Branch Office Room 2209 22 F Kerry Center No 2008 Renminnan Road Shenzhen 518001 P R China Tel 86 0 755 25472080 Fax 86 0 755 25472081 Beijing Branch Office Room 202 Unit 2 7th Building Huilongsen International Science amp Technology Industry Park No 99 Kechuang 1
38. n for the motor Even if the command input tries to demand a higher level of acceleration the drive will only accelerate at the set maximum level This value is also used as a quick stop when meeting with limit sensor or other stop commands 4 3 Node ID Each node ID on a CANopen network must have a unique Node ID The Node ID is configured using a sixteen position switch to set the lower four bits of the Node ID while the upper three bits are configured by using SSM Quick Tunner CANopen Node IDs are seven bits long with a range of 1 127 or 0x01 Ox7F in hexadecimal notation Node ID 0x00 is reserved in accordance with the DS301 specification Node ID ID Range Hint DNR Nade ID can be set as follow 1 Use the 16 position rotary switch on SSM to set the lower 4 bits of the node ID 2 Select the ID range to set the upper 3 16 position rotary switch DA 0 2 bits of the node ID CO D ud Example Cd Go Set the 16 position rotary switch on SSM to al Gal 2 A and select the ID range of Ox10 0x1F then the node ID is Ox14 86 400 820 9661 25 NR SSM17C User Manual 4 3 1 WO Definition Options for IN1 are At end of travel CW limit input will be closed At end of travel CW limit input will be open e Not used generic programmable input Options for IN2 are e At end of travel CCW limit input will be closed e At end of travel CCW limit input will be open e Not used generic prog
39. n to start collecting the move profile data C 86 400 820 9661 39 De SSM17C User Manual MI OON S i 5 7 1 Setting up Auto Trigger Sampling When using Auto Trigger the primary effort is to Hot 1 Actual Speed select the conditions that will trigger the sampling Plot 2 Position Error Begin by selecting the desired trigger value in the mmm Plot 1 list This selection is what is monitored by the a AAA Auto Trigger Plot 2 is not monitored Start capture when goes In the Auto Trigger tab the displayed text will indicate Faling Edge v 0 000 reyjsec e the value to be used and the conditions to trigger the SE Capture of the selected value In the example to the Capture data for 0 023 secs right 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 beginning of the capture to the trigger Sample Once Sample Continuously point The Capture delay allows viewing of the data Start Stop prior to the trigger point so that a more complete A L profile can be observed Capture delay H E J When changing Plot 1 to other selections notice that the conditions 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 SSM drive begins conti
40. ng and evaluation of the SSM System servo control gains drive functionality and O configuration are set with Quick Tuner It also contains an oscilloscope function to help set the servo control gains ESSM Quick Tuner V2 0 a Gun A w EA a y Open d Save Print Restore E Alarm History LED Flashing Jj Script CH M o Help o About R5232 O Bags O Ethernet Servo Alarms Upload amp Download Drive Ssmi7c v 3CG v Y MOONS R Port comi el Address V aen Mod Danica mousng sm A waye Revision 1020 Enabl Diab Reset C All Cos Al DP kaaa Maximum Currents Control Mode Continuous 20 8 a Boost Node ID ID Range Hint WY PER Fa Node ID can be set as follow 1 Use the 16 position rotary switch on SSM to set the lower 4 bits of the node ID 2 Select the ID range to set the upper 3 bits of the node ID Encoder Example Set the 16 position rotary switch on SSM to A and select the ID range of Ox10 0x1F then the node ID is 0x14 IO Input X1 STEP Input X2 DIR Input X3 EN Output Y1 OUT 4 1 Quick Tuner Toolbar 4 1 1 Open Save and Print In addition to exchanging settings with a drive the SSM Quick Tuner software can also save amp load settings using the PC s hard drive The Open button brings up a dialog box showing all the SSM Quick Tuner files on the hard drive When a large number of identical machines are being built it is use
41. ngs because of the difference in how they affect the O Drive Overtemperature drive status Alarm faults indicate that a serious condition over voltage has occurred the drive has been shut down and is ina o Internal Valtage SCH bb Motor Short O Open Winding Bad Encoder disabled state Warnings are informational and may or may not be serious The operational conditions must be considered when warning occurs Warnings do not disable ba Us the drive but the CW or CCW limits will halt the movement HD of the motor o CCW Limit 2 EW Limit When fault conditions occur the user must take care to O Under Voltage evaluate the condition and may need to remedy the cause O Move While Disabled Faults or Warnings may be cleared using the Alarm O Current Foldback Reset button at the top of the application window If a O Blank O Segment Fault or Warning is not cleared after clicking this button O Flash Memory the condition which caused the Alarm may still be present o NW Memory Error When clearing a Fault the drive is not automatically re on I Eel enabled the Enable button must also be clicked to re enable the drive 86 400 820 9661 43 Rev 1 0 0006302011 SSM17C User Manual Position Error the drive exceeded the position fault limit as set by the PF Position Fault command Drive Overtemperature the DSP temperature exceeded 95 C or the drive internal PCB exceeded 85 C Over Voltage internal Voltage Motor Shor Open Wind
