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PRO-Ax0V80x-SA-CAN - User Manual Rev 2

1. PRO A20V80x SA CAN Programmable Servo Drive Programmable Servo Drive for Step DC Brushless DC and AC Motors ElectroGraft Document Number 11297 Rev 2 Technical Reference O ElectroCraft 2015 ELECTROCRAFT PRO A10V80x SA CAN PRO A20V80x SA CAN Technical Reference ElectroCraft Document Number A11297 Revision 2 ElectroCraft 4480 Varsity Drive Suite G Ann Arbor MI 48108 www electrocraft com Read This First While ElectroCraft believes that the information and guidance given in this manual is correct all parties must rely upon their own skill and judgment when making use of it ElectroCraft does not assume any liability to anyone for any loss or damage caused by any error or omission in the work whether such error or omission is the result of negligence or any other cause Any and all such liability is disclaimed All rights reserved No part or parts of this document may be reproduced or transmitted in any form or by any means electrical or mechanical including photocopying recording or by any information retrieval system without permission in writing from ElectroCraft The information in this document is subject to change without notice About This Manual This book is a technical reference manual for the PRO Ax0V80x SA CAN family of intelligent servo drives including the following products PRO A10V80x SA CAN PRO A20V80x SA CAN In order to operate the PRO Ax0V80 drives you need
2. 90 Guren UNIS ic incase cet cic nici oni id i i i a 90 6 69 Voltage COMMMANGUNNS xs etd Ure opa ecc 90 6 7 Voltage measurement 91 5 94 De MAINS sis 91 6 9 Master position units 91 6 10 Master Speed 91 6 11 MOTOR position uns ap aS REE 91 6 11 1 Brushless DC brushed motor with quadrature encoder on motor 91 6 11 2 Brushless motor with linear Hall 5 5 92 6 11 3 DC brushed motor with quadrature encoder on load and tacho on motor 92 6 11 4 gt Step motor open loop control No feedback device 92 6 11 5 gt Step motor open loop control Incremental encoder on load 92 6 11 6 gt Step motor closed loop control Incremental encoder on motor 92 6 11 7 Brushless motor with sine cosine encoder on motor 93 6 12 Motor speed 93 6 12 1 Brushless DC brushed motor with quadrature encoder on motor 93 6 12 2 Brushless motor with linear Hall 5 5 93 6 12 3 DC brushed motor with quadrature encoder on load and tacho on motor 94
3. uana 61 4 1 Installing PRO Config sierra eode seen tad cete apetito dede sete d b rae diete dod 61 4 2 Getting Started with PRO Gong rte an oe Ur 61 4 2 1 ESTAbISh COMMUNICATION E ce ee E a 62 4 2 2 Setup arive molor orte eee na emt beg eer dede na m RD expe de tends 62 4 2 3 Selecting NPN PNP inputs type in 65 4 2 4 Download setup data to drive motor 65 4 2 5 Evaluate drive motor behavior 66 43 Changing the drive Axis ID coal he he he ur t d 66 44 gt Setting CANbus Falerno asia Nae ala 67 4 5 Creating an Image File with the Setup 68 ElectroCraft 2015 VIII PRO Ax0V80x SA CAN Technical Reference 5 Step 3 Motion Programming 69 5 1 Using a CANopen Master for PRO Ax0V80 CANopen 69 5 1 1 CiA 301 Application Layer and Communication Profile Overview 69 5 1 2 CiA 305 Layer Setting Services LSS and Protocols Overview 70 5 1 3 CiA 402 and Manufacturer Specific Device Profile Overview 70 5 1 4 ElectroGAN EXt nsion oir rd pce dbs stunt 70 5 1
4. Figure 3 24 SW1 DIP Switch Position 1 On CANopen mode Off MPLCAN mode Positions 2 8 ID Bitx Axis ID switches The drive axis address number is set when H W is selected in Drive Setup under AxisID field or when the Setup is invalid The axis ID is an 8 bit unsigned number first 7 bits are controlled by the ID bitO to ID bit6 Bit7 of this variable is always In total 127 axis ID HW values can result from the DIP switch combinations Remark All switches are sampled at power up and the drive is configured accordingly 3 5 LED Indicator 1 eje Table 3 1 LED Indicators LED name LED color Function Drive Error Lit after power on when the drive initialization ends Turned off when an error occurs Turned on when the drive detects an error condition or when OUT2 Error is set to with OUT 2 0 MPL instruction ElectroCraft 2015 60 PRO Ax0V80x SA CAN Technical Reference 4 Step 2 Drive Setup 4 1 Installing PRO Config PRO Config is a PC software platform for the setup of the ElectroCraft drives It be downloaded free of charge from ElectroCraft web page PRO Config comes with an Update via Internet tool through which you can check if your software version is up to date and when necessary download and install the latest updates PRO Config can be installed independently or together
5. Reserved 14 STO hardware error 13 Self check error 12 MPL heartbeat ignored 11 Motionless start failed 10 Encoder broken wire 9 UPD ignored for S curve 8 Invalid 5 profile 7 Software LSN active 6 Software LSP active 5 Cancelable call ignored 4 UPD ignored 3 Function not available 2 Homing not available 111111111171 1 MPL stack underflow paround 0 MPL stack overflow Load Position Motor Position Motor Speed Acquisition time ms Not present Incremental Encoder on Feedback 1 Not present Acquisition time ms Target Positionfrot Load Positionfrot Current Reference A Motor ElectroCraft 2015 74 PRO Ax0V80x SA CAN Technical Reference 5 2 3 2 Step 2 Establish communication If you have a drive motor connected with your PC now it is time to check the communication Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive motor and the connections Power on the drive then close the Communication Setup dialogue with OK If the communication is established MotionPRO Developer displays in the status bar the bottom line the text Online plus the axis ID of your drive
6. encoder2 diff input analog encoder Sin diff input 6 n c 7 n c 8 n c 9 Z2 PWM 1 Incr encoder2 Z diff input 10 Z2 PWM Incr encoder2 Z diff input 11 GND Return ground for sensors supply 12 FDBK Analog input 12 bit 0 5V Used to read an analog position or speed feedback as tacho or used as general purpose analog input 13 n c 14 B2 Dir I encoder2 B diff input or Dir 15 A2 Pulse 1 Incr encoder2 A diff input or Pulse 3 3 6 J5 Digital analog I O and logic supply connector pinout ElectroCraft 2015 37 PRO Ax0V80x SA CAN Technical Reference Connector description Pin Name Type Description 1 GND Return ground for I O pins 2 IN2 LSP I 5 36V digital PNP NPN input Positive limit switch input 5 36V 0 5A drive Error output active low NPN open collector TTL pull up Also drives 3 OUT2 Error mme reel elo 5 36V 0 5A drive Ready output active low NPN open collector TTL pull up Also A OUTS Ready drives the green LED P P 5 OUTO 5 36 0 5A general purpose digital output NPN open collector TTL pull up 6 OUT1 5 36 0 5A general purpose digital output NPN open collector TTL pull up 7 5Vour 5 output supply for I O usage 8 VLoG Positive terminal of the logic supply input 9 to 36Vpc 9 IN3 LSN I 5 36V digital PNP NPN input Negative limit switch input 10 INO I 5 36 general
7. lt otor where No encoder lines is the motor encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 12 7 Brushless motor with sine cosine encoder on motor The internal motor speed units are interpolated encoder counts slow loop sampling period The correspondence with the motor speed in SI units is For rotary motors 2xm Motor SpeedSI Motor SpeedlU Speeds 4xEnc periodsxInterpolatonx T For linear motors Encoder accuracy Motor SpeedSI Interpolatonx T SpeedlU where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period It is a number power of 2 between 1 and 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup ElectroCraft 2015 95 PRO Ax0V80x SA CAN Technical Reference 7 PRO Ax0V80x SA CAN has 2 types of memory available for user applications 16 16
8. 2 B1 B2 2 coils per phase in series connection A1 A1 2 A2 B1 B1 2 B2 Step MOTOR Figure 3 10 2 phase step motor connection two coils per phase 3 3 14 3 3 Phase Step Motor connection 3 phase step motor connection PRO Ax0V80x SA CAN 4 phase Inverter Currents Info Controller Figure 3 11 3 phase step motor connection Remark hardware enable the motor outputs set Enable STO1 and Enable STO2 pins HIGH This usually means they should be connected to Vlog 1 coil per phase ElectroCraft 2015 46 PRO Ax0V80x SA CAN Technical Reference 3 3 14 4 DC Brushed Motor connection DC motor connection PRO Ax0V80x SA CAN 4 phase Inverter 2 Shield Currents Info Figure 3 12 DC Motor connection Remark hardware enable the motor outputs set Enable STO1 and Enable STO2 pins HIGH This usually means they should be connected to Vlog 3 3 14 5 Recommendations for motor wiring a Avoid running the motor wires in parallel with other wires for a distance longer than 2 meters If this situation cannot be avoided use a shielded cable for the motor wires Connect the cable shield to the PRO Ax0V80 GND pin Leave the other end disconnected b The parasitic capacitance between the motor wires must not bypass 10nF If very long cables tens of meters are used this condition may not be met In this case add series inductors between the PRO Ax0V80 ou
9. Figure 3 21 CAN connection Remarks 1 The CAN network requires a 120 Ohm terminator This is not included in the drive shows how to connect it on your network 2 CAN signals are not insulated from other PRO Ax0V80 circuits 3 3 18 2 Recommendation for wiring a Build CAN network using cables with twisted wires 2 wires pair with CAN Hi twisted together with CAN Lo It is recommended but not mandatory to use a shielded cable If so connect the shield to GND The cable impedance must be 105 135 ohms 120 ohms typical and a capacitance below 30pF meter b The 1200 termination resistors must be rated at 0 2W minimum Do not use winded resistors which are inductive ElectroCraft 2015 57 PRO Ax0V80x SA CAN Technical Reference PRO Ax0V80x SA CAN AXISID 1 120R 5 0 25W PRO Ax0V80x SA CAN AXISID 2 CAN GND PC Host Address 255 120R 5 0 25W lt lt Lmax PRO Ax0V80x SA CAN AXISID 255 Figure 3 22 Multiple Axis CAN network Remarks 1 The axis IDs in Figure 3 22 are valid for MPLCAN mode For CANopen mode the highest axis ID a drive can have is 127 2 Lmax is the bus length defined in paragraph 2 6 17 ElectroCraft 2015 58 PRO Ax0V80x SA CAN Technical Reference 3 3 19 Disabling Autorun Mode When an PRO Ax0V80x SA CAN is set in MPLCAN operation mode by default after power on it enters automatically in Autorun mode In this mode if th
10. U2 2 f Par xta BRAKE 2 tcYCLE XNoM 2x PBR the time interval between braking cycles must be increased either the braking power must be reduced see Remark 1 or THE BRAKE RESISTOR MAY HAVE HOT SURFACES ERIE DURING OPERATION ElectroCraft 2015 55 PRO Ax0V80x SA CAN Technical Reference 3 3 17 Serial RS 232 connection 3 3 17 1 Serial RS 232 connection PRO Ax0V80x SA CAN RS 232 connection Transceiver Controller Figure 3 20 Serial RS 232 connection 3 3 17 2 Recommendation for wiring a If you build the serial cable you can use a 3 wire shielded cable with shield connected to BOTH ends Do not use the shield as GND The ground wire pin 1 or 4 of J9 must be included inside the shield like the 232Rx and 232Tx signals b Always power off all the PRO Ax0V80x SA CAN supplies before inserting removing the RS 232 serial connector Do not rely on an earthed PC to provide the PRO Ax0V80 GND connection The drive must be earthed through a separate circuit Most communication problems are caused by the lack of such connection DO NOT CONNECT DISCONNECT THE RS 232 CABLE CAUTION WHILE THE DRIVE IS POWERED ON THIS OPERATION CAN DAMAGE THE DRIVE ElectroCraft 2015 56 PRO Ax0V80x SA CAN Technical Reference 3 3 18 connection 3 3 18 1 CAN connection CAN connection PRO Ax0V80x SA CAN From Previous Node Controller To Next Node
11. Typ Max Units Mode compliance PNP Default state Input floating wiring disconnected Logic LOW Logic LOW 10 0 2 2 Input voltage Logic HIGH 6 3 36 V Floating voltage not connected 0 The digital inputs are software selectable as PNP or NPN ElectroCraft 2015 29 PRO Ax0V80x SA CAN Technical Reference Absolute maximum continuous 10 39 Absolute maximum surge duration lt 1S t 20 40 Logic LOW Pulled to GND 0 Input current mA Logic HIGH 1 3 2 Units Mode compliance NPN Default state Input floating wiring disconnected Logic HIGH Logic LOW 10 2 2 Logic HIGH 6 3 36 Input voltage Floating voltage not connected 3 V Absolute maximum continuous 10 36 Absolute maximum surge duration lt 1S 20 40 Logic LOW Pulled to GND 1 6 0 6 1 Input current mA Logic HIGH Pulled to 24V 0 0 0 3 Input frequency 0 150 KHz Minimum pulse width 3 3 uS ESD protection Human body model 2 ElectroCraft 2015 30 PRO Ax0V80x SA CAN Technical Reference 2 6 10 Digital Outputs OUTO OUT1 OUT2 Error OUT3 Ready Min Typ Max Units All outputs OUTO OUT1 OUT2 Error Mode compliance OUT3 Ready NPN 24V Not supplied 4 Vioc floating or to GND High
12. Visual Basic Delphi Pascal or Labview Using a MPL Motion Library for PC you can focus on the main aspects of your application while the motion programming part can be reduced to calling the appropriate functions and getting the confirmation when the task was done All ElectroCraft s MPL Motion Libraries for PCs are provided with PRO Config 5 5 Using Motion Libraries for PLC based Systems A MPL Motion Library for PLC is a collection of high level functions and function blocks allowing you to control from a PLC the ElectroCraft intelligent drives The motion control function blocks are developed in accordance with the PLC IEC61131 3 standard and represent an ideal tool for quick implementation on PLCs of motion control applications with ElectroCraft products With the MPL Motion Library functions you can communicate with a drive motor via any of its supported channels send motion commands get automatically or on request information about drive motor status check and modify its setup parameters read inputs and set outputs etc Depending on the PLC type the communication is done either directly with the CPU unit or via a CANbus or RS 232 communication module Using a MPL Motion Library for PLC you can focus on the main aspects of your PLC application while the motion programming part can be reduced to calling the appropriate functions and monitoring the confirmations that the task was done All these blocks have been designed usi
13. m s for a linear movement ElectroCraft 2015 83 PRO Ax0V80x SA CAN Technical Reference Step motor open loop control Incremental encoder load The internal speed units are load encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load speed in SI units is Load S rad s Load S IU 4xNo encoder _linesxT gad speedy where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in rad and load displacement in rad or m T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 6 Step motor closed loop control Incremental encoder on motor The internal speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is 2xm Load S SI Motor S IU Speedol 4xNo encoder linesx Trx T ptor Speedi where No_encoder_lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 7 Brushless motor with sine cosine encoder on motor The in
14. trapezoidal control PRO A20V80 20 Nominal output current for PMSM motors with FOC PRO A10V80 10 continuous sinusoidal control sinusoidal A amplitude value PRO A20V80 20 for PMSM motors with FOC PRO A10V80 7 1 sinusoidal control sinusoidal effective value PRO A20V80 14 2 maximum 105 20 20 Motor output current peak A maximum 3 65 40 40 PRO A10V80 22 5 Short circuit protection threshold measurement range A PRO A20V80 45 Short circuit protection delay 5 10 us for nominal output current including typical 0 3 0 5 V mating connector contact resistance On state voltage drop Off state leakage current 10 5 1 FPwM 20 kHz 330 Recommended value for Few 40 kHz 150 ripple 5 of Fpwm 60 kHz 120 uH measurement range 80 V Feww 80 kHz 80 Motor inductance phase to 100 kHz 60 phase 20 kHz 120 Absolute minimum value Feww 40 kHz 40 limited by short circuit Fewm 60 kHz 30 uH protection 80 80 kHz 15 FPwM 100 kHz 8 20 kHz 250 Recommended value for Feww 40kHz 125 electrical 5 current measurement Fewm 60 kHz 100 error due to ripple FPwM 80 kHz 63 100 kHz 50 Current measurement accuracy FS Full Scale 5 8 FS 2 6 9 Digital Inputs INO IN1 IN2 LSP IN3 LSN Min
15. 1 O Phase A for 3 ph motors A for 2 ph steppers Motor for DC brush motors 2 B A O Phase B for 3 ph motors A for 2 ph steppers Motor for DC brush motors S 3 Phase C for 3 ph motors B for 2 ph steppers 4 BR B O Brake resistor Phase B for step motors 5 Earth Earth connection 3 3 4 J3 Primary feedback connector pinout Connector description Pin Name Type Description 1 5Vour O 5Voutput supply for I O usage 2 Hall 1 Digital input Hall 1 sensor 3 Hall 2 1 Digital input Hall 2 sensor 4 B1 Cos 1 Incr encoder1 B diff input or analog encoder Cos diff input 5 A1 Sin 1 Incr encoder1 A diff input or analog encoder Sin diff input 6 n c 7 n c BH 8 n c 9 21 1 encoder1 2 diff input 10 21 encoder1 Z diff input 11 GND Return ground for sensors supply 12 Temp Mot Analog input 12 bit 0 5V Used to read an analog temperature value 13 Hall 3 1 Digital input Hall 3 sensor 14 B1 Cos I encoder1 B diff input or analog encoder Cos diff input 15 A1 Sin 1 encoder1 A diff input or analog encoder Sin diff input 3 3 5 J4 Secondary feedback connector pinout Connector description Pin Name Type Description 1 5Vour O 5Voutput supply for I O usage 2 n c 3 n c 4 B2 Dir Incr encoder2 B diff input or Dir 5 A2 Pulse 1
16. 100 lt 250Kbps 250 Resistor Between CAN Hi CAN Lo none on board Node addressing Hardware by DIP switch 1 127 8 LSS non configured CANopen 1 127 amp 255 MPLCAN Software 1 127 CANopen 1 255 MPLCAN Voltage CAN Hi or CAN Lo to 26 26 ESD protection Human body model 15 1 ES stands for Full Scale ElectroCraft 2015 33 PRO Ax0V80x SA CAN Technical Reference 2 6 18 Supply Output 5 Min Typ Max Units 5V output voltage Current sourced 250mA 4 8 5 5 2 5V output current 600 650 mA Short circuit protection NOT protected Over voltage protection NOT protected ESD protection Human body model 2 KV Stresses beyond values listed under absolute maximum ratings may cause permanent damage to the device Exposure to absolute maximum rated conditions for extended periods may affect device reliability 2 7 EMC Compliance This drive has been tested and found complaint with IEC61800 3 2004 for use in the second environment Category C3 This type of drive is not intended to be used on a low voltage public network which supplies domestic premises Radio frequency interference is expected if used on such a network The following installation guidelines must be followed for EMC compliance Quality shielded multiconductor cable must be used for all connections to the drive Connec
17. 127 is automatically converted into 255 and the drive is set with CAN communication in non configured mode waiting for a CANopen master to configure it using CiA 305 protocol A non confiqured drive answers only to CiA 305 commands All other CANopen commands are ignored and transmission of all other CANopen messages including boot up is disabled In absence of a CANopen master you can get out a drive from non configured mode by setting another axis ID between 1 and 127 from above dialogue using a serial link between the drive and the PC Software via CANopen master using CiA 305 protocol The axis ID is initialized at power on using the following algorithm a If a valid setup table exists and this setup table was created with the Axis ID Selection checkbox checked in the Drive Setup dialogue see above with the value read from the setup table This value can be an axis number 1 to 255 or can indicate that axis ID will be set according with the AxisID DIP switch If the drive is set in CANopen mode and the Axis ID is over 127 it is converted into 255 and the drive enters in CAN communication LSS non configured mode If a valid the setup table exists and this was created with the Axis ID Selection checkbox unchecked in the Drive Setup dialogue see above with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol This value can be an axis number 1 to ElectroCraft
18. 2015 66 PRO Ax0V80x SA CAN Technical Reference 255 for 1 to 127 or can indicate that axis ID will be set according with the AxisID DIP switch If the setup table is invalid with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol This value can be an axis number 1 to 255 for MPLCAN 1 to 127 for CANopen or can indicate that axis ID will be set according with the AxisID DIP switch d If the setup table is invalid there is no previous axis ID set from a valid setup table or by a CANopen master according with the AxisID DIP switch Remark If you don t know the axis ID set in a drive you can find it in the following way a Connect the drive via a serial RS232 link to a PC where PRO Config or MotionPRO Developer are installed b With the drive powered open PRO Config or MotionPRO Developer and check the status bar If communication with the drive is established the status bar displays Online in green and nearby the drive s Axis ID If the status bar displays Offline in red execute menu command Communication Setup and in the dialogue opened select at Channel Type RS232 and at Axis ID of drive motor connected to PC the option Autodetected After closing the dialogue with OK communication with the drive shall be established and the status bar shall display the drive s Axis ID If the access to the drive with the unknown Axis ID is difficult but th
19. 3 1 Brushless DC brushed motor with quadrature encoder motor 85 6 3 2 Brushless motor with linear Hall 85 6 3 3 brushed motor with quadrature encoder on load and tacho on motor 86 6 3 4 Step motor open loop control No feedback device 86 6 3 5 Step motor open loop control Incremental encoder on load 86 6 3 6 Step motor closed loop control Incremental encoder on motor 87 6 3 7 Brushless motor with sine cosine encoder on motor 87 B4 JEKK MIS suisse cri lsc ici cae linc 88 6 4 1 Brushless DC brushed motor with quadrature encoder on motor 88 6 4 2 Brushless motor with linear Hall 88 6 4 3 brushed motor with quadrature encoder on load and tacho on motor 88 6 4 4 Step motor open loop control No feedback device 89 6 4 5 Step motor open loop control Incremental encoder on load 89 6 4 6 Step motor closed loop control Incremental encoder on motor 89 6 4 7 Brushless motor with sine cosine encoder on motor
20. 5 Checking Setup Data 70 5 2 Using the built in Motion Controller and MPL 70 5 2 1 Electrocraft Motion Programming Language Overview 70 52 2 Installing Developer pie Pret 71 5 2 3 Getting Started with MotionPRO Developer 72 5 2 4 Creating an Image File with the Setup Data and the MPL Program 77 5 3 Combining CANopen or other host with 77 5 3 1 Using MPL Functions to Split Motion between Master and Drives 77 532 Executing MPL qot 78 5 3 3 Loading Automatically Cam Tables Defined in MotionPRO Developer 78 5 3 4 Customizing the Homing 78 5 3 5 Customizing the Drive Reaction to Fault Conditions 78 5 4 Using Motion Libraries for PC based 79 5 5 Using Motion Libraries for PLC based 79 6 gt Scaling TACIORS 80 Dl Po IS scr oe De DEOS ar ape WARME EN NEVER MEAN REM ARNA 80 6 1 1 Brushless DC
21. 5 1 5 Checking Setup Data Consistency During the configuration phase a CANopen master can quickly verify using the checksum objects and a reference sw file see 4 5 and 5 2 4 for details whether the non volatile EEPROM memory of a PRO Ax0V80 drive contains the right information If the checksum reported by the drive doesn t match with that computed from the sw file the CANopen master can download the entire sw file into the drive EEPROM using the communication objects for writing data into the drive EEPROM 5 2 Using the built in Motion Controller and MPL One of the key advantages of the ElectroCraft drives is their capability to execute complex motions without requiring an external motion controller This is possible because ElectroCraft drives offer in a single compact package both a state of art digital drive and a powerful motion controller 5 2 1 Electrocraft Motion Programming Language Overview ElectroCraft 2015 70 PRO Ax0V80x SA CAN Technical Reference Programming motion directly on an ElectroCraft drive requires creating and downloading MPL Motion Programming Language program into the drive memory The MPL allows you to Set various motion modes profiles PVT PT electronic gearing or camming etc Change the motion modes and or the motion parameters Execute homing sequences Control the program flow through e Conditional jumps and calls of MPL functions e MPL interrupts generated on pre defined or programm
22. Conditions Min Typ Max Units Ambient temperature 0 40 C Ambient humidity Non condensing 0 90 Rh Altitude referenced to sea level 0 1 022 5 2 Km Altitude pressure 2 Ambient Pressure 0 0 75 1 10 0 2 6 2 Storage Conditions Min Typ Max Units Ambient temperature 40 85 C Ambient humidity Non condensing 0 100 Rh Ambient Pressure 0 10 0 atm 2 6 3 Mechanical Mounting Airflow natural convection closed box 264 Environmental Characteristics Min Typ Max Units Size Length x Width x Height 139 x 94 2 x 24 5 mm Without mating connector 5 47 x 3 7 x 0 97 inch Weight Without mating connectors 240 9 Idle no load 3 6 Power dissipation Operating 11 Efficiency 98 Cleaning agents Dry cleaning is recommended Only Water or Alcohol based Protection degree According to 60529 UL508 IP30 1 PRO Ax0V80 can be operated in vacuum no altitude restriction but at altitudes over 2 500m current and power rating are reduced due to thermal dissipation efficiency ElectroCraft 2015 27 PRO Ax0V80x SA CAN Technical Reference 2 6 5 Logic Supply Input Vioc Min Typ Max
23. For rotary motors Motor Positior ST xMotor resolution For linear motors Motor Position SI ESSEN xMotor_Position IU resolution where resolution is the motor position resolution Pole Pitch is the magnetic pole pitch NN distance expressed in 6 11 3 DC brushed motor with quadrature encoder on load and tacho on motor The motor position is not computed 6 11 4 Step motor open loop control No feedback device The internal motor position units are motor usteps The correspondence with the motor position in SI units is Motor Positior SI xMotor No ustepsxNo steps where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value in the Drive Setup dialogue from PRO Config 6 11 5 Step motor open loop control Incremental encoder on load In open loop control configurations with incremental encoder on load the motor position is not computed 6 11 6 Step motor closed loop control Incremental encoder on motor The internal motor position units are motor encoder counts The correspondence with the motor position in SI units is 191 units for motor position are rad for a rotary motor m for a linear motor ElectroCraft 2015 92 PRO Ax0V80x SA CAN Technical Reference Motor PositiorfSI 2 x PositiorlU 4xNo encoder lines where No encoder lines is t
24. INJURY TO THE OPERATOR MAY INCLUDE INSTRUCTIONS TO PREVENT THIS SITUATION SIGNALS A DANGER FOR THE DRIVE WHICH MIGHT CAUTION DAMAGE THE PRODUCT OR OTHER EQUIPMENT MAY INCLUDE INSTRUCTIONS TO AVOID THIS SITUATION 1 1 Warnings TO AVOID ELECTRIC ARCING AND HAZARDS NEVER WARNING PLUG UNPLUG CABLES INTO THE PRO Ax0V80x SA CAN WHILE THE POWER SUPPLIES ARE ON THE DRIVE MAY HAVE HOT SURFACES DURING l N OPERATION DURING DRIVE OPERATION THE CONTROLLED WARNING MOTOR WILL MOVE KEEP AWAY FROM ALL MOVING PARTS TO AVOID INJURY 1 2 Cautions THE POWER SUPPLIES CONNECTED TO THE DRIVE CAUTION MUST COMPLY WITH THE PARAMETERS SPECIFIED IN THIS DOCUMENT ElectroCraft 2015 13 PRO Ax0V80x SA CAN Technical Reference CAUTION ONLY FOR PERSONNEL AUTHORISED BY TROUBLESHOOTING AND SERVICING ARE PERMITTED ELECTROCRAFT ElectroCraft 2015 14 PRO Ax0V80x SA CAN Technical Reference 2 Product Overview 2 1 Introduction The PRO Ax0V80x SA CAN is part of a family of fully digital intelligent servo drives based on the latest DSP technology and they offer unprecedented drive performance combined with an embedded motion controller Suitable for control of brushless DC brushless AC vector control DC brushed motors and step motors the PRO Ax0V80x SA CAN drives accept as position feedback incremental encoders quadrature or sine cosine and linear Halls signals All drives perform position spe
25. Programming Language MPLCAN Electrocraft protocol for exchanging MPL commands via CAN bus Related Documentation Help PRO Screens within the PRO Config software describes how to use PRO Config to quickly setup any ElectroCraft PRO Series drive for your application using only 2 dialogues The output of PRO Config is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file At power on the drive is initialized with the setup data read from its EEPROM With PRO Config it is also possible to retrieve the complete setup information from a drive previously programmed PRO Config is part of the ElectroCraft Motion PRO Suite Motion PRO Suite is available as part of a PRO Series Drive Evaluation Kit Please contact ElectroCraft or your local ElectroCraft sales representative for more information on obtaining MotionPRO Suite or an evaluation kit Series CANOpen Programming Manual Document No A11226 explains how to program the PRO Series family of programmable drives using CANopen protocol and describes the associated object dictionary for CiA 301 v 4 2 application layer and communication profile CiA WD 305 v 2 2 13 layer settings services and protocols and CiA DSP 402 v3 0 device profile for drives and motion control now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards Motion Programming using ElectroCraft MotionPRO Suite Document No A11229 PRO describes how to use
26. SA CAN Technical Reference 3 3 15 4 Differential Incremental Encoder2 Connection J4 Secondary Feedback Connector PRO Ax0V80x Second Encoder differential RS 422 SA CAN 2 2K 5V 0 F High speed 36k 1 7 22K 5V 0 a High speed 36K 17 DSP Controller 22K 5V High speed To other drive similar inputs Figure 3 16 J9 Second encoder differential RS 422 connection Remark Termination resistors 1200 are present in the drive ElectroCraft 2015 50 PRO Ax0V80x SA CAN Technical Reference Motor connector Motor phases Encoder connector Motor phases Second PRO Ax0V80x SA CAN Encoder Slave Figure 3 17 J4 Master Slave connection using second encoder input ElectroCraft 2015 51 PRO Ax0V80x SA CAN Technical Reference 3 3 15 5 Sine Cosine Analog Encoder Connection PRO Ax0V80x SA CAN Sine Cosine Connection 5VOUT 5 pS Im l terminator Shield 120R terminator DSP Controller Figure 3 18 Sine Cosine analog encoder connection Remark Termination resistors 1200 are present in the drive 3 3 15 6 Recommendations for wiring a Always connect both positive and negative signals when the position sensor is differential and provides them Use one twisted pair for each differential group of signals as
27. Technical Reference Minimum pulse width 2 uS ESD protection Human body model 5 KV 2 6 12 Encoder Inputs A1 A1 B1 B1 21 Z1 A2 A2 2 B2 22 Z2 y Min Typ Max Units Differential mode compliance TIA EIA 422 A Hysteresis 0 06 0 1 0 2 Input voltage differential mode Differential mode 14 14 V Common mode range to GND etc 11 14 1 A2 B1 B2 21 22 2 2 A1 A2 B1 B2 21 Z2 1 6 Input impedance differential Differential mode 0 10 MHz Differential mode 50 nS ESD protection Human body model 1 KV 1 2 6 13 Sin Cos Encoder Inputs Sin Cos Min Typ Max Units Input voltage differential Sin to Sin Cos to Cos 1 1 25 Vpp Operational range 1 2 5 4 Input voltage any pin to GND Absolute maximum values continuous 7 7 V t Absolute maximum surge duration x 1S 11 14 Differential Sin to Sin Cos to Cos 4 2 4 7 Input impedance Common mode to GND 2 2 KO Resolution with interpolation Sonde ee 2 10 bits Freauene Sin Cos interpolation 0 450 KHz 9 y Quadrature no interpolation 0 10 MHz ESD protection Human body model 2 KV 2 6 14 Analog 0 5V Inputs REF FDBK Min Typ Max Units Operational range 0 4 95 Input voltage V Absolute maximum values continu
28. Units Nominal values 9 36 Vpc Absolute maximum values drive operating 8 40 V Supply voltage but outside guaranteed parameters De Absolute maximum values surge _ duration lt 10ms 1 Tem y 300 No Load on Digital 12V 250 Supply current Outputs 24V 150 40V 100 2 6 6 Motor Supply Input Min Typ Max Units Nominal values 12 80 90 Vpc Absolute maximum values drive operating 11 94 Supply voltage but outside guaranteed parameters ie Absolute maximum values surge d 95 v duration lt 10ms 7 Idle 1 5 mA PRO A10V80 20 10 20 Operating A Supply current PRO a20v80 40 20 40 Absolute maximum value PRO A10V80 22 5 short circuit condition A duration lt 10ms 7 PRO A20V80 45 2 6 7 Enable STO inputs Min Typ Max Units Mode compliance PNP Default state Input floating wiring disconnected Logic Low Logic LOW 10 2 2 Input voltage Logic HIGH 6 3 36 V Absolute maximum continuous 10 39 Logic LOW pulled to GND 0 Input current mA Logic HIGH pulled to Vlog 0 4 Ignored low high low tbd Pulse duration Ignored high low high tbd ms Accepted pulse tbd ESD protection Human body model 2 2 6 8 Motor Outputs A A C B BR B Min Typ Max Units ElectroCraft 2015 28 PRO Ax0V80x SA CAN Technical Reference for DC brushed steppers and PRO A10v80 10 BLDC motors with Hall based
29. Z floating Immediately OUTO OUT1 Logic HIGH Default state after power up OUT2 Error OUT3 Ready Logic LOW Normal OUTO OUT1 OUT2 Error Logic HIGH operation OUT3 Ready Logic LOW Logic LOW output current 0 5A 0 8 Logic HIGH OUT2 Error OUT3 Ready 2 9 3 3 3 output current 0 no load OUTO OUT1 4 4 5 5 Output voltage Logic HIGH external load to Vioc Absolute maximum continuous 0 5 0 5 Absolute maximum surge duration 1S 1 1 Logic LOW sink OUTO 2 A current continuous OUT1 OUT2 OUT3 05 Logic LOW sink OUTO 4 A current pulse lt 5 sec OUT1 OUT2 OUT3 1 Output current Logic HIGH source UT2 Error 2 mA current external load OUTS Ready to GND Vout gt 2 0V OUTO OUT1 4 mA Logic HIGH leakage current external load to Vout 40V OA 0 2 mA Minimum pulse width 2 uS ESD protection Human body model 15 KV 2 6 11 Digital Hall Inputs Hall1 Hall2 Hall3 Min Typ Max Units Mode compliance TTL CMOS Open collector Logic HIGH Default state Input floating wiring disconnected Logic LOW 0 0 8 Logic HIGH 1 8 Input voltage Floating voltage not connected 4 5 Absolute maximum surge duration lt 1S t 10 15 Logic LOW Pull to GND 3 5 Input current mA Logic HIGH Internal 1KQ pull up to 5 0 0 0 ElectroCraft 2015 31 PRO Ax0V80x SA CAN
30. and up to 16Kx16 serial E7ROM SRAM memory is mapped in the address range C000h to FFFFh It can be used to download and run a MPL program to save real time data acquisitions and to keep the cam tables during run time The E ROM is mapped in the address range 4000h to 7FFFh It is used to keep in a non volatile memory the MPL programs the cam tables and the drive setup information Remark MotionPRO Developer handles automatically the memory allocation for each motion application The memory map can be accessed and modified from the main folder of each application 4000h E ROM memory for MPL programs Cam tables Setup information Reserved Data acquisitions and cam tables at runtime SRAM memory MPL Programs FFFFh Figure 7 1 PRO Ax0V80x SA CAN Memory Map ElectroCraft 2015 96 PRO Ax0V80x SA CAN Technical Reference This page is empty ElectroCraft 2015 97 PRO Ax0V80x SA CAN Technical Reference ElectroCraft powering innovation
31. brushed motor with quadrature encoder on motor 80 6 1 2 Brushless motor with linear Hall 80 6 1 3 brushed motor with quadrature encoder on load and tacho on motor 80 6 1 4 Step motor open loop control No feedback device 81 6 1 5 Step motor open loop control Incremental encoder on load 81 6 1 6 Brushless motor with sine cosine encoder on motor 81 Spee 82 6 2 1 Brushless DC brushed motor with quadrature encoder on motor 82 6 2 2 Brushless motor with linear Hall 5 82 6 2 3 brushed motor with quadrature encoder on load and tacho on motor 83 6 2 4 brushed motor with tacho on motor 83 6 2 5 Step motor open loop control No feedback device 83 6 2 6 Step motor closed loop control Incremental encoder on motor 84 6 2 7 Brushless motor with sine cosine encoder on 84 ElectroCraft 2015 IX PRO Ax0V80x SA CAN Technical Reference 6 3 Acceleration 85 6
32. drives in complex multi axis applications reducing both the development time and the overall communication requirements For example instead of trying to command each movement of an axis you can program the drives using MPL to execute complex motion tasks and inform the master when these tasks are done Thus for each axis control the master job may be reduced at calling MPL functions stored in the drive EEPROM and waiting for a message which confirms the MPL functions execution completion ElectroCraft 2015 15 PRO Ax0V80x SA CAN Technical Reference PRO Ax0V80 drives are equipped with a serial RS232 and CAN 2 0B interface and be set hardware via a switch to operate in 2 modes CANopen MPLCAN When CANopen mode is selected the PRO Ax0V80 conforms to CiA 301 v4 2 application layer and communication profile CiA WD 305 v2 2 13 and CiA DSP 402 v3 0 device profile for drives and motion control now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards In this mode the PRO Ax0V80 may be controlled via a CANopen master As a bonus PRO Ax0V80 offers a CANopen master the option to call motion sequences written in MPL and stored in the drive EEPROM using manufacturer specific objects see for details par 5 3 When MPLCAN mode is selected the PRO Ax0V80 behaves as standard ElectroCraft intelligent drive and conforms to ElectroCraft protocol for exchanging MPL commands via CAN bus When MPLCAN
33. follows A Sin with A Sin B Cos with B Cos Z with Z Use another twisted pair for the 5V supply and GND b Always use shielded cables to avoid capacitive coupled noise when using single ended encoders or Hall sensors with cable lengths over 1 meter Connect the cable shield to the GND at only one end This point could be either the PRO Ax0V80 using the GND pin or the encoder motor Do not connect the shield at both ends If the PRO Ax0V80 5V supply output is used by another device like for example an encoder and the connection cable is longer than 5 meters add a decoupling capacitor near the supplied device between the 5V and GND lines The capacitor value can be 1 10 pF rated at 6 3V ElectroCraft 2015 52 PRO Ax0V80x SA CAN Technical Reference 3 3 16 Power Supply Connection 3 3 16 1 Supply Connection Power supply connection PRO Ax0V80x SA CAN Digital Outputs Digital Inputs Controller 4 phase Inverter Figure 3 19 Supply connection 3 3 16 2 Recommendations for Supply Wiring The PRO Ax0V80x SA CAN always requires two supply voltages and Vmot A 100uF capacitor rated at an appropriate voltage is recommended to be connected from Vig to GND Use short thick wires between the PRO Ax0V80 and the motor power supply Connect power supply wires to all the indicated pins If the wires are longer than 2 meters use twisted wires for the supply and ground
34. motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started MotionPRO Developer tries to communicate via 5 232 and COM with a drive having axis ID 255 default communication settings If the drive has a different axis ID and you don t know it select in the Communication Setup dialogue at Axis ID of drive motor connected to PC the option Autodetected If this drive is part of a CANbus network and the PC is serially connected with another drive use the menu command Communication Scan Network 5 2 3 8 Setup drive motor In the project window left side select S Setup to access the setup data for your application Project arci Gy Untitled Untitled Application Setup s M Motion Define Load Edit fiy Homing Modes Functions 3j Interrupts Gp CAM Tables 5 View Modify lt gt nis arna 74 20 Download to D gt ver 1 1 Drive Motor m Load from a previous version Upload from Drive Motor s View Modify Press View Modify button This opens 2 setup dialogues for Motor Setup and for Drive Setup same like on PRO Config through which you can configure an
35. opened from the Drive Setup Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 3 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal acceleration units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load acceleration in SI units is Load Acceleratbn SI xLoad Acceleratbn IU 4xNo encoder linesx where No encoder lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 4 Step motor open loop control No feedback device The internal acceleration units are motor usteps slow loop sampling period The correspondence with the load acceleration in SI units is Load Acceleratbn SI xMotor Acceleraton lU No ustepsxNo stepsxTrxT where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value the Drive Setup dialogue from PRO Config Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 5 Step motor open lo
36. or position control position or speed profiles external analog reference or sent via a communication bus e Electrocraft Motion Programming Language MPL instruction set for the definition and execution of motion sequences e Standalone operation with stored motion sequences Communication RS 222 serial up to 115kbits s e Dual RJ45 CAN Bus connectors up to 1Mbit s e Digital and analog I Os e 4 digital inputs 5 36 V programmable polarity sourcing NPN or sinking PNP 2 Limit switches and 2 general purpose 4 digital outputs 5 36 V OUTO with 2A and others with 0 5 A sinking NPN open collector Ready Error and 2 general purpose e 2 analog inputs 12 bit 10V and 0 5V Reference and Feedback or general purpose e Feedback devices dual loop support 1 feedback devices supported Incremental encoder interface differential Analog sin cos encoder interface differential 1Vpp Digital Hall sensor interface single ended and open collector 2 feedback devices supported Incremental encoder interface differential Pulse amp direction interface differential for external master digital reference Various motion programming modes Position profiles with trapezoidal or S curve speed shape e Position Velocity Time PVT 3 order interpolation e Position Time PT 1 order interpolation e Electronic gearing and camming e 35 Homing modes 127 h w addresses selectable by DIN switch MPLC
37. protocol is used it is not mandatory to have a master Any PRO Ax0V80 can be set to operate standalone and may play the role of a master to coordinate both network communication synchronization and the motion application via MPL commands sent directly to the other drives When higher level coordination is needed apart from a CANopen master the PRO Ax0V80 drives can also be controlled via a PC or a PLC using one of the MPL LIB motion libraries For PRO Ax0V80 commissioning PRO Config or MotionPRO Developer PC applications may be used PRO Config is a subset of MotionPRO Developer including only the drive setup part The output of PRO Config is a set of setup data that can be downloaded into the drive EEPROM or saved on a PC file At power on the drive is initialized with the setup data read from its EEPROM With PRO Config it is also possible to retrieve the complete setup information from a drive previously programmed PRO Config shall be used for drive setup in all cases where the motion commands are sent exclusively from a master Hence neither the PRO Ax0V80 MPL programming capability nor the drive camming mode are used MotionPRO Developer platform includes PRO Config for the drive setup and a Motion Wizard for the motion programming The Motion Wizard provides a simple graphical way of creating motion programs and automatically generates all the MPL instructions With MotionPRO Developer you can fully benefit from a key advantage of Elec
38. return For wires longer than 20 meters add a capacitor of at least 4 700uF rated at an appropriate voltage right on the terminals of the PRO Ax0V80 It is recommended to connect the negative motor supply return GND to the Earth protection near the power supply terminals ElectroCraft 2015 53 PRO Ax0V80x SA CAN Technical Reference 3 3 16 3 Recommendations to limit over voltage during braking During abrupt motion brakes or reversals the regenerative energy is injected into the motor power supply This may cause an increase of the motor supply voltage depending on the power supply characteristics If the voltage bypasses 84V the drive over voltage protection is triggered and the drive power stage is disabled In order to avoid this situation you have 2 options Option 1 Add a capacitor on the motor supply big enough to absorb the overall energy flowing back to the supply The capacitor must be rated to a voltage equal or bigger than the maximum expected over voltage and can be sized with the formula 2 r72 2 U max U vom where Umax 84V is the over voltage protection limit Unom is the nominal motor supply voltage the overall energy flowing back to the supply in Joules In case of a rotary motor and load can be computed with the formula 1 Ey my m 9 Kinetic energy Potential energy Copper losses Friction losses lay Tr where t
39. the MotionPRO Suite to create motion programs using the ElectroCraft Motion PROgramming Language MPL The MotionPRO Suite includes PRO Config for the drive motor setup and a Motion Editor for the motion programming The Motion Editor provides a simple way of creating motion programs and automatically generates all the MPL instructions With MotionPRO Developer you can fully benefit from a key advantage of ElectroCraft drives their capability to execute complex motions without requiring an external motion controller thanks to their built in motion controller Motion PRO Suite is available as part of a PRO Series Drive Evaluation Kit Please contact ElectroCraft or your local ElectroCraft sales representative for more information on obtaining MotionPRO Suite or an evaluation kit Series and LIB v2 0 Document No 11230 explains how to program in C C Visual Basic or Delphi Pascal a motion application for the ElectroCraft programmable drives using MPL LIB v2 0 ElectroCraft Document Number A11230 motion control library ElectroCraft 2015 IV PRO Ax0V80x SA CAN Technical Reference for PCs The MPL LIB includes 10 examples that can be executed on Windows or Linux x86 and x64 PRO Series and LabVIEW v2 0 Compatibility Document No A11231 explains how to program in LabVIEW a motion application for the ElectroCraft programmable drives using MPL LIB Labview v2 0 motion control library for PCs The MPL LIB La
40. units is Load Acceleratbn SI Motor Acceleratbon IU 4xNo encoder linesxTrxT where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 2 Brushless motor with linear Hall signals The internal acceleration units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load acceleration in SI units is For rotary motors 2xm Load Acceleratbn SI Motor Acceleraton IU resolutionx Trx T For linear motors Pole Pitch Load Acceleration SIl z resolution x Tr x T Motor Acceleration IU where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 1 SI units for acceleration are rad s for a rotary movement m s for a linear movement ElectroCraft 2015 85 PRO Ax0V80x SA CAN Technical Reference T is slow loop sampling period expressed in s You read this value in the Advanced dialogue which can be
41. with MotionPRO Developer platform for motion programming using MPL You will need MotionPRO Developer only if you plan to use the advanced features presented in Section 5 3 On request PRO Config can be provided on a CD too In this case after installation use the update via internet tool to check for the latest updates Once you have started the installation package follow its indications 4 2 Getting Started with PRO Config Using PRO Config you can quickly setup a drive for your application The drive can be connected with your PC in one of the following ways 1 Via an RS232 link directly connected to the PC or via an USB to RS232 adapter or using ElectroCraft Ethernet to RS232 adapter function of your PC communication interfaces 2 Via a CAN bus link directly connected to the PC through a PC CAN interface or using ElectroCraft Ethernet to CAN adapter 3 Via another drive from the same CAN bus network which is connected to the PC via one of the above options from point 1 The output of PRO Config is a set of setup data which can be downloaded into the drive EEPROM or saved on your PC for later use PRO Config includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure check and analyze your drive commissioning PRO Config works with setup data A setup contains all the information needed to configure and parameterize a ElectroCraft drive This i
42. 0 drive accepts the following basic services and types of communication objects of the CANopen communication profile CiA301 v4 2 Service Data Object SDO Service Data Objects SDOs are used by CANopen master to access any object from the drive s Object Dictionary Both expedited and segmented SDO transfers are supported SDO transfers are confirmed services The SDOs are typically used for drive configuration after power on for PDOs mapping and for infrequent low priority communication between the CANopen master and the drives Process Data Object Process Data Objects PDO are used for high priority real time data transfers between CANopen master and the drives The PDOs are unconfirmed services which are performed with no protocol overhead Transmit PDOs are used to send data from the drive and receive PDOs are used to receive on to the drive The PRO Ax0V80 accepts 4 transmit PDOs and 4 receive PDOs The contents of the PDOs can be set according with the application needs using the dynamic PDO mapping This operation can be done during the drive configuration phase using SDOs Synchronization Object SYNC The SYNC message provides the basic network clock as the SYNC producer broadcasts the synchronization object periodically The service is unconfirmed The PRO Ax0V80 supports both SYNC consumer and producer Time Stamp Object TIME The Time Stamp Object is supported by the PRO Ax0V80 device Emergency Object E
43. 6 12 4 DC brushed motor with tacho on motor 94 6 12 5 gt Step motor open loop control No feedback device or incremental encoder load 94 ElectroCraft 2015 X PRO Ax0V80x SA CAN Technical Reference 6 12 6 Step motor closed loop control Incremental encoder on motor 6 12 7 Brushless motor with sine cosine encoder motor Xi Memory ddr hebes Deb vb VERTS UE 96 ElectroCraft 2015 XI PRO Ax0V80x SA CAN Technical Reference This page is empty ElectroCraft 2015 XII PRO Ax0V80x SA CAN Technical Reference 1 Safety information Read carefully the information presented in this chapter before carrying out the drive installation and setup It is imperative to implement the safety instructions listed hereunder This information is intended to protect you the drive and the accompanying equipment during the product operation Incorrect handling of the drive can lead to personal injury or material damage Only qualified personnel may install set up operate and maintain the drive A qualified person has the knowledge and authorization to perform tasks such as transporting assembling installing commissioning and operating drives The following safety symbols are used in this manual SIGNALS A DANGER THAT MIGHT CAUSE BODILY WARNING
44. AN and CANopen 301 v4 2 305 v 2 2 13 and 402 v3 0 protocols selectable by DIN switch e 16K x 16 internal SRAM memory for data acquisition e 16K x 16 E ROM to store MPL motion programs cam tables and other user data ElectroCraft 2015 17 PRO Ax0V80x SA CAN Technical Reference PWM switching frequency up to 125kHz Motor supply 12 75V Logic supply 9 36V Separate supply is optional e Output current PRO A10V80x SA CAN 10A continuous 20A peak PRO A20V80x SA CAN 20A continuous 40A peak e Operating ambient temperature 0 40 C over 40 C with derating Protections Short circuit between motor phases Short circuit from motor phases to ground Over voltage Under voltage Over current Over temperature Communication error Control error 40A cont with DC step and BLDC motors trapezoidal 10A amplitude 7 1 for sinusoidal 20A cont with DC step and BLDC motors trapezoidal 20A amplitude 14 2 for PMSM sinusoidal ElectroCraft 2015 18 PRO Ax0V80x SA CAN Technical Reference 2 3 Supported Motor Sensor Configurations PRO Ax0V80x SA CAN supports the following configurations 1 Position speed or torque control of a brushless AC rotary motor with an incremental quadrature encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors t
45. J3 Primary feedback connector 37 3 3 5 J4 Secondary feedback connector 37 3 3 6 45 Digital analog I O and logic supply connector 37 3 3 7 J6 J7 CAN Bus connectors eessssseeeeeem n eene nennen nnne nnn nnn nnns 38 3 3 8 J8 Enable STO connector pinout Labelled STO 38 3 3 9 J9 R8232 connector eerte dece eer eder pete EE x enne 38 3 3 10 AxisiD DIP switch 39 3 3 11 24 Digital I O GOBDngcllOft ciel oe e eee 40 3 3 12 SV Digital VO Connection ee 42 3 3 13 Analog Inputs 43 Sid M t r CONMECHONS cere ho pb a 45 3 3 15 Feedback contnmeclioris ceret m oa ie er PR UN AU NE EUR P 48 3 3 16 gt Power Supply 53 3 3 17 Serial H8 232 eee re e eee ee 56 3 3 18 JGANDUS CODDSCIOF S en it ente mer aM eden ale 57 3 3 19 Disabling Autorun 59 3 4 Selection of the Operation mode and Axis ID DIP Switch Settings 60 94 cat iata i a ee B pia 60 4 Step 2 Drive co nana ana
46. Kbps 500kbps and 1Mbps Using the Drive Setup dialogue you can choose the initial CAN rate after power on This information is stored in the setup table The CAN rate is initialized using the following algorithm a If a valid setup table exists and this setup table was created with the Set baud rate checkbox checked in the Drive Setup dialogue see above with the value read from the setup table This value can be one of the above 4 values or the firmware default F W default which is 500kbs b If a valid setup table exists and this setup table was created with the Set baud rate checkbox unchecked in the Drive Setup dialogue see above with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol If the setup table is invalid with the last value set either from a valid setup table or by a CANopen master via CiA 305 protocol d If the setup table is invalid there is no previous CAN rate set from a valid setup table or by a CANopen master with f w default value which is 500kbs 4 5 Creating an Image File with the Setup Data Once you have validated your setup you can create with the menu command Setup Create EEPROM Programmer File a software file with extension sw which contains all the setup data to write in the EEPROM of your drive A software file is a text file that can be read with any text editor It contains blocks of data separated by an empty row Each block of data starts wit
47. MCY Emergency objects are triggered by the occurrence of a drive internal error situation An emergency object is transmitted only once per error event As long as no new errors occur the drive will not transmit further emergency objects Network Management Objects NMT The Network Management is node oriented and follows a master slave structure NMT objects are used for executing NMT services Through NMT services the drive can be initialized started monitored reset or stopped The PRO Ax0V80 is a NMT slave in a CANopen network Module Control Services through these unconfirmed services the NMT master controls the state of the drive The following services are implemented Start Remote Node Stop Remote Node Enter Pre Operational Reset Node Reset Communication ElectroCraft 2015 69 PRO Ax0V80x SA CAN Technical Reference Error Control Services through these services the NMT master detects failures in a CAN based network Both error control services defined by DS301 v4 02 are supported by the PRO Ax0V80 Node Guarding including Life Guarding and Heartbeat Bootup Service through this service the drive indicates that it has been properly initialized and is ready to receive commands from a master 5 1 2 CiA 305 Layer Setting Services LSS and Protocols Overview When used in a CANopen network the PRO Ax0V80 drives accept node ID and CAN bus bit timing settings according with CiA 305 protocol This all
48. N outputs 24V NPN Outputs Connection PRO Ax0V80x SA CAN Red LED 5V 77 Vos Voos OUT2 Error 0 5 or 36V max Green LED 5V 77 OUT3 Ready Outputs Controller Figure 3 4 24V Digital NPN Outputs connection Remark The outputs are compatible with NPN type inputs load is tied to common output pulls to GND when active and is floating when inactive ElectroCraft 2015 41 PRO Ax0V80x SA CAN Technical Reference 3 3 12 5V Digital I O Connection I O Connection PRO Ax0V80x SA CAN IN2 LSP INS LSN Inputs Red LED 5V 77 470R 357 LOAD 5v i 0 6 OUT2 Error Green LED 5V 7 470R 357 LOAD 7 um EE D 06 Controller 357 LOAD 7 5V e 0 6 2 Outputs lt max 4mA j LOAD LOAD 357 2 OUT aso ER t O6Amax gt max 4 OND 5Vo Out Figure 3 5 5V Digital connection Remarks 1 The inputs are selectable PNP by software For this connection they selected as PNP The inputs are compatible with TTL 5V LVTTL 3 3V CMOS 3 3V 24V outputs The outputs are compatible with TTL 5V and CMOS 5V inputs The output loads can be individually and independently connected to 5V or to GND ElectroCraft 2015 42 PRO Ax0V80x SA CAN Technical Reference 3 3 13 An
49. The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load position in SI units is For rotary motors Load Positior ST DEE Motor resolutionx Tr Pole Pitch Tr For linear motors Load Position SI xMotor Position IU where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 1 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal position units are encoder counts The motor is rotary and the transmission is rotary to rotary The correspondence with the load position in SI units is 191 units for position rad for a rotary movement m for a linear movement ElectroCraft 2015 80 PRO Ax0V80x SA CAN Technical Reference Load Positiorfrad 2 xLoad Position IU 4xNo encoder lines where No encoder lines is the encoder number of lines per revolution 6 1 4 Step motor open loop control No feedback device The internal position units are motor usteps The correspondence with the load position in SI units is Load Positior SI ani Motor PositiorilU No ustepsxNo stepsxTr where No steps is the number of motor steps per revoluti
50. able conditions protections triggered transitions on limit switch or capture inputs etc e Waits for programmed events to occur Handle digital I O and analog input signals Execute arithmetic and logic operations Perform data transfers between axes Control motion of an axis from another one via motion commands sent between axes Send commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Synchronize all the axes from a network In order to program a motion using MPL you need MotionPRO Developer software platform 5 2 2 Installing MotionPRO Developer MotionPRO Developer is an integrated development environment for the setup and motion programming of ElectroCraft intelligent drives It comes with an Update via Internet tool through which you can check if your software version is up to date and when necessary download and install the latest updates MotionPRO Developer is delivered on a CD Once you have started the installation package follow its indications After installation use the update via internet tool to check for the latest updates 1 Optional for PRO Ax0V80 CANopen execution The customization of the homing routines is available only for PRO Ax0V80 CAN execution ElectroCraft 2015 71 PRO Ax0V80x SA CAN Technical Reference 5 2 3 Getting Started with MotionPRO Developer Using MotionPRO Developer you can quickly do the setup and t
51. ake into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives always refer to the load Motor PRO Ax0V80x SA CAN Incremental quadrature encoder Figure 2 1 Brushless AC rotary motor Position speed torque control Quadrature encoder on motor Position speed or torque control of a brushless AC rotary motor with an incremental sine cosine encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives always refer to the load Motor PRO Ax0V80x SA CAN Sin Cos incremental encoder Figure 2 2 Brushless AC rotary motor Position speed torque control Sine cosine incremental encoder on motor 1 Motion commands can be referred to the motor by setting in PRO Config a rotary to rotary transmission with ratio 1 1 ElectroCraft 2015 19 PRO Ax0V80x SA CAN Technical Reference 3 Position speed or torque control of a brushless DC rotary motor with digital Hall sensors and an incremental quadrature encoder on its shaft The brushless motor is controlled using Hall sensors for commutation It works with
52. alog Inputs Connection 3 3 13 1 0 5V Input Range 0 5V Analog Inputs PRO Ax0V80x SA CAN Connection J4 5VouT Controller 5Vour 10 Figure 3 6 0 5V Analog inputs connection 3 3 13 2 10 Input Range 10V Analog Input PRO Ax0V80x SA CAN Connection REFSEL REF5 REF 10 Controller HOV Connected to case Figure 3 7 10 Analog inputs connection ElectroCraft 2015 43 PRO Ax0V80x SA CAN Technical Reference 3 3 13 3 Recommendations for Analog Signals Wiring a If the analog signal source is single ended use a 2 wire shielded cable as follows 1 wire connects the live signal to the drive positive input 2 wire connects the signal ground to the drive negative input b If the analog signal source is differential and the signal source ground is isolated from the drive GND use 3 wire shielded cable as follows 1 wire connects the signal plus to the drive positive input 2 wire connects the signal minus to the drive negative input and 3 wire connects the source ground to the drive GND If the analog signal source is differential and the signal source ground is common with the drive GND use 2 wire shielded cable as follows 1 wire connects the signal plus to the drive positive input 2 wire connects the signal minus to the drive negative input d For all of the above cases connect the cable shield to
53. ar Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives always refer to the load Motor PRO Ax0V80x SA CAN Incremental quadrature encoder Figure 2 14 Encoder on motor shaft Closed loop control motor position speed or torque Motion commands can be referred to the motor by setting in PRO Config a rotary to rotary transmission with ratio 1 1 ElectroCraft 2015 25 PRO Ax0V80x SA CAN Technical Reference 24 PRO Ax0V80x SA CAN Drive Dimensions 139 135 8 wo e PRO Ax0V80x SA CAN N 3 A P All dimensions are in mm Drawings not to scale Global tolerance mmi 0 1 Figure 2 15 PRO Ax0V80x SA CAN drive dimensions 2 5 Identification Labels P PRO Ax0V80x SA CAN c L pon ARRAN Identification label wil serial number Figure 2 16 PRO Ax0V80x SA CAN Identification Labels ElectroCraft 2015 26 PRO Ax0V80x SA CAN Technical Reference 2 6 Electrical Specifications All parameters measured under the following conditions unless otherwise specified Tamb 0 40 C 24 75Vpc Supplies start up shutdown sequence any Load current sinusoidal amplitude continuous BLDC DC stepper 20A PRO A20V80 10A PRO A10V80 2 6 1 Operating
54. associated feedback sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Close the Drive setup dialogue with OK to keep all the changes regarding the motor and the drive setup ElectroCraft 2015 Motor sensors Type Incremental Encoder 7 Connector Feedback 1 E No oflines tev 500 lines z Test Connections Detect Number of Lines IV Hall sensors Hall configuration g z Test Connections Detect Hall Configuration Filter encoder inputs to Temperature 1 I Reverse encoder counting Load sensors Type None Database Electrocraft j Drive Setup Delete Help Cancel Motor brake on output line QUTO b Save ta User Database m Motor brake when NEN sink GND Drive notactive ive active Brake applied Brake released i ae ES Brake release delay 0 E Transmission to load Transmission type Rotary to rotary Rotary to linear C Linear to rotary C Linear to linear Motor displacement of 1 rot corresponds on load to ho dp s 64 PRO Ax0V80x SA CAN Technical Re
55. ation see Note Ann Arbor MI 48108 USA ElectroCraft 2015 VI PRO Ax0V80x SA CAN Technical Reference III 1 Safety ene er inre ken cedi ia ce cw ve o 13 Tob WANING iini ie ee d a eub uod DELE E 13 125 cocto bxc dee ieee a de ee a eee ei ahd 13 2 Product 15 2 15 Medeo out EN 15 22 ROY FO AROS op RU eod 17 2 3 Supported Motor Sensor Configurations 19 2 4 PRO Ax0V80x SA CAN Drive Dimensions 26 2 85 Identification Dia v va paa a e SS 26 2 6 Electrical Specifications eee ne het iacet En a Red E genter xe ad dap aS En Ra Redes 27 2 6 1 Operating Sus 27 2 6 2 Storage Conditions Kasse 27 2 6 3 Mechanical Mounting ieee ne ee ean ieee eee 27 2 6 4 Environmental Characteristics 27 2 6 5 Logic Supply Input Vroa eec eme eco emere 28 2 6 6 Motor Supply Input CE ru abd oc tnb eae Eti 28 2 67 J Enable STO NPS ccu aen eise CE ee
56. bVIEW includes over 40 ready to run examples PRO Series and PLC Siemens Series S7 300 or S7 400 Document No A11232 explains how to program in a PLC Siemens series S7 300 or 57 400 a motion application for the ElectroCraft programmable drives using MPL LIB S7 motion control library The MPL LIB S7 library is IEC61131 3 compatible PRO Series and PLC Omron Series CJ1 Document No A11233 explains how to program in a PLC Omron series CJ1 a motion application for the ElectroCraft programmable drives using MPL LIB CJ1 motion control library for PLCs The MPL LIB CJ1 library is IEC61131 3 compatible PRO Series and X20 Document No A11234 explains how the MPL LIB X20 library is IEC61131 3 compatible ElectroCAN Document No A11235 presents ElectroCAN protocol an extension of the CANopen communication profile used for MPL commands ElectroCraft 2015 V PRO Ax0V80x SA CAN Technical Reference If you Need Assistance If you want to Contact ElectroCraft at Visit ElectroCraft online World Wide Web http www electrocraft com Receive general information World Wide Web http www electrocraft com or assistance see Note Email drivesupport electrocraft com Ask questions about Tel 1 734 662 7771 product operation or report Email drivesupport electrocraft com suspected problems see Note Make suggestions about Mail ElectroCraft Michigan or report errors in 4480 Varsity Drive Suite G document
57. c AES od 28 2 6 8 Motor Outputs A A B A C B 28 2 6 9 Digital Inputs INO IN1 IN2 LSP 5 29 2 6 10 Digital Outputs OUTO OUT1 OUT2 Error 31 2 6 11 Digital Hall Inputs Hall2 3 31 2 6 12 Encoder Inputs 1 A1 1 B1 Z1 Z1 2 A2 2 B2 22 Z2 32 2 6 13 Sin Cos Encoder Inputs Sin Sin Cos Cos 32 2 6 14 Analog 0 5V Inputs REF 32 2 6 15 Analog 33 20b FE 33 GANEBUS ptione haeo 33 2 6 18 Supply Output SV uu ete tas estet on ete eut tie be 34 220 PG ENN 34 3 Step 1 Hardware Installation 35 ElectroCraft 2015 VII PRO Ax0V80x SA CAN Technical Reference 3 1 Mechanical Mounting eodd hd mte 35 3 2 Mating 35 3 3 Connectors and Connection Diagrams 36 3 3 1 Connector Layout tee erg t bed e etd ele 36 3 3 2 J1 Power supply input connector 36 333 M tor coe MC e ont ed e du Rem eos do d depu 37 3 3 4
58. ches Restrict movement between Position controller Kp 1358 Integral limit 10 s Start mode Ki 6 79 0 Acceleration G CN Feedforward Move till aligned with phase Current used of 1905 34 0 speed BLDC with Hall sensors nominal current gt Kd fiter 01 PMSM with Hall sensors Time to align on phases 1 s EG Motionless start encoder only In Drive Setup choose the inputs type PNP or NPN 4 2 4 Download setup data to drive motor Press the Download to Drive Motor button 9 to download your setup data in the drive motor EEPROM memory in the setup table From now on at each power on the setup data is copied into the Save drive motor RAM memory which is used during runtime It is also possible to Save the setup data on your PC and use it in other applications To summarize you can define or change the setup data in the following ways create a new setup data by going through the motor and drive dialogues Use setup data previously saved in the PC Upload setup data from a drive motor EEPROM memory ElectroCraft 2015 65 PRO Ax0V80x SA CAN Technical Reference 4 2 5 Evaluate drive motor behavior optional You can use the Data Logger or the Control Panel evaluation tools to quickly measure and analyze your application behavior In case of errors like protections triggered use the Drive Status
59. chnical Reference The major advantage of encapsulating programming instructions in motion objects is that you can very easily manipulate them For example you can Save and reuse a complete motion program or parts of it in other applications delete move copy insert enable or disable one or more motion objects Group several motion objects and work with bigger objects that perform more complex functions As a starting point push for example the leftmost Motion Wizard button Trapezoidal profiles and set a position or speed profile Then press the Run button At this point the following operations are done automatically AMPL program is created by inserting your motion objects into a predefined template MPL program is compiled and downloaded to the drive motor MPL program execution is started For learning how to send MPL commands from your host master using one of the communication channels and protocols supported by the drives use menu command Application Binary Code Viewer Using this tool you can get the exact contents of the messages to send and of those expected to be received as answers 5 2 8 5 Evaluate motion application performances MotionPRO Developer includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly measure and analyze your motion application 5 2 4 Creating an Image File with the Setup Data and the MPL Pro
60. control panel to find the cause 4 3 Changing the drive Axis ID Drive Setup Guideline assistant Control mode External reference Position C No Yes Setup mm 1 Inthe Control mode group box select what do C Speed Analogue Incremental Encoder Cams you want to control position speed or torque In the Automatically activated after Power On Help lt lt Commutation method gt gt group box choose sinusoidal or ans trapezoidal mode The trapezoidal mode is possible only if your Ad 4 Commutation method motor is equipped with digital Hall sensors Advanced C Trapezoidal Sinusoidal M otor Axis ID selection omme Drive Info Set change axis ID Y Setup CANbus Protections 2 Baud rate FAW default Y settings Over current 3 Motor current 10 4 vif 4 Drive operation parameters 5 Detect control error supe qot mu Position error yg rot Y for m 7 vj Current limit 7 4 20 m 3 Current controller 1 4245 12 Ki 10 16367 Tune amp Test Overcurrent 10 i for 14 s vj The axis ID of an PRO Ax0V80 drive can be set in ways Hardware H W according with AxisID DIP switch SW1 par 3 4 Software via Setup any value between 1 and 255 stored in the setup table If the drive is in CANopen mode a Node ID value above
61. controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives always refer to the load Motor gt LINEAR MOTOR Incremental Sin Cos encoder Figure 2 5 Brushless AC linear motor Position speed torque control Sine cosine incremental encoder on motor 6 Position speed or torque control of a brushless AC linear motor with an incremental quadrature linear encoder on the track The brushless motor is vector controlled like a permanent magnet synchronous motor It works with sinusoidal voltages and currents Scaling factors take into account the transmission ratio between motor and load linear or rotary Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives always refer to the load Motor TT LINEAR MOTOR Incremental quadrature encoder Figure 2 6 Brushless AC rotary motor with incremental quadrature linear encoder Position speed torque control Motion commands can be referred to the motor by setting in PRO Config a rotary to rotary transmission with ratio 1 1 ElectroCraft 2015 21 PRO Ax0V80x SA CAN Technical Reference 7 Dual loop position and speed control of brushless DC linear m
62. correspondence with the load jerk in SI units is 2xm For rotary motors Load Jerk SI xMotor Jerk IU 4xEnc periodsxInterpolatonx Trx T Forlinear motors Load Jerk sn 79998 accuracy Motor Interpolatonx Trx T where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period Its number power of 2 between 1 an 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 5 Current units The internal current units refer to the motor phase currents The correspondence with the motor currents in A is 2xlpeak 65520 where lpeak is the drive peak current expressed in A You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Current A 6 6 Voltage command units The internal voltage command units refer to the voltages applied on the motor The significance of the voltage commands as well as the scaling factors depend on the motor type and control method used In case of brushless motors driven in sinusoidal mode a field oriented vector contr
63. ctroCraft 2015 22 PRO Ax0V80x SA CAN Technical Reference 9 Dual loop position and speed control of a brushed DC rotary motor with an incremental quadrature on the motor and an incremental encoder on the load The speed loop is controlled with the encoder on the motor and the position loop is controlled with the encoder on the load Motor PRO Ax0V80x SA CAN Incremental quadrature encoder Incremental quadrature encoder Figure 2 9 DC brushed rotary motor Position and speed control Quadrature encoders on motor and load 10 Load position control using an incremental quadrature encoder on load combined with speed control of a DC brushed rotary motor having a tachometer on its shaft The motion commands for position speed and acceleration expressed in SI units or derivatives always refer to the load Motor PRO Ax0V80x SA CAN Incremental quadrature encoder Figure 2 10 DC brushed rotary motor Position speed torque control Quadrature encoder on load plus tachometer on motor Motion commands can be referred to the motor by setting in PRO Config a rotary to rotary transmission with ratio 1 1 ElectroCraft 2015 23 PRO Ax0V80x SA CAN Technical Reference 11 12 Speed or torque control of a DC brushed rotary motor with a tachometer on its shaft Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for speed and acceleration e
64. d Sa N AM 07 95 In TO x tm 7 16 32 9 g ex ff Untitled Main EB Untitled Application S Setup Homing Modes Functions 1 Interrupts CAM Tables The Motion Wizard offers you the possibility to program all the motion sequences using high level graphical dialogues which automatically generate the corresponding MPL instructions Therefore with Motion Wizard you can develop motion programs using almost all the MPL instructions without needing to learn them A MPL program includes a main section followed by the subroutines used functions interrupt service routines and homing procedures The MPL program may also include cam tables used for electronic camming applications When activated Motion Wizard adds set of toolbar buttons in the project window just below the title Each button opens programming dialogue When programming dialogue is closed the associated MPL instructions are automatically generated Note that the MPL instructions generated are not simple text included in file but motion object Therefore with Motion Wizard you define your motion program as collection of motion objects The customization of the interrupt service routines and homing routines is available only for PRO Ax0V80 CAN execution Optional for PRO Ax0V80 CANopen execution ElectroCraft 2015 76 PRO Ax0V80x SA CAN Te
65. d in SI units is Analogue Input Range 4096 x Tacho gain Motor_SpeedS SpeedlU where Analog_Input_Range is the range of the drive analog input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho_gain is the tachometer gain expressed in V rad s 6 12 5 Step motor open loop control No feedback device or incremental encoder on load The internal motor speed units are motor usteps slow loop sampling period The correspondence with the motor speed in SI units is 2xm M otor SpeedSI HSDP ENG otor SpeedlU where No steps is the number of motor steps per revolution SI units for motor speed are rad s for a rotary motor m s for a linear motor ElectroCraft 2015 94 PRO Ax0V80x SA CAN Technical Reference No usteps is the number of microsteps per step You read change this value the Drive Setup dialogue from PRO Config T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 12 6 Step motor closed loop control Incremental encoder on motor The internal motor speed units are motor encoder counts slow loop sampling period The correspondence with the load speed in SI units is 2 Motor S SI Motor_S IU 4xNo encoder
66. d parameterize an ElectroCraft 2015 75 PRO Ax0V80x SA CAN Technical Reference ElectroCraft drive In the Motor setup dialogue you can introduce the data of your motor and associated sensors Data introduction is accompanied by a series of tests having as goal to check the connections to the drive and or to determine or validate a part of the motor and sensors parameters In the Drive setup dialogue you can configure and parameterize the drive for your application In each dialogue you will find a Guideline Assistant which will guide you through the whole process of introducing and or checking your data Download to Drive Motor drive motor EEPROM memory in the setup table From now at each power on the setup data is copied into the drive motor RAM memory which is used during runtime It is also possible to save the setup data on your PC and use it in other applications Note that you can upload the complete setup data from a drive motor Press the Download to Drive Motor button to download your setup data in the To summarize you can define or change the setup data of an application in the following ways create a new setup data by going through the motor and drive dialogues Use setup data previously saved in the PC upload setup data from a drive motor EEPROM memory 5 2 3 4 Program motion In the project window left side select M Motion for motion programming This automatically activates the Motion Wizar
67. ding to the axis ID of the drives motors from the network All data exchanges are done with the drive motor having the same address as the selected application In the second case all the applications have the same axis number The setup component contains all the information needed to configure and parameterize an ElectroCraft drive This information is preserved in the drive motor EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive motor and is used during runtime The motion component contains the motion sequences to do These are described via a MPL Motion Programming Language program which is executed by the drives motors built in motion controller ElectroCraft 2015 72 PRO Ax0V80x SA CAN Technical Reference 5 2 3 4 Create a new project MotionPRO Developer starts with an empty window from where you can create a new project or open a previously created one MotionPRO Developer 5 al When you start a new project MotionPRO Developer automatically creates a first application Additional applications can be added later You can duplicate an application or insert one defined in another project Press New button to open the New Project dialogue Set the axis number for your first application equal with your drive motor axis ID The initial value proposed is 255 which is the default axis ID of the drives Press New button and select your drive type Depe
68. e EEPROM together with the setup data and the MPL programs functions Remark The cam tables are included in the sw file generated with MotionPRO Developer Therefore the drives can check the cam presence in the drive EEPROM using the same procedure as for testing of the setup data 5 3 4 Customizing the Homing Procedures The PRO Ax0V80 supports all homing modes defined in CiA402 device profile plus 4 custom based on hard stop If needed any of these homing modes can be customized In order to do this you need to select the Homing Modes from your MotionPRO Developer application and in the right side to set as User defined one of the Homing procedures Following this operation the selected procedure will occur under Homing Modes in a subtree with the name where X is the number of the selected homing TE Project EZECH Untitled Homing Modes c Bg Untitled Application home1 Homing on the negative limit switch and index pulse Move negative until the negative limit C Default Reload default S Setup switch is reached Reverse and stop at the first index pulse after the negative limit switch becomes s User defined E M Motion home2 Homing on the positive limit switch and index pulse Move positive until the positive limit Default Re fiu switch is reached Reverse and stop the first index pulse after the positive limit switch becomes 7 User defined E oming Modes A El home3 Homing on the positive home switch and inde
69. e drive has in its local EEPROM a valid MPL application motion program this is automatically executed as soon as the motor supply is turned on In order to disable Autorun mode there are 2 methods a Software by writing value 0x0001 in first EEPROM location at address 0x4000 b Hardware by temporary connecting all digital Hall inputs to GND during the power on for about 1 second until the green LED is turned on as shown in Figure 3 23 This option is particularly useful when it is not possible to communicate with the drive After the drive is set in non Autorun slave mode using 2 method the 1 method may be used to invalidate the MPL application from the EEPROM On next power on in absence of a valid MPL application the drive enters in the non Autorun slave mode independently of the digital Hall inputs status Connection for PRO Ax0V80x SA CAN Non Autorun 2 en o Figure 3 23 Temporary connection during power on to disable Autorun mode ElectroCraft 2015 59 PRO Ax0V80x SA CAN Technical Reference 3 4 Selection of the Operation mode and Axis ID DIP Switch Settings The Operation mode is selected by the DIP switch pin1 ON CANopen mode OFF MPLCAN mode The drive AxisID value is set after power on by Software setting via PRO Config a specific AxisID value in the range 1 255 Hardware by setting h w in PRO Config and selecting a value between 1 127 from the switch Swi
70. ectroCraft 2015 81 PRO Ax0V80x SA CAN Technical Reference 2xm E Load Positior SI Motor Positior lU z 4 periodsxInterpolatonx Tr Tul For linear motors Load Position sy Coder accuracy PositiorfiU Interpolatonx Tr where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Interpolation is the interpolation level inside an encoder period is a number power of 2 between 1 and 256 1 means no interpolation Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 2 Speed units The internal speed units are internal position units slow loop sampling period i e the position variation over one slow loop sampling period 6 2 1 Brushless DC brushed motor with quadrature encoder on motor The internal speed units are encoder counts slow loop sampling period The correspondence with the load speed in SI units is Load S SI Motor SpeedlU oad 4 encoder linesx Trx T Spes where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from t
71. ed or torque control and work in single multi axis or stand alone configurations Thanks to the embedded motion controller the PRO Ax0V80x SA CAN drives combine controller drive and PLC functionality in a single compact unit and are capable to execute complex motions without requiring intervention of an external motion controller Using the high level Electrocraft Motion Programming Language MPL the following operations can be executed directly at drive level Q Setting various motion modes profiles PVT PT electronic gearing or camming etc Changing the motion modes and or the motion parameters Executing homing sequences Controlling the program flow through Conditional jumps and calls of MPL functions MPL interrupts generated on pre defined or programmable conditions protections triggered transitions on limit switch or capture inputs etc Waits for programmed events to occur Handling of digital I O and analog input signals Executing arithmetic and logic operations Performing data transfers between axes Controlling motion of an axis from another one via motion commands sent between axes Ooocdts Sending commands to a group of axes multicast This includes the possibility to start simultaneously motion sequences on all the axes from the group Synchronizing all the axes from a network By implementing motion sequences directly at drive level you can really distribute the intelligence between the master and the
72. expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 2 4 brushed motor with tacho on motor When only a tachometer is mounted on the motor shaft the internal speed units are A D converter bits The correspondence with the load speed in SI units is Analogue Input Range Load S SI cad speedo 4096 x Tacho_gainx Tr xMotor_ SpeedIU where Analog Input Range is the range of the drive analog input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 6 2 5 Step motor open loop control No feedback device The internal speed units are motor usteps slow loop sampling period The correspondence with the load speed in SI units is 2xm Load SpeedsSI Motor SpeedlU Speeds No ustepsxNo stepsxTrxT where No steps is the number of motor steps per revolution No usteps is the number of microsteps per step You can read change this value the Drive Setup dialogue from PRO Config Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 1 SI units for speed rad s for a rotary movement
73. ference 4 2 3 Selecting NPN PNP inputs type in Setup DriveSetup Guideline assistant Hes jr ae m Step 1 Inthe Control mode gt gt group box select what do Speed Analogue Incremental Encoder Cancel you want to control position speed or torque In the eic Automatically activated after Power On Help Commutation method group box choose sinusoidal or qu OK trapezoidal mode The trapezoidal mode is possible only if your Commutation method motor is equipped with digital Hall sensors Advanced C Trapezoidal Sinusoidal Moto Axis ID selection Setup X Drive Info IV change axis ID HAW CANbus Protections Baudrate FAw defaut v CANopen settings Over current Motor current 10 4 for more than 0 01 s Ei Drive operation parameters Vc Control error Detect supply 24 v Position error gt 0 5 rot Z for more than 3 js Current limit 7 IF Current controller p 210 rpm Kp 1 4245 121 Ki 0 16367 TRETEN Overcurrent 10 A External brake resistor Connected 81 V hd M Inputs polarity Limit switch Limit switch Type Active high Connected to e Sink Active low Open No connection C C 14 s 1 Software limit swit
74. g period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 7 Brushless motor with sine cosine encoder on motor The internal acceleration units are interpolated encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary motors Load Acceleratbn SI EM x Motor Acceleratbon IU 4 periodsxInterpolatonx Trx T For linear motors Load Acceleraton Sl Bs xMotor Acceleratbon IU Interpolatonx Trx T where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period It is a number power of 2 between 1 and 256 1 means no interpolation Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You read this value in the Advanced dialogue which can be opened from the Drive Setup SI units for acceleration are rad s for a rotary movement m s for a linear movement ElectroCraft 2015 87 PRO Ax0V80x SA CAN Technical Reference 6 4 Jerk units The internal jerk units are internal position units slow loop sampling period i e the acceleration variation over one slow loop
75. gram Once you have validated your application you can create with the menu command Application Create EEPROM Programmer File a software file with extension sw which contains all the data to write in the EEPROM of your drive This includes both the setup data and the motion program For details regarding the sw file format and how it can be programmed into a drive see paragraph 4 5 5 3 Combining CANopen or other host with MPL Due to its embedded motion controller PRO Ax0V80 offers many programming solutions that may simplify a lot the task of a CANopen master This paragraph overviews a set of advanced programming features which arise when combining MPL programming at drive level with CANopen master control A detailed description of these advanced programming features is included in the CANopen Programming manual All features presented below require usage of MotionPRO Developer as MPL programming tool Remark If you don t use the advanced features presented below you don t need MotionPRO Developer In this case the PRO Ax0V80 is treated like a standard CANopen drive whose setup is done using PRO Config 5 3 1 Using MPL Functions to Split Motion between Master and Drives With ElectroCraft intelligent drives you can really distribute the intelligence between a CANopen master and the drives in complex multi axis applications Instead of trying to command each step of an axis movement you can program the drives using MPL to execute c
76. h the block start address followed by data values to place in ascending order at consecutive addresses first data to write at start address second data to write at start address 1 etc All the data are hexadecimal 16 bit values maximum 4 hexadecimal digits Each row contains a single data value When less than 4 hexadecimal digits are shown the value must be right justified For example 92 represents 0x0092 The sw file can be programmed into a drive a CANopen master using the communication objects for writing data into the drive EEPROM from a host PC or PLC using the MPL LIB functions for writing data into the drive EEPROM using the EEPROM Programmer tool which comes with PRO Config but may also be installed separately The EEPROM Programmer was specifically designed for repetitive fast and easy programming of sw files into the ElectroCraft drives during production ElectroCraft 2015 68 PRO Ax0V80x SA CAN Technical Reference 5 Step 3 Motion Programming 5 1 Using a CANopen Master for PRO Ax0V80 CANopen execution The PRO Ax0V80 drive conforms to 301 v 4 2 application layer and communication profile CiA WD 305 v 2 2 13 layer settings services and protocols and CiA DSP 402 v3 0 device profile for drives and motion control the now included in IEC 61800 7 1 Annex A IEC 61800 7 201 and IEC 61800 7 301 standards 5 1 1 301 Application Layer and Communication Profile Overview The PRO Ax0V8
77. he Drive Setup 6 2 2 Brushless motor with linear Hall signals The internal speed units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load speed in SI units is For rotary motors Load SpeedSI xMotor SpeedlU resolutionx Trx T Pole Pitch For linear motors Load Speed SI resolutionx Tr x T Speed IU where resolution is the motor position resolution ElectroCraft 2015 82 PRO Ax0V80x SA CAN Technical Reference Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 2 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal speed units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load speed in SI units is L Load S IU Gad Ppeedot 4xNo encoder lines T where No encoder lines is the encoder number of lines per revolution T is the slow loop sampling period
78. he motion programming of an ElectroCraft a drive according with your application needs The drive can be connected with your PC in one of the following ways 1 Via an RS232 link directly connected to the PC or via an USB to RS232 adapter or using ElectroCraft Ethernet to RS232 adapter function of your PC communication interfaces 2 Via a CAN bus link directly connected to the PC through a PC CAN interface or using ElectroCraft Ethernet to CAN adapter 3 Via another drive from the same CAN bus network which is connected to the PC via one of the above options from point 1 The output of the MotionPRO Developer is a set of setup data and a motion program which can be downloaded to the drive motor EEPROM or saved on your PC for later use MotionPRO Developer includes a set of evaluation tools like the Data Logger the Control Panel and the Command Interpreter which help you to quickly develop test measure and analyze your motion application MotionPRO Developer works with projects A project contains one or several Applications Each application describes a motion system for one axis It has 2 components the Setup data and the Motion program and an associated axis number an integer value between 1 and 255 An application may be used either to describe 1 One axis in a multiple axis system 2 An alternate configuration set of parameters for the same axis In the first case each application has a different axis number correspon
79. he motor encoder number of lines per revolution 6 11 7 Brushless motor with sine cosine encoder on motor The internal motor position units are interpolated encoder counts The correspondence with the motor position in SI units is For rotary motors Motor PositiorfS E x Motor PositiorlU 4 periodsxInterpolaton For linear motors Encoder accuracy Motor Positior ST Interpolaton Motor where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Interpolation is the interpolation level inside an encoder period It is a number power of 2 between 1 and 256 1 means no interpolation Encoder accuracy is the linear encoder accuracy in m for one sine cosine period 6 12 Motor speed units 6 12 1 Brushless DC brushed motor with quadrature encoder on motor The internal motor speed units are encoder counts slow loop sampling period The correspondence with the motor speed in SI units is t tors Motor SpeedSI Motor SpeedlU Speeds 4xNo encoder lines T where No encoder lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 12 2 Brushless motor with linear Hall signals The internal motor speed units are counts slow loop sampling period The motor is
80. is drive is connected via CANbus with other ElectroCraft drives having an easier access connect your PC serially to one of the other drives Use PRO Config or MotionPRO Developer menu command Communication Scan Network to find the axis IDs of all the ElectroCraft drives present in the network 4 4 Setting CANbus rate Drive Setup ES Guideline assistant Control mode External reference Next Position No Yes Setup Step 1 Inthe Control mode gt gt group box select what do C Speed Analogue Incremental Encoder __Cancel_ you want to control position speed or torque In the Automatically activated after Power On Help lt lt Commutation method gt gt group box choose sinusoidal or q trapezoidal mode The trapezoidal mode is possible only if your Anc Commutation method motor is equipped with digital Hall sensors Trapezoidal Sinusoidal M otor Axis ID selection m Drive Info Set change axis ID HAw v Setup CANbus Protections Baud rate defaut v CANopen settings Over current w default Motor current 10 4 for more than 10 01 5 Drive operation pa 125 Kb ps Control error Detect Power supply 24 250 Kbps Fassa 0 5 rot for more than 3 s 210 rpm 3 Current limit Current controller rc ElectroCraft 2015 67 PRO Ax0V80x SA CAN Technical Reference The PRO Ax0V80 drives accept the following CAN rates 125Kbps 250
81. loop sampling periods The correspondence with the time in s is Timds T x TimdlU where T is the slow loop sampling period expressed s You can read this value in the Advanced dialogue which can be opened from the Drive Setup For example if T 1ms one second 1000 IU 6 9 Master position units When the master position is sent via a communication channel the master position units depend on the type of position sensor present on the master axis 6 10 Master speed units The master speed is computed in internal units IU as master position units slow loop sampling period i e the master position variation over one position speed loop sampling period 6 11 Motor position units 6 11 1 Brushless DC brushed motor with quadrature encoder on motor ElectroCraft 2015 91 PRO Ax0V80x SA CAN Technical Reference The internal motor position units are encoder counts The correspondence with the motor position in SI units is 2xm Motor Postior SI Motor Positior l Tn 4xNo encoder lines where No encoder lines is the rotary encoder number of lines per revolution 6 11 2 Brushless motor with linear Hall signals The internal motor position units are counts The motor is rotary The resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the motor position in SI units is
82. nding on the product chosen the selection may continue with the motor technology for example brushless or brushed ElectroCraft 2015 73 PRO Ax0V80x SA CAN Technical Reference MotionPRO Developer Project Communication View Help Da 15 OOF pum E Step 2 New Project Select axis number 255 x Define load setup data Lua Upload from Drive Motor PRO A02V36A PE CAN PRO A02V36A PE CAT PRO A02V36A SA CAN PRO AD4V36A PE CAN PRO A04V36A PE CAT PRO A04V36A SA CAN PRO A08V48 PE CAN PRO A08V48 PE CAT PRO A08V48 SA CAN PRO A20V80A SA mable Servo Drives Click on your selection MotionPRO Developer opens the Project window where on the left side you can see the structure of a project At beginning both the new project and its first application are named Untitled The application has 2 components S Setup and M Motion program ee Untitled Project Application Communication View Control Panel Window Help BOR KM OO In fil Homing Modes Functions 1 Interrupts CAM Tables X SIL ET 13 CAtopen torv Status 15 eae Application General Information Application ID 255 v Memory Settings PRO A20V80A SA CAN Product ID P029 026 E201 Firmware ID F514B Setup ID 0E08 E2ROM 16 Kwords RAM 4 Kwords 1 M174 Type Brushless Rotary
83. nformation is preserved in the drive EEPROM in the setup table The setup table is copied at power on into the RAM memory of the drive and is used during runtime With PRO Config it is also possible to retrieve the complete setup information from a drive previously programmed Note that with PRO Config you do only your drive motor commissioning For motion programming you have the following options Use a CANopen master to control the PRO Ax0V80 as a standard CANopen drive Use MotionPRO Developer to create and download a MPL program into the drive motor memory Use one of the MPL LIB motion libraries to control the drives motors from your host master If your host is a PC MPL LIB offers a collection of high level motion functions which can be called from applications written in Visual Basic Delphi Pascal or LabVIEW If your host is a PLC MPL LIB offers a collection of function blocks for motion programming which are IEC61131 3 compatible and can be integrated in your PLC program ElectroCraft 2015 61 PRO Ax0V80x SA CAN Technical Reference Implement on your master the MPL commands you need to send to the drives motors using one of the supported communication channels The implementation must be done according with ElectroCraft communication protocols Combine MPL programming at drive level with one of the other options see Section 5 3 4 2 1 Establish communication MotionPRO Developer PRO Config starts with an emp
84. ng the guidelines described in the PLC standards so they can be used on any development platform that is IEC 61136 compliant All ElectroCraft s MPL Motion Libraries for PLC are provided with PRO Config ElectroCraft 2015 79 PRO Ax0V80x SA CAN Technical Reference 6 Scaling factors ElectroCraft drives work with parameters and variables represented in the drive internal units IU These correspond to various signal types position speed current voltage etc Each type of signal has its own internal representation in IU and a specific scaling factor This chapter presents the drive internal units and their relation with the international standard units SI In order to easily identify them each internal unit has been named after its associated signal For example the position units are the internal units for position the speed units are the internal units for speed etc 6 1 Position units 6 1 1 Brushless DC brushed motor with quadrature encoder on motor The internal position units are encoder counts The correspondence with the load position in SI units is Load PositiorfSI Motor Positior lU 15 4xNo encoder linesx Tr where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 2 Brushless motor with linear Hall signals The internal position units are counts
85. o PC the option Autodetected this drive is part of a CANbus network use the menu command Communication Scan Network 4 2 2 Setup drive motor ElectroCraft 2015 62 PRO Ax0V80x SA CAN Technical Reference Next select Setup in the Project window then press the Edit View Modify button The selection opens 2 setup dialogues for Motor Setup and for Drive setup through which you can configure and parameterize a ElectroCraft drive plus several predefined control panels customized for the product selected ElectroCraft 2015 63 PRO Ax0V80x SA CAN Technical Reference Brushless Motor Setup Guideline assistant Step 1 Select your motor from a database If your motor does not exist in any database proceed through Torque constant 0 0376 Phase resistance motor drive oo Ohms z Phase inductance motor drive 0 81 mH z Motor inertia zl Phase connection Star f Delta Previous fall the next steps in order to define your motor and sensors data In either case use the tests from the next steps to verify detect the motor and sensors parameters and operation Next Motor data Nominal current 6 64 z Test Phase Connecti Peak current 20 A 7 Pole pairs 4 Detect Number of Pole Pairs Identify Resistance and Inductance Motor inertia is unknown In the Motor setup dialogue you can introduce the data of your motor and the
86. ol is performed The voltage command is the amplitude of the sinusoidal phase voltages In this case the correspondence with the motor phase voltages in SI units i e V is VoltagecommandV UA x VoltagecommandlU where Vdc is the drive power supply voltage expressed in V ElectroCraft 2015 90 PRO Ax0V80x SA CAN Technical Reference In case of brushless motors driven trapezoidal mode the voltage command is the voltage to apply between 2 of the motor phases according with Hall signals values In this case the correspondence with the voltage applied in SI units i e V is Vdc 32767 This correspondence is also available for DC brushed motors which have the voltage command internal units as the brushless motors driven in trapezoidal mode VoltagecommandV x VoltagecommandlU 6 7 Voltage measurement units The internal voltage measurement units refer to the drive supply voltage The correspondence with the supply voltage in V is Voltage measuredV Voltage measuredlU 65520 where VdcMaxMeasurable is the maximum measurable DC voltage expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Remark the voltage measurement units occur in the scaling of the over voltage and under voltage protections and the supply voltage measurement 6 8 Time units The internal time units are expressed in slow
87. omplex tasks and inform the master when these are done Thus for each axis the master task may be reduced at calling MPL functions with possibility to abort their execution stored in the drives EEPROM and waiting for a message which confirms the finalization of the MPL functions execution ElectroCraft 2015 77 PRO Ax0V80x SA CAN Technical Reference 5 3 2 Executing MPL programs The distributed control concept can go one step further You may prepare and download into a drive a complete MPL program including functions homing procedures etc The MPL program execution be started by simply writing a value in a dedicated object 5 3 3 Loading Automatically Cam Tables Defined in MotionPRO Developer The PRO Ax0V80 offers others motion modes like electronic gearing electronic camming external modes with analog or digital reference etc When electronic camming is used the cam tables can be loaded in the following ways a The master downloads the cam points into the drive active RAM memory after each power on b The cam points are stored in the drive EEPROM and the master commands their copy into the active RAM memory The cam points are stored in the drive EEPROM and during the drive initialization transition to Ready to Switch ON status are automatically copied from EEPROM to the active RAM For the last 2 options the cam table s are defined in MotionPRO Developer and are included in the information stored in th
88. on No usteps is the number of microsteps per step You read change this value the Drive Setup dialogue from PRO Config Tr transmission ratio between the motor displacement in SI units and load displacement in SI units Step motor closed loop control Incremental encoder on motor The internal position units are motor encoder counts The correspondence with the load position in SI units is 2xm Load Positior SI xMotor 4xNo encoder linesxTr where No encoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 5 Step motor open loop control Incremental encoder on load The internal position units are load encoder counts The transmission is rotary to rotary The correspondence with the load position in SI units is Load PositiofSI Load 0 Fosters 4xNo encoder lines Tul where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units 6 1 6 Brushless motor with sine cosine encoder on motor The internal position units are interpolated encoder counts The correspondence with the load position in SI units is For rotary motors 1 SI units for position are rad for a rotary movement m for a linear movement El
89. op control Incremental encoder on load The internal acceleration units are load encoder counts slow loop sampling period The correspondence with the load acceleration in SI units is For rotary to rotary transmission 2xm Load Acceleratbn SI xLoad Acceleratbn IU 4xNo encoder linesxT For rotary to linear transmission Encoder accuracy Load Acceleraton m s xLoad Acceleraton IU where No encoder lines is the rotary encoder number of lines per revolution Encoder accuracy is the linear encoder accuracy i e distance in m between 2 pulses ElectroCraft 2015 86 PRO Ax0V80x SA CAN Technical Reference Tr transmission ratio between the motor displacement SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 6 Step motor closed loop control Incremental encoder on motor The internal acceleration units are motor encoder counts slow loop sampling period The transmission is rotary to rotary The correspondence with the load acceleration in SI units is 2xm Load Acceleratbn SI Motor Acceleratbon IU 4xNo encoder linesxTrxT where No encoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop samplin
90. otal rotor inertia kgm J total load inertia as seen at motor shaft after transmission motor angular speed before deceleration rad s Mpu motor mass kg when motor is moving in a non horizontal plane Im load mass kg when load is moving a non horizontal plane g gravitational acceleration i e 9 8 m s initial system altitude m final system altitude m motor current during deceleration Arus phase Rp motor phase resistance Q ty time to decelerate s Te total friction torque as seen at motor shaft Nm includes load and transmission In case of a linear motor and load the motor inertia Jy and the load inertia J will be replaced by the motor mass and the load mass measured kg the angular speed will become linear speed measured in m s and the friction torque will become friction force measured N Option 2 Connect a brake resistor between phase BR B J2 pin 4 and ground J1 1 and activate the software option of dynamic braking see below This option is not available when the drive is used with a step motor The dynamic braking option can be found in the Drive Setup dialogue within MotionPRO Developer PRO Config The braking will occur when DC bus voltage increases over Uggake This parameter should be adjusted depending on the nominal motor supply Optimally from a braking poin
91. otor with digital Hall sensors an incremental quadrature or Sin Cos encoder on one feedback and another incremental encoder on the second feedback The speed loop is controlled with the encoder on the motor and the position loop is controlled with the encoder on the load Remark the Sin Cos encoder is present only on the Feedback 1 interface Incremental quadrature or Sin Cos encoder Motor Load encoder PRO Ax0V80x SA CAN LINEAR MOTOR Incremental quadrature or Sin Cos encoder Hall sensors Figure 2 7 Brushless DC rotary motor Position and speed control Hall sensors and encoders on motor and load 8 Position speed or torque control of a DC brushed rotary motor with an incremental quadrature encoder on its shaft Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives always refer to the load Motor PRO Ax0V80x SA CAN Incremental quadrature encoder Figure 2 8 DC brushed rotary motor Position speed torque control Quadrature encoder on motor 1 Motion commands can be referred to the motor by setting in PRO Config a rotary to rotary transmission with ratio 1 1 Ele
92. ous 12 18 All differential input pins have internal 1200 termination resistors connected across ElectroCraft 2015 32 PRO Ax0V80x SA CAN Technical Reference Absolute maximum surge duration lt 1S 36 Input impedance To GND 8 Resolution 12 bits Integral linearity 2 bits Offset error 2 10 bits Gain error t196 3 96FS Bandwidth 3dB Software selectable 0 1 KHz ESD protection Human body model 2 2 6 15 Analog 10 Input Ref Min Typ Max Units Differential voltage range 10 V Common mode voltage range Referenced to GND 12 0 10 450 V Input impedance Differential 40 KO Common mode impedance Referenced to GND 20 KO Resolution 12 bits Integral linearity 0 036 FS Offset error Common mode voltage 0 10 V 0 2 05 Gain error Common mode voltage 0 10 V 10 12 FS Bandwidth 3dB Depending on software settings 1 5 kHz 2 6 16 RS 232 Min Typ Max Units Standards compliance TIA EIA 232 C Bit rate Depending on software settings 9600 115200 Baud Short circuit protection 232TX short to GND Guaranteed ESD protection Human body model 2 2 6 17 Compliance 15011898 CiA 301v4 2 305 2 2 13 402 3 0 Bit rate Software selectable 125 1000 125 1Mbps 25 m Bus length 500Kbps
93. ows a CANopen master supporting CiA WD 305 to configure each PRO Ax0V80 from the network with the desired node ID and CAN bus bit timing CiA 305 protocol allows connecting non configured drives to a CANopen network and performing the drives configuration on the fly via the CANopen master 5 1 3 CiA 402 and Manufacturer Specific Device Profile Overview The PRO Ax0V80 supports the following CiA 402 modes of operation Profile position and velocity modes Homing mode Interpolated position mode Additional to these modes there are also several manufacturer specific modes defined External reference modes position speed or torque Electronic gearing and camming position mode 5 1 4 ElectroCAN Extension In order to take full advantage of the powerful Electrocraft Motion Programming Language MPL built into the PRO Ax0V80 ElectroCraft has developed an extension to CANopen called ElectroCAN through which MPL commands can be exchanged with the drives Thanks to ElectroCAN you can inspect or reprogram any of the ElectroCraft drives from a CANopen network using PRO Config or MotionPRO Developer and an RS 232 link between your PC and any of the drives ElectroCAN uses only identifiers outside of the range used by the default by the CANopen predefined connection set as defined by CiA 301 Thus ElectroCAN protocol and CANopen protocol can co exist and communicate simultaneously on the same physical CAN bus without disturbing each other
94. pins ElectroCraft 2015 38 PRO Ax0V80x SA CAN Technical Reference 3 3 10 AxisID DIP switch settings Connector description Pin Name Type Description CANopen ON down CANopen communication protocol OFF up MPLCAN communication protocol ID Bit6 ID Bit5 ID Bit4 SW1 ID Bit3 ID Bit2 ID Bit1 1 2 3 4 5 6 7 8 ID BitO Hardware AxisID selection switches ElectroCraft 2015 39 PRO Ax0V80x SA CAN Technical Reference 3 3 11 24V Digital I O Connection 3 3 11 1 PNP inputs 24V PNP Inputs Connection PRO Ax0V80x SA CAN Vos gt O V og gt INO IN1 gt INZILSP gt 36V gt INS LSN Inputs Controller Figure 3 2 24V Digital PNP Inputs connection Remarks 1 The inputs are selectable as PNP by software 2 The inputs are compatible with PNP type outputs input must receive a positive voltage value 5 36V to change its default state 3 3 11 2 NPN inputs 24V NPN Inputs Connection PRO Ax0V80x SA CAN Wios gt 1 Vios INO IN1 o IN2 LSP IN3 LSN Inputs Controller Figure 3 3 24V Digital NPN Inputs connection Remarks 1 The inputs are selectable as PNP by software 2 The inputs are compatible with NPN type outputs input must be pulled to GND to change its default state ElectroCraft 2015 40 PRO Ax0V80x SA CAN Technical Reference 3 3 11 3 NP
95. purpose digital PNP NPN input 11 IN1 I 5 36 general purpose digital PNP NPN input 12 REF 10 Analog input 12 bit 10V input Used to read an analog position speed or torque reference 13 REF 10 Connect REF 10 to GND when REF5 is used 14 REFSEL I Analog selection floating for 10V input GND connected when REF5 is used 15 REF5 Analog input 12 bit 0 5V input Used to read an analog position speed or torque reference 3 3 7 J6 J7 CAN Bus connectors Connector description Pin Name Type Description 1 Can Hi CAN Bus positive line dominant high E Can Lo CAN Bus negative line dominant low e 3 GND Return ground for CAN Bus 4 5 Reserved Do not use 6 8 n c connected 3 3 8 J8 Enable STO connector pinout Labelled STO Connector description Pin Name Type Description 1 STO1 Enable STO input Set STO1 and STO2 HIGH to enable motor outputs 2 STO2 Enable STO input2 Set STO1 and STO2 HIGH to enable motor outputs NEG GND Return ground for Enable STO pins 4 GND Return ground for Enable STO pins Remark Enable STO pins set HIGH usually means they should be connected to Vlog 3 3 9 49 RS232 connector pinout Connector description Pin Name Type Description 1 GND Return ground for RS 232 pins 2 232TX O RS 232 Data Transmission gt 232RX RS 232 Data Reception 4 GND Return ground for RS 232
96. r Camden CTBA9208 5FL cable generic 26 pin J3 J4 nt NA shala High Density D Sende Sub male generic RJ10 4 4 J9 RS232 phone plug generic 15 pin J5 Analog D Sub male DB15 MICROFIT J8 RECEPTACLE MOLEX 43045 0400 HOUSING 2x2 WAY CRIMP PIN J8 MICROFIT 5A MOLEX 43030 0007 Standard 8P8C modular J6 J7 jack RJ 45 male ElectroCraft 2015 35 PRO Ax0V80x SA CAN Technical Reference 3 3 Connectors and Connection Diagrams 3 3 1 Connector Layout J1 S32 Suppl PRO Ax0V80x SA CAN Motor J9 P I E J3 RS232 Feedback 48 1 STO LJ SW1 21 46 45 Feedback 2 Y Figure 3 1 PRO Ax0V80x SA CAN drive connectors 3 3 2 J1 Power supply input connector pinout Connector description Pin Name Type Description 1 GND Negative return ground of the power supply 2 1 Positive terminal of the motor supply to 75 N VLOG 1 Positive terminal of the logic supply input 9 to 36Vpc 4 Earth Earth connection ElectroCraft 2015 36 PRO Ax0V80x SA CAN Technical Reference 3 3 3 J2 Motor output Connector description Pin Name Type Description
97. rectangular currents and trapezoidal BEMF voltages Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives always refer to the load Motor PRO Ax0V80x SA CAN Incremental quadrature encoder Hall Figure 2 3 Brushless DC rotary motor Position speed torque control Hall sensors and quadrature encoder on motor 4 Dual loop position and speed control of a brushless DC rotary motor with digital Hall sensors an incremental quadrature or Sin Cos encoder on one feedback and another incremental encoder on the second feedback The speed loop is controlled with the encoder on the motor and the position loop is controlled with the encoder on the load Remark the Sin Cos encoder is present only on the Feedback 1 interface Motor PRO Ax0V80x SA CAN Incremental quadrature or Sin Cos encoder Hall Incremental quadrature or Sin Cos encoder Figure 2 4 Brushless DC rotary motor Position and speed control Hall sensors and encoders on motor and load 1 Motion commands can be referred to the motor by setting in PRO Config a rotary to rotary transmission with ratio 1 1 ElectroCraft 2015 20 PRO Ax0V80x SA CAN Technical Reference 5 Position speed or torque control of a brushless AC linear motor with an incremental sine cosine encoder The brushless motor is vector
98. rive Setup 6 4 5 Step motor open loop control Incremental encoder on load The internal jerk units are load encoder counts slow loop sampling The transmission is rotary to rotary The correspondence with the load jerk in SI units is Load Jerk SN 2 xLoad Jerk lU 4xNo encoder linesx T where No encoder lines is the rotary encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 6 Step motor closed loop control Incremental encoder on motor The internal jerk units are motor encoder counts slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI Motor Jerk IU 4xNo encoder linesx Trx T where SI units for jerk are rad s for a rotary movement m s for a linear movement ElectroCraft 2015 89 PRO Ax0V80x SA CAN Technical Reference No encoder lines is the motor encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 7 Brushless motor with sine cosine encoder on motor The internal jerk units are interpolated encoder counts slow loop sampling period The
99. rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the motor speed in SI units is For rotary motors Motor SpeedSI resolutionx T ElectroCraft 2015 93 PRO Ax0V80x SA CAN Technical Reference Pole Pitch For linear motors Motor Speed SI resolution x T Speed IU where resolution is the motor position resolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Pole Pitch is the magnetic pole pitch NN distance expressed in m 6 12 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor speed in SI units is Analogue Input Range M otor 4096 Tacho gain SpeedlU where Analog Input Range is the range of the drive analog input for feedback expressed in V You can read this value in the Drive Info dialogue which can be opened from the Drive Setup Tacho gain is the tachometer gain expressed in V rad s 6 12 4 DC brushed motor with tacho on motor The internal motor speed units are A D converter bits The correspondence with the motor spee
100. sampling period 6 4 4 Brushless DC brushed motor with quadrature encoder on motor The internal jerk units are encoder counts slow loop sampling period The correspondence with the load jerk in SI units is Load Jerk SI zx 4xNo encoder linesxTrx T where No encoder lines is the rotary encoder number of lines per revolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 2 Brushless motor with linear Hall signals The internal jerk units are counts slow loop sampling period The motor is rotary The position resolution i e number of counts per revolution is programmable as a power of 2 between 512 and 8192 By default it is set at 2048 counts per turn The correspondence with the load acceleration in SI units is For rotary motors Load Jerk SI ZA x Motor Jerk IU resolutionx Trx Pole Pitch resolution x Tr x T For linear motors Load Jerk SI xMotor Jerk IU where resolution is the motor position resolution Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup Pole Pi
101. t of view Should be a few volts above the maximum nominal supply voltage This setting will activate the brake resistor earlier before reaching dangerous voltages when the over voltage protection will stop the drive Of course Usraxe must always be less than Umax the over voltage protection threshold ElectroCraft 2015 54 PRO Ax0V80x SA CAN Technical Reference Remark This option be combined with an external capacitor whose value is not enough to absorb the entire regenerative energy Ey but can help reducing the brake resistor size Brake resistor selection The brake resistor value must be chosen to respect the following conditions 1 to limit the maximum current below the drive peak current 38 3A 2 to sustain the required braking power 1 2 2 EM 5 Ubrake PBR 7 where C is the capacitance on the motor supply external i e U2 R r lt BRAKE 2 3 to limit the average current below the drive nominal current Inoy 10A Par x tg tCYCLE where is the time interval between 2 brakes in case of repetitive moves gt 2 Pap xt U 4 to be rated for an average power Pay BR anda peak power MAX RBR Remarks 2 U U T 1 if MAX BRAKE the braking power Pgr must be reduced by increasing either t4 the time to IPEAK 2xPBR decelerate or C the external capacitor on the motor supply
102. tch is the magnetic pole pitch NN distance expressed in m 6 4 3 DC brushed motor with quadrature encoder on load and tacho on motor The internal jerk units are encoder counts slow loop sampling period The motor is rotary and the transmission is rotary to rotary The correspondence with the load jerk in SI units is 1 SI units for jerk are rad s for a rotary movement m s for a linear movement ElectroCraft 2015 88 PRO Ax0V80x SA CAN Technical Reference Load Jerk SN 201 xLoad Jerk lU 4xNo encoder linesxT where No encoder lines is the encoder number of lines per revolution T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 4 4 Step motor open loop control No feedback device The internal jerk units are motor usteps slow loop sampling period The correspondence with the load jerk in SI units is 2xm Load Jerk SI xMotor No ustepsxNo stepsxTrx T where No_steps is the number of motor steps per revolution No usteps is the number of microsteps per step You read change this value in the Drive Setup dialogue from PRO Config Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the D
103. ternal speed units are interpolated encoder counts slow loop sampling period The correspondence with the load speed in SI units is For rotary motors Load SpeedSI zen SpeedlU 4xEnc_periodsxInterpolatonx Trx T For linear motors Load SpeedsSI SpeedlU Interpolatonx Trx T where Enc periods is the rotary encoder number of sine cosine periods or lines per revolution Encoder accuracy is the linear encoder accuracy in m for one sine cosine period Interpolation is the interpolation level inside an encoder period is a number power of 2 between 1 and 256 1 means no interpolation SI units for speed are rad s for a rotary movement m s for a linear movement ElectroCraft 2015 84 PRO Ax0V80x SA CAN Technical Reference Tr transmission ratio between the motor displacement in SI units and load displacement in SI units T is the slow loop sampling period expressed in s You can read this value in the Advanced dialogue which can be opened from the Drive Setup 6 3 Acceleration units The internal acceleration units are internal position units slow loop sampling period i e the speed variation over one slow loop sampling period 6 3 1 Brushless DC brushed motor with quadrature encoder on motor The internal acceleration units are encoder counts slow loop sampling period The correspondence with the load acceleration in SI
104. the drive GND and leave the other shield end unconnected to the signal source To further increase the noise protection use a double shielded cable with inner shield connected to drive GND and outer shield connected to the motor chassis earth ElectroCraft 2015 44 PRO Ax0V80x SA CAN Technical Reference 3 3 14 Motor connections Connector J2 provides electrical power to the motor phase wires Series inductors may be required in the motor phases to balance the motor inductance and cable capacitance Type and value are dependent on the motor and cable used 3 3 14 1 Brushless Motor connection Brushless motor connection PRO Ax0V80x SA CAN 4 phase Inverter Currents Info Controller Figure 3 8 Brushless motor connection Remark hardware enable the motor outputs set Enable STO1 and Enable STO2 pins HIGH This usually means they should be connected to Vlog 3 3 14 2 2 phase Step Motor connection 2 phase step motor connection PRO Ax0V80x SA CAN 4 phase Inverter Currents Info Controller Figure 3 9 2 phase step motor connection one coil per phase Remark hardware enable the motor outputs set Enable STO1 and Enable STO2 pins HIGH This usually means they should be connected to Vlog 1 coil per phase ElectroCraft 2015 45 PRO Ax0V80x SA CAN Technical Reference 1 2 coils per phase in parallel connection 1 A2 A1 2 1
105. tion details are specified in Section 3 3 Connectors and Connection Diagrams For radiated emissions install series inductors on motor signals A B and C near drive For a typical installation 15uH toroidal type inductors rated at 20 Multicomp model MCAP1130140114K 150MU or equivalent inductors are recommended However since the radiated emissions are strongly influenced by the system architecture the installer should confirm the system performance For surge immunity install a capacitor between Vlog and GND close to the drive A 50V ceramic X7S or better dielectric 100uF capacitor is required TDK model CKG57NX781H226M500JH or equivalent is recommended To avoid the risk of cross talk to signal cables power interface cables should be segregated from signal cables Specific recommendations are made in Section 3 3 Connectors and Connection Diagrams ElectroCraft 2015 34 PRO Ax0V80x SA CAN Technical Reference 3 Step 1 Hardware Installation 3 1 Mechanical Mounting The PRO Ax0V80x SA CAN drive is intended to be mounted horizontally on a metallic support using the provided mounting holes and the recommended mating connectors as specified in chapter 3 2 The metallic support must act as a cooling heat sink 3 2 Mating Connectors Connector Description Manufacturer Part Number Supply input 4x5 08 J1 female counter part for Camden CTBA9208 4FL cable Motor power 5x5 08 J2 female counter part fo
106. tions 1 The customization of the interrupt service routines and homing routines is available only for PRO Ax0V80 CAN executions 4 Optional for the PRO Ax0V80 CANopen execution ElectroCraft 2015 78 PRO Ax0V80x SA CAN Technical Reference Similarly to the homing modes the default service routines for the MPL interrupts can be customized according to your application needs However as most of these routines handle the drive reaction to fault conditions it is mandatory to keep the existent functionality while adding your application needs in order to preserve the correct protection level of the drive The procedure for modifying the MPL interrupts is similar with that for the homing modes 5 4 Using Motion Libraries for PC based Systems A MPL Library for PC is a collection of high level functions allowing you to control from a PC a network of ElectroCraft intelligent drives It is an ideal tool for quick implementation on PCs of motion control applications with ElectroCraft products With the MPL Motion Library functions you can communicate with a drive motor via any of its supported channels RS 232 CAN bus etc send motion commands get automatically or on request information about drive motor status check and modify its setup parameters read inputs and set outputs etc The MPL Motion Library can work under a Windows or Linux operating system Implemented as a 41 50 it can be included in an application developed in C C C
107. to pass through 3 steps Step 1 Hardware installation Step 2 Drive setup using ElectroCraft PRO Config software for drive commissioning Step 3 Motion programming using one of the options u u u A CANopen master The drive s built in motion controller executing an Electrocraft Motion Programming Language MPL program developed using 5 MotionPRO Developer software A MPL_LIB motion library for PCs Windows or Linux A MPL_LIB motion library for PLCs A distributed control approach which combines the above options like for example a host calling motion functions programmed on the drives in MPL This manual covers Step 1 in detail It describes the PRO Ax0V80x SA CAN hardware including the technical data the connectors and the wiring diagrams needed for installation The manual also presents an overview of the following steps and includes the scaling factors between the real SI units and the drive internal units For detailed information regarding the next steps refer to the related documentation when PRO Ax0V80 is set in CANopen mode ElectroCraft 2015 Ill PRO Ax0V80x SA CAN Technical Reference Notational Conventions This document uses the following conventions PRO Ax0V80 PRO A10V80x SA CAN or PRO A20V80x SA CAN IU units Internal units of the drive SI units International standard units meter for length seconds for time etc MPL Electrocraft s Motion
108. tputs and the cable The inductors must be magnetically shielded toroidal for example and must be rated for the motor surge current Typically the necessary values are around 100 pH C A good shielding can be obtained if the motor wires are running inside a metallic cable guide ElectroCraft 2015 47 PRO Ax0V80x SA CAN Technical Reference 3 3 15 Feedback connections 3 3 15 1 Differential Incremental Encoder1 Connection Differential encoder PRO Ax0V80x SA CAN connection 3 B B Cos Controller Figure 3 13 Differential incremental encoder connection Remark 1200 termination resistors are present in the drive ElectroCraft 2015 48 PRO Ax0V80x SA CAN Technical Reference 3 3 15 2 Digital Hall Connection Hall connection PRO Ax0V80x SA CAN Internally generated Controller Figure 3 14 Digital Hall connection 3 3 15 3 Pulse and direction connection J4 Secondary Feedback Connector PRO Ax0V80x SA CAN Differential RS 422 Pulse amp Direction connection PULSE Generator pue A2 P Differential RS 422 Direction Generator B2 D gt DIR DSP Controller Differential RS 422 Figure 3 15 J4 Differential RS 422 Pulse amp Direction connection Remark Termination resistors 120Q are present in the drive ElectroCraft 2015 49 PRO Ax0V80x
109. troCraft drives their capability to execute complex motions without requiring an external motion controller thanks to their built in motion controllers MotionPRO Developer shall be used to program motion sequences in MPL This is the PRO Ax0V80 typical operation mode when MPLCAN protocol is selected MotionPRO Developer shall also be used with CANopen protocol if the user wants to call MPL functions stored in the drive EEPROM or to use the camming mode With camming mode MotionPRO Developer offers the possibility to quickly download and test a cam profile and also to create a sw file see par 5 2 4 with the cam data The sw file can be afterwards stored in a master and downloaded to the drive wherever needed ElectroCraft 2015 16 PRO Ax0V80x SA CAN Technical Reference 2 2 Key Features e Fully digital servo drive suitable for the control of rotary or linear brushless DC brush and step motors with CANopen interface and built in motion controller with high level MPL motion language e Very compact design Sinusoidal FOC or trapezoidal Hall based control of brushless motors Open or closed loop control of 2 and 3 phase steppers Enable STO function Two Enable STO inputs are provided which when left not connected will disable the motor outputs This provides a dual redundant hardware protection that cannot be overdriven by the software or other hardware components Various modes of operation including torque speed
110. ty window from where you can create a New setup Open a previously created setup which was saved on your PC or Upload the setup from the drive motor MotionPRO Developer Project Communication View Help Da 1 ENS 5 al XK 2 inl x ELECTROCRAFT gt Q ses oo ce DD Programmable Servo Drives Onine AxisID 255 Firmware 508 Before selecting one of the above options you need to establish the communication with the drive you want to commission Use menