APPLICATION NOTE 045.001
Contents
1. I protection Test current m Status z Result J Test completed l x1e3 YR Save Plots Open Plots 0 2 4 6 8 10 Acquisition time ms oRerm y UOREF YR IQ MA Figure 15 Current Controller Tuning Test Step 5 For the Start mode group box set up de corresponding parameters Step 6 Set the Transition speed level for Transition speed from step less to full step Step 7 Press the OK button of the Drive dialog in order to validate the defined control structure and its associated parameters IP Define and test the motion Click on the Motion icon The motion wizard dialog will be opened as in Figure 16 Technosoft 2002 APN 001 15 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor Motion sequences Application Untitled1 ioj x m Motions q Events p Decisions p Free Text AMOS e m 120 Assignment amp Data Transfer Subroutines Interrupts aago BAX elle w Code Figure 16 The Motion Wizard dialog The dialog allows you to insert specific motion sequences and other TML commands as arithmetic I O operations events etc Details about the functionality and features of the Motion Wizard are given in Chapter 5 of IPM Motion Studio User Manual In order to perform a simple motion only to validate the complete overview of this paragraph use th2. Test Status s r Test Result J Test completed J total 2 67E 006 kg x m 2 Technosoft 2002 APN 001 10 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor En U U U U M U aa UMT In Figure 10 Total Inertia Identification Test Step 10 Exit the Motor and Load dialog by pressing the OK button Define the control scheme tune and test controllers Click on the Drive icon The drive dialog will be opened as in Figure 11 The dialog allows you to choose and parameterize the control scheme to be implemented in your application You can select which control loops to be activated in the scheme tune and test the activated controllers and also select and setup the protections of the drive Several specific tests can be performed allowing you to check the behavior of the control loops WARNING Note that most of these tests apply power to the motor Please check carefully the motor parameters mainly the nominal and maximum current values Each test applying a voltage to the motor will be performed with a protection limit on the current If this limit exceeds the motor maximum current severe damage of the motor can occur In order to perform the tests in the proper order use the Guideline Assistant textbox and follow the steps as described there Technosoft 2002 APN 001 11 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step
3. Current controller proportional factor 71 2 12 5 o 75 15 225 30 Frequency rad s x1e3 Amplitude of Transfer Function db OK Cancel Help Figure 14 Current Controller Tuning Use the Test button in order to test the step response of the closed current loop for the actual values of the controller parameters The Current Controller Tuning Test dialog will open Check the value of the current reference to be used during the test as well as the protection current value see the time diagram included in the dialog in order to have an explanation of these parameters and follow the Test Procedure steps The test will apply a current reference to the motion system and display the current loop response to that reference The current controller is implemented using the defined control parameter values Kp and Ki You may repeat the above operations described in Step 4 until you are satisfied with the current loop response Technosoft 2002 APN 001 14 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor Current Controller Tuning Test 2 xi Test Purpose Checks current controller step input response Close Test Parameters Help Test current fo g fa H protection 2 las H m Test Procedure 1 Check test above test parameters 2 Press the Start button 3 Wait until the test ends and displays the results graphically
4. ID5 VmMoT 1 ENCA VMoT ENCB At Puls A Puls B Dir B Dir GND 10 35 Sin LSP CAPI GND 10 36 Cos LSN CAPI2 5V Reference Tx232 Feedback Rx232 CAN_HI Reset CAN_LO J2 Figure 19 IPS110v1 0 drive layout Technosoft 2002 APN 001 19 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor eee MM This page is empty Technosoft 2002 APN 001 20
5. current 0 35 a x Peak current a7 fa x Test Phase Connections Maximum speed 523 rad s 7 No motor steps rev 24 No psteps step 256 Torque constant p 02 Nm 7 Phase resistance motor drive fis Ohms 7 Identify Resistance and Inductance i i p 012 H x Phase inductance motor drive m Motor sensors I Encoder On motor No lines rev ines z B Test Detect Humber Lonnecions of Lines Gr lead m Sensor type T Temperature HTE C PTC Motor and load data Total Inertia 4 008 ka m 2 7 Identify Total Inertia Figure 9 The Motor Dialogue Step 2 Check the values for nominal and peak currents given by the motor catalogue data Modify these values if needed Step 3 Check the maximum motor speed value as a motor catalog data Modify this value if needed Step 4 Check the number of motor steps Modify this value according to motor catalog Technosoft 2002 APN 001 9 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor beal Pe ee aa EE Step 5 Check the torque constant value as a motor catalog data Modify this value if needed Step 6 Check the phase resistance and inductance values these are the motor catalogue data Modify these values if needed Step 7 Check in the Encoder checkbox if a quadrature incremental encoder is mounted on your motor shaft If your motor doesn t have mou
6. motor p Guideline assistant Motion reference p Position p Speed Curent Previous Next controller controller controller Computed by es intemalreference 4 l generator Cancel Help Control Mode G groupbox select the operating mode of the motor Note that the lt lt Closed Loop gt gt mode requires an encoder sensor mounted on the xj Enema read itton analog imput Info Drive RTC m Drive operation parameters Yde 20 Iv Detect Drive current 0 35 a 7 Modify Protections V Overvoltage Trigger if Vde gt Ymax eo Ko x I Undervoltage Triggerit Yde lt vmin 5 k z i Wau is IV Overcurrent Trigger if Imotor gt Imax osa lax Ki for a time interval gt max trigger time po k z I7 Control eror Trigger if crt err gt Err max ooo la x4 m Speedicontralle P for a time interval gt Er max trigger time fi s aa ue rs Je Hater temperature i gt i J Drive temperature Trigger if T gt T2max z literal litt I 12t protection point r Rasition controller 12t j z d t_l2t z Ko Tone ie Start mode k Tiest k f time_A fi s x iF Eo time_B fi s 7 dq filter setup Hange Integral limit J r Transition speed from step less to full step Speedimie i Transition speed level 32767 steps s Figure 11 The Drive dialog Step 1 Select your controller s
7. APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor Problem Solution Description For new users of an intelligent drive starting to implement a motion control application can be a quite complex task You need to know how to hook up the components of the motion system to configure them motor sensors and drive test their functionality identify parameters and tune controllers Finally execute a simple movement to validate the basic system functionality and focus on your real motion application Drive Technosoft Intelligent Servo Drive IPS110 S W environment Technosoft IPM MotionStudio V2 0 1 3 or above This Application Note explains how to perform the basic hardware connections for PS110 and step motor without encoder sensor how to create under the IPM Motion Studio a new project application for motion control with a step motor how to configure the components of the motion system motor sensors drive how to test the functionality of the system components how to identify the motor parameters and tune the controllers how to run and use data analysis tools how to save your project application Technosoft 2002 APN 001 1 APPLICATION NOTE 045 001 12 20 02 IPS110 Getting started using IPS110 with a step motor Connections Power supply connection IPS110 v1 0 DSP Controller 4 Inverter Figure 1
8. Power Supply J1 Connector Technosoft 2002 APN 001 2 APPLICATION NOTE 045 001 IPS110 12 20 02 1 coil per phase Getting started using IPS110 with a step motor Step motor connection IPS110V1 0 4 phase Inverter Currents Info MotionChip Figure 2 Motor J3 connector Technosoft 2002 APN 001 3 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor RS 232 Serial Connection IPS110v1 0 5V RS 232 Transceiver lt O c fe Figure 3 RS 232 connection diagram Please follow the next steps for a hardware connection of the system components 1 oN af Connect the power supply the motor to the IPS110 drive as you can see in the Figure1 and Figure 2 Connect the IPS110 drive to the PC computer as you can see in the Figure 3 If you have also an IOIPS110 board then please refer to the Getting started with IPS110 drive using IOIPS110 board application note for more detailed information First power up the PC Secondly power up the drive Technosoft 2002 APN 001 4 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor C OUO U M M M S Project set up 1 Start the execution of IPM Motion Studio use the Windows Start Programs IPM Motion Studio IPM Motion Studio menu command A dialog as in Figure 6 should be disp
9. cheme configuration Check uncheck the position controller and the Control Mode Open Loop or Closed Loop to be used Note that the Closed Loop mode requires an encoder Thus if encoder sensor was not defined in the motor dialog the Closed Loop mode is not selectable Step 2 In the Motion reference group box select the motion reference type to be used when the motion will be executed Use the Internal Reference Generator selection for motions generated through TML motion commands In this case the reference will be defined at a latter stage in the Motion block of the motion system diagram Step 3 In the Drive Operation Parameters group box set the value of the DC voltage power supply Vdc Use the Detect button to measure its actual value as applied to the drive The Technosoft 2002 APN 001 12 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor Voc Detection Test dialog will open The test will measure the actual value of the power supply voltage applied to the IPS drive Y DC Detection Test 2 x Test Purpose Identifies the YDC voltage oe m Test Procedure He 1 Press the Start button 2 Wait until the test ends and displays the results m Test Status Test Result J Test completed VDC EJ y Figure 12 Voc Detection Test Step 4 In the Current Controller group box you can set the current co
10. e data analysis tools Logger and Control Panel are presented in the IPM Motion Studio User Manual Save and close the project The precedent paragraphs guided you through the process of starting a motion project configuring and parameterizing it defining the motion and finally executing it on the IPS drive As one can see from the described procedure the steps to follow are straightforward and allow you to validate the operation of your complete drive configuration When arrived at this point you can start and really go into details related to all the features of the program mainly focusing on the motion description and implementation The just defined project completed with the correct structure definition and parameters of the elements motor sensors controllers etc can be saved for further use Select the Project N Technosoft 2002 APN 001 18 lt lt _ _ 50 0 mm 1 969 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor Close menu command You ll be asked to give a name for the project and the application to be saved Latter on you ll be able to open the project in the same status as when saved the last time Drive layout J3 Motor Connector lt E Es EB EQ JP1 Auto Ext le 22 86 mm 0 9 aay JP2 FU Norm _y ee 26 5 mm 1 043 Axis ID r Ue solder joints E J wo J1 E 4 cJ D3 E ID4 Co
11. e predefined motion sequence already defined in the motion profile by clicking the button In the associated Motion Profiles dialog window you can define a position profile as you can see in the figure below Technosoft 2002 APN 001 16 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor Motion Profiles 21x E t S Then wait until Position Relative Immediate mation is completed C Speed C Absolute lt Hanae Brent C Onevent Edit Byent IV Acceleration rate fi Jrad s 2 7 v Slew speed 3000 rpm x IV Position increment 30 rot G Generate new trajectory starting from actual values of position and speed reference Setup motion data but Genegate new taecton statina Nom actual c s F don t start execution Values Gh moter postion and speen Cancel Help Figure 17 The Motion Profiles dialog You can define the profile parameters i e the acceleration deceleration the slew speed and the reference position value Once the motion is defined exit the Motion Wizard by pressing the OK button You can now generate the complete TML code associated to the chosen configuration download it to the IPM drive and execute it You simply press the Run button and all the operations associated to this command will be executed reset the IPM generate the TML code based on the configuration and imposed parameters a
12. enerator module Each of these elements can be selected and will allow you to define the parameters and specific settings associated to that element Note that the new project is opened with some elements already pre loaded You need to change test validate these elements in order to fit to your configuration as described in the next steps A small arrow pointing to the left upper corner of the element shows you which element to define check next Technosoft 2002 APN 001 7 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor i Technosoft PM Motion Studia Project Untitled File Edit View Project Application Build Control Panel Tools Window Help prem ox aajne E To Motion Studio B Project Untitled Application Untitled1 Motion Escap Color Guide P530 258 004 cois Define in series Verify A aa Done Check Next a5 44 Drive Status_o x Re x1e3 Po send tt ale Figure 8 Motion system diagram in IPM Motion Studio 4 Choose and test the motor and load Click on the Motor icon The motor and load dialog will be opened as in Figure 9 The dialog allows you to choose and or parameterize your motor and sensors You can select the motor from a predefined database Default Step motors or User You can also starting from a given motor change its parameters in order to fit your motor characteristics Several specific tests can be pe
13. layed if the communication with the board is established and operates properly i Technosoft IPH Motion Studio Project Tools Help pere xas jnnge j a fe 1 t gn A ra iT New Project est alala F5 HI Motion Studio aa Tutorials Ready J P045 001 E001 F005C CAP NUM 7 Figure 6 IPM Motion Studio opening screen Remarks If the board is not detected the Board NOT found message is displayed in the bottom of the program window In this case check first the serial cable and the power supply connections on the IPS110 and PC exit the program and launch it again Alternatively use the Tools Refresh Serial Settings menu command to retry to communicate with the drive If the board was detected the text Board present or the board type and version as IPS110 is displayed in the bottom of program window In this case the communication between the IPM drive and the PC works fine so you can start to use the program Technosoft 2002 APN 001 5 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor i U a UMT Otherwise if the problem persists follow the next steps a b IN From the Tools menu choose Options This command opens the Options dialog box Select the Serial port tab from the Options dialog box Select the Serial type RS 232 for a single axis structure Try to start using a smaller Baud rate
14. nted any encoder on its shaft leave the checkbox unchecked Step 8 Check in the Temperature checkbox if you have connected an output of the motor temperature sensor to the corresponding connector pin of the IPS Check the values of the temperature sensor parameters Step 9 Check the value of the Motor and Load Total Inertia Press the Identify Total Inertia button to auto detect this parameter The Total Inertia Identification Test dialog will open Check the value of the test current and that of the current protection to be used during the test and follow the Test Procedure steps The test will rotate the motor and estimate the total inertia motor load as reported at motor shaft Please note that this test will try to impose a constant torque in the motor In case that you have a new motor that was not chosen from the motor database you need to perform the tuning of the current controller before running this test The current controller tuning can be validated in the Drive dialogue Total Inertia Identification Test 2 x Test Purpose Identifies total inertia motor load seen at motor shaft Close Test Parameters Help Test current fo 3 a v Current value used during the test protection 2 A X Maximal current protection level m Test Procedure 1 Check test parameters 2 Press the Start button 3 Wait until the test ends and displays the results
15. ntroller parameters Kp proportional and Ki integral Use the Tune button to compute these parameters based on the imposed dynamical performances of the closed loop and on the system parameters The Current Controller Tuning dialog will open in this case If you set the dump factor and the passband of the closed control loop the program will automatically compute the controller coefficients based also on motion system parameter values Expected system response to a step reference input in the controller is graphically displayed as well as the frequency characteristic of the closed loop structure Once you exit this dialog by pressing the OK button the newly computed controller parameters replace the previous values If you are not comfortable with the damp factor and passband parameters you may cancel the Current Controller Tuning dialogue and type directly the Kp Ki coefficient values in the Current Controller group box Current Controller Kp 71 2 Tune Ki Booo Test Figure 13 Current Controller group box Technosoft 2002 APN 001 13 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor Current Controller Tuning Application Untitled 2 x PB_C PassBandCl 2000 rad s 1000 j 350 T 0 0 005 0 01 0 Time 5 Current Ki_C_real Current controller integral factor Kp_C_real
16. rformed allowing you to check the correctness of some motor parameters the correct operation of existing sensors as encoder and connection of motor to the drive WARNING Note that most of these tests apply power to the motor Please check carefully the motor parameters mainly the nominal and maximum current values Each test applying a voltage to the motor will be performed with a protection limit on the current If this limit exceeds the motor maximum current severe damage of the motor can occur Technosoft 2002 APN 001 8 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor In order to perform the tests in the proper order use the Guideline Assistant textbox and follow the steps as described there Step 1 Select your motor from the corresponding database If your motor does not exist in the database proceed through all next steps in order to define your motor and sensors data In either case use these steps to verify the new functionality Motor Database Default Step motors cis P110 064 068 Cancel Escap P110 064 2 5 Escap P310 158 005 coils in parallel Escap P310 158 005 coils in series Escap P310 158 170 coils in parallel ugh all the next steps in order to define your motor and sensors data In ts from the next steps to verify detect the motor and sensors parameters di Help m Motor data Nominal
17. s well as on the motion download the code to the IPM and start its execution The motor should execute the imposed motion Pe You can upload the data logged during the motion by selecting the data logger window click the right button of the mouse and activate the Upload Data menu command The variables stored during the execution of the motion will be displayed on the screen ay You can Stop the motor by disabling the PWM outputs Stop the motion by Axisoff Xx Reset the drive Technosoft 2002 APN 001 17 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor Technosoft JPM koton Studia Project Untitled lle View Project Application Build Logger Tools Window Help JAR Xaa ngge I amp Project 1 39 Motion Studio a Project Untitled Application Untitled Color Guide Define Verify i gen gS Done Variables a Check Next Plot Options 5 Plot Extras Start Axis Disable l MComplete Il PDPint lI Axison I l Lsu i Arange uto Motion Motion position 7 7 Arrange Horizontal K Position r ron START a ag fs por Wu ag Kt Save Graph As Export graph to WMF Export graph to ASCII Measured 0 05 41 E 0 5 1 15 2 speed Acquistion timefms x1e3 Acquisition time ms x1e3 Target position rot I APOS rot I Speed rpm TSPD H rpm Application Untitied1 Figure 18 The Data Logger dialog More details about th
18. used to configure and parameterize the system and define the motion Obviously no IPS information motion system parameter identification and measurement data can be performed or displayed Start a new project All the applications in IPM Motion Studio are organized as projects A project is specific for a selected type of IPM drive IPM100 IPM240 or IPS110 and a specific motor type DC brushed brushless or step motor Press the New Project button and select the type of the drive and motor you installed in your system IPS110 gt Step Motor Closed Loop in order to create such a new project Technosoft 2002 APN 001 6 APPLICATION NOTE 045 001 IPS110 12 20 02 Getting started using IPS110 with a step motor i Jechnosoft IPH Mation Studia le x Project Tools Help le i hh B e eare aa g gt IDM240 IDM640 TNewP ingoaa IDS640 IPM100 IPM240 IPM640 IPS110 Z 0penP ipsis0 ISCM4805 ISCM8005 ISM710 Compose Application BRUSHED MOTOR STEP MOTOR CLOSED LOOP STEP MOTOR OPEN LOOP wvyvewBhdAyvrywrvywryryeyY Motion Studio Tutorials Figure 7 Create a new project in IPM Motion Studio Ie Project diagram structure A schematic diagram of the motion system will be displayed on the screen It contains the three basic elements of the system i e the motor and sensors the drive and as a separate component the motion reference g
19. value as 9600 For single axis structures only one IPS exists in the system and is connected directly to the PC set the Host Address as 255 default Select the correct COM Port Number of the PC where the serial cable was connected Press the OK button If the communication with the IPS drive does not operate properly an error message is displayed Cannot open the serial port Check if the selected COM port is correct and not used by another resource of the PC as mouse modem etc Try again If the communication works properly pressing the OK button will exit the Options Serial port dialog without an error message and the Board present or the board type and version e g P045 001 E001 F005C is displayed in the bottom of program window You can in this case try to increase the baud rate up to the maximal 115 kbaud allowed by the PC If the communication operates usually but gives communication errors from time to time try to increase the Read interval timeout Timeout multiplier and Timeout constant parameters from the same Options Serial port settings dialog Note that this is related to some PCs hardware operation and that usually the default values for these parameters need not to be modified Note that the IPM Motion Studio program can be used offline with no IPS connected to the PC or powered up All the modeling project and applications definition and program wizards can be
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