42. nuous collection of data It will constantly check the data to see if the value meets the capture trigger conditions At the same time Ouick Tuner monitors the status of the SSM to detect if the capture is complete When the capture is complete the data is displayed in the profile window sample Plot a Auto Secale EE li Sare Image Graph Option Rev 1 0 86 400 820 9661 0006302011 a 8 SSM17C User Manual 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 more dynamic adjustment of the gains for speeding up the tuning process NOTE When adjusting control loop gain values remember that the FF Term KK has no effect when operating in the Position Pulse amp Direction Control Mode 5 8 Setting the Notch filter The notch filter is used when there is a specific resonate frequency present in the system and good performance requires that only the bad frequency be removed Sometimes the resonate frequency is low enough that it should only be removed using the notch filter Using the standard output filter or reducing the gain settings may compromise the system performance too much When performing the move profiles as discussed above a significant resonate frequency may be experienced visu
43. ower Torque Continuous Supply Current Full Load No Load Speed RPS 86 400 820 9661 Rev 1 0 0006302011 SSM17C User Manual 3 Installation Connections 3 1 Connecting the Power Supply Use 16 to 20 gauge wire to connect the SSM17 to a power supply It contains an internal fuse connected to the terminal that is not user replaceable If a user serviceable fuse is desired install a 4 amp fast acting fuse in line with the power supply lead Be careful not to reverse the wires Reversing the connection may open the internal fuse on the drive and void the warranty Power Supply gt To Power Supply To Power Supply W To Earth Ground 4 MOONS offers two matched power supplies for use with the SSM A 24VDC 150W P N MF150A24AG V and a 48VDC 320W P N MF320A48AG V These power supplies have current over load capability making them ideal for use To use with a switch power supplier a RC880 regen must be connected in system The RC8890 regeneration clamp is for use where regeneration from the motor may cause damage to the drive In these cases the RC880 is connected between the drive and power supply and absorbs regenerated energy Rev 1 0 86 400 820 9661 0006302011 4 SSM17C User Manual 3 2 Connecting the SSM17C Communications The communications interface for the SSM17C is two standard 3 pin spring clamp connectors A special cable designed to work with th
44. plifier Amplifier Type Dual H Bridge 4 Quadrant Current Control 4 state PWM at 20 KHz SSM17C 1CG Up to 0 28Nem Continuous 0 35 Nem Boost Output Torque SSM17C 2CG Up to 0 42Nem Continuous 0 52 Nem Boost SSM17C 3CG Up to 0 52Nem Continuous 0 68 Nem Boost Power Supply External 12 48 VDC power supply required re under voltage over temp motor wiring shorts phase to phase phase to groun Controller Digital input noise filter Analog input noise filter Smoothing filter PID filter Notch filter Digital Inputs Adjustable bandwidth digital noise rejection filter on all inputs IN1 Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function CW limit CW jog or general purpose input IN2 Optically isolated 5 24 volt Minimum pulse width 250 ns Maximum pulse frequency 2 MHz Function CCW limit CCW jog or general purpose input IN3 Optically isolated 5 24 volt Minimum pulse width 100 us Maximum pulse frequeny 10 KHz Digital Inputs Function general purpose input o OUT Optically isolated 30V 100 mA max Digital Output h S Function Fault motion tach in position brake or general purpose programmable Analog Input AIN referenced to GND Range 0 to 5 VDC Resolution 12 bits Communication Physical Ambilent Temperature 0 to 40 C 32 to 104 F When mounted to a suitable heatsink Humdity 90 Max non condensing SSM17C
45. problem occur Note 2 The Gain values can be changed at any time during the tuning process When the SSM Quick Tuner software detects a change in the value it will automatically download the new value The Download button in the upper right of the window does not need to be clicked Once a successful move has been accomplished no fault occurs the motor is ready for tuning Adjust the VP and VI parameters and observe the results VP and VI shold be adjusted at the same time and in small increments The following two figures shows responses with different VP and VI settings Rev 1 0 86 400 820 9661 0006302011 j 4 Ve kel SSM17C User Manual This first plot is performed with the default tuning Sampling values and no load added to the motor Dot 1 Actual Speed The second plot is performed with higher gain values Plot 2 for the VP 25000 and VI 3000 as can be seen the velocity error decreases as the gains are increased Sample Plot Sare Image Graph Option sample Plot save Image Graph Option j Es 86 400 820 9661 Rev 1 0 0006302011 SSM17C User Manual To get a good comparison between different plots where the gains have been changed turn off the Auto Scale by clearing that check box below the plot screen When auto scaling is turned off the difference can be seen more clearly 5 0 4 Adding in the FF Gain KK parameter The Acceleration Feed Forward KK applies
46. r is not moving and the shaft is turned by hand or some other force the drive will increase the motor current until the motor returns to the commanded target position rest position The farther the motor is moved from its target position the more the torque will increase The KP term also called KP gain governs how much torque will be applied for a given amount of error Un In general more load inertia or load friction requires more torque and therefore a higher KP gain Because of the topology of the control loops the Position Control Loop output is actually a velocity command that indirectly affects the Torque command to the motor The Velocity command provided by the P term is V VP Un 5 2 2 The Position Integral Term Kl Not Implemented There is no Kl term as it is not required because of the Velocity loop which contains an Integrator term Any position error will taken up and corrected for in the Velocity loop 5 2 3 Deri Gain The Derivative Term KD A motor run with a pure PI controller would overreact to small errors creating even larger errors and becoming unstable By predicting what a motor will do ahead of time the large errors and instability can be avoided The derivative term determines this by analyzing the rate of change of the position error and including that in the torque calculation For example if the motor has a position error but the rate of change of the error is decreasing torque is lowered The form
47. rammable input Options for IN3 are e Not used generic programmable input Enable motor when closed the motor has no power when the input is open Enable motor when open the motor has no power when the input is closed Reset alarm when closing an alarm or fault can be cleared by closing the input e Reset alarm when opening an alarm or fault can be cleared by opening the input Options for Output OUT are e Not used generic programmable output e Closed on fault the output will close if a fault occurs e Open on fault the output will open if a fault occurs e Closed to release brake the output controls a fail safe brake relay e Open to release brake the output opens to release the brake e Tach out the output produces pulses relative to the motor position e Closed when position error less than enter a count value in the box e Open when position error less than enter a count value in the box Rev 1 0 86 400 820 9661 0006302011 G 1 4 SSM17C User Manual 5 Tuning Sampling Being a servo motor the SSM Integrated Motor employs sophisticated algorithms and electronics for controlling the torque velocity and position of the motor to achieve a well behaved operation of the load Because the motor encoder continuously tells the drive what the motor is doing the drive can alter the current applied to the motor until the motor achieves the desired operation This is called closed loop control
48. rious commonly used devices like sensors switches relays PLCs etc Indexer With Sinking Outputs Programmable digital inputs Indexer With Sourcing Outputs Connecting to Indexer with Sourcing Outputs Rev 1 0 86 400 820 9661 0006302011 i 4 SSM17C User Manual Indexer Output 1 Differential utp Output 3 Connecting to Indexer with Differential Outputs Many high speed indexers have differential outputs Note If current is flowing into or out of an input the logic state of that input is low or closed If no current is flowing or the input is not connected the logic state is high or open 3 3 3 IN3 Input The IN3 digital input is designed for low speed digital input operation between 5 and 24 volts The diagrams below show how to connect them to various commonly used devices like sensors switches relays PLCs etc Switch or Relay closed logic low NPN Proximity Sensor Connecting an NPN type Proximity Sensor to an input when prox sensor activates input goes low PNP Proximity Sensor Connecting an PNP type Proximity Sensor to an input when prox sensor activates input goes low Note If current is flowing into or out of an input the logic state of that input is low or closed If no current is flowing or the input is not connected the logic state is high or open Rev 1 0 86 400 820 9661 G j K 0006302011 SSM17C User Manual
49. rm is T VP Vn 5 1 2 IntegGain The Velocity Integral Term VI In the previous example applying the VP term alone will not result in perfect velocity control If one ounce inch of torque were applied to the motor it would move at a slower speed The VP term will increase the motor torque until it is producing as much torque as the force attempting to move it The motor may slow down or even stop moving but there will still be error The VI term adds up all the error the velocity calculation has reported and produces a torque that is added to the torque command from the VP term The equation for this is T VP Vn VI V In the example the VP term allowed the motor to reach equilibrium at a speed where the applied torque equaled the torque of the VP term Thus the error was not zero But the VI term continues adding up the error and increasing the torgue until the motor returns to the true target position 9 1 3 FF Gain Acceleration Feed forward Term KK Larger loads typically generate larger load Inertia These larger inertias can be more easily controlled by anticipating the system s torgue need The Acceleration Feed forward term does this by adding an acceleration value to the Torgue command The acceleration value is derived from the Trajectory Calculation during the acceleration and deceleration phase As can be seen in the equation below this increased Torque command is added with the VP and VI torque command values
50. s being configured tuned or operated in the target environment This can prevent mis information being sent to or received back from the drive 4 1 7 Servo Enable Disable The Enable button energizes the motor and tells it to be ready to accept Serva motion commands The Disable button cuts the current to the motor and za it will not be able to execute motion commands The Enable button must be used to re enable motor operation after a fault condition has occured Before the enable can be used the alarm fault condition must be cleared See Alarm Reset below 4 1 8 Alarms Indicator Alarms DE Alarm When a fault occurs the Alarm indicator will flash red a warning will trigger O a flashing orange signal Green indicates there is no alarm condition Alarm Reset The Alarm Reset button will clear the alarm and return the signal to green if the alarm condition can be cleared In some cases an alarm condition can be persistent and other action may be reguired to remedy the condition 4 1 9 Upload amp Download The Upload button allows the complete set up and tuning Upload amp Download parameters from an SSM to be copied to Ouick Tuner Later these settings can be saved to a PC file see File Saving above It is very important to perform an upload from a configured drive so that its configuration is not accidentally over written The Download button is used to copy settings from Ouick Tuner to the drive Each time the
51. s provided to clear the position information and set it to zero The position can only be cleared when the motor is not moving Rev 1 0 86 400 820 9661 0006302011 8 i SSM17C User Manual 6 3 Monitor The Monitor tool allows the user to view five of nine Monitor Se different parameters at any one time Each of the 5 Supply Voltage lw 49 1 V dropdown lists contains the same 9 parameters that can be hive Temperature 56 3 C selected and displayed These parameters are updated as gt part of the polling process and therefore the values may lag command current W JD A behind the actual value in the SSM Position Error 0 steps Pulse Counter EI o 6 4 1 0 Status IO Status The I O Status tool displays the current state of the three SS So SE Inputs 1 2 3 the one Output Y and the Encoder Index ts Depo O sensor l if there is one When the I O indicator is gray this shows an open condition For the Inputs this means the circuit is not activated and will be high for the Output this means it is off and also high When the indicator is green the Input has been activated and is considered low the same is true for the Output The Encoder Index also follows this convention 6 5 Alarm The SSM has a number of different Alarm indications that Alarms will give either fault or warning conditions of the drive Faults Alarms are shown in the 2 different categories of Faults or Position Error Warni
52. sual Plot 1 Time reference of what the expected move will look like 100 eu Plot Zoom the length of the plot values that are Accel Decel Gel IS d displayed can be set from 1 to 5 times the profile Plot Zoom L 125 fe x times engin Direction Cw CO cow Alternate Dir the direction of the move can be set to cw ccw or alternate These directions refer to the motor Sample Once Sample Continuously shaft as viewed from the front of the motor Alternate toggles the direction after each move Start with a known direction before switching to toggle G 86 400 820 9661 33 Dee SSM17C User Manual Sample Once after the Start button is clicked a single move is performed the motor stops and the results will be displayed Sample Continuously after the Start button is clicked the move will be repeated and the results displayed until the Stop button is clicked During continuous sampling the tuning gains can be changed at any time and will be updated automatically This enables more dynamic adjustment of the gains for speeding up the tuning process 9 9 2 Performing a Move Once the move settings are correct the mechanism to be moved shold also be checked to ensure it is ready to move It is especially important to make sure the direction is set correctly In some cases it is wise to select alternate to avoid running the mechanism into a hard stop Select the Samp
53. t and enable the drive Now the motion parameters will need to be adjusted to achieve the desired move profile The move can be repeated by clicking the Start button If the drive continues to fault it is possible the maximum current or position error parameters are being exceeded These can be set in the Drive Configuration tab The current setting can be checked by selecting Current in one of the Plot lists and clicking Start again to see what current is being required of the drive during a move The current profile of the move will be displayed and may give a clue as to why a fault is occurring Rev 1 0 86 400 820 9661 0006302011 a G R j SSM17C User Manual 5 6 3 Adjusting the Gain KP and Deri Gain KD parameters Adjust the KP and KD parameters and observe the results Increasing the KP may improve the positioning performance but it may also cause the system to be more unstable To counter this the KD can be increased The KD parameter is important too little gain will cause the system to oscillate too much gain may cause the system to squeal from a high frequency oscillation If a very springy coupler is used between the motor and load the KD parameter may need to be reduced until the system is stable or the Notch Filter may need to be used to reduce the system gain at the sensitive frequency where it oscillates 5 6 4 The Deri Filter KE parameter With a large inertial load the KP and KD gain parameters may need to be
54. t to Point Positioning mode Now the parameters for a Position based move can Control Loop be entered There is one consideration that must be addressed here If the SSM is being operated in the Position Control Mode with a Pulse amp Direction Gail Digital Signal Type setting and being commanded by for example an external Pulse and Direction controller the Auto Trigger option may be used Deri Filter to capture and plot the move See Section 5 6 on Using the Auto Trigger Sampling for more details on this feature V Loop Deri Gain 86 400 820 9661 Rev 1 0 G i i 0006302011 SSM17C User Manual Sampling Distance Max Speed Accel Decel _ lal ay s s ices 1 25 ei x times 9 Sample Once Sample Continuously Direction CW ccw Alternate Plot 1 amp Plot 2 two different values can be selected for viewing in the scope window in this case Actual Speed and Position Error are selected For Position tuning these are typical values Sample Move move profile values are entered in the Sampling section This example sets a move Distance of 3 00 revs at a Max Speed of 20 000 rev sec and an Accel Decel rate of 300 rev s s In the window to the right of the Sampling data entry section the Desired Profile will be displayed This provides a visual reference of what the expected move will look like Plot Zoom the length of the plot
55. ula used here is V KP Un KD Un Un 1 C 86 400 820 9661 29 SSM17C User Manual where Un is the error in encoder counts Un 1 is the error of the previous sample 5 2 4 Deri Filter Torque Command Filter Term KE A derivative control term can be rather noisy and even though it is effective in damping the positioning control it can cause objectionable audible or observable noise to the system The filter is a very simple single pole low pass filter that is used to limit this high frequency noise and make the system quieter and more stable 5 3 Notch filter For additional filtering an over all notch filter is added to the current command signal This filter is similar to the PID Filter in that it is active even when the driveis being used in Torque Control Mode Notch filters are typically used to filter at a particular frequency when there is a resonant component in the mechanical system that may oscillate at that frequency Couplers between the motor and the load can commonly do this which may result in a control problem When gains are increased to improve performance the system may resonate in an uncontrollable manner The Notch Filter allows gain reduction at only the problematic resonant frequency allowing the over all gain to be set higher for better system control The notch filter has two parameters that are described below The notch filter can only be configured though the Quick Tuner interface where t
56. w or where other devices cause the surrounding air to be more than 40 C 104 F e Never put the drive where it can get wet e Never use the drive where metal or other electrically conductive particles can infiltrate the drive e Always provide airflow around the drive Rev 1 0 86 400 820 9661 0006302011 i 8 SSM17C User Manual 2 3 Choosing a Power Supply The main considerations when choosing a power supply are the voltage and current requirements for the application 2 3 1 Voltage The SSM17C is designed to give optimum performance between 24 and 48 Volts DC Choosing the voltage depends on the performance needed and motor drive heating that is acceptable and or does not cause a drive over temperature Higher voltages will give higher speed performance but will cause the SSM17C to produce higher temperatures Using power supplies with voltage outputs that are near the drive maximum may significantly reduce the operational duty cycle The extended range of operation can be as low as 10 VDC minimum to as high as 55 VDC maximum When operating below 18 VDC the power supply input may require larger capacitance to prevent under voltage and internal supply alarms Current spikes may make supply readings erratic The supply input cannot go below 10 VDC for reliable operation Absolute minimum power supply input is 10 VDC If the Input supply drops below 10 VDC the low voltage alarm will be triggered This will not fault the drive
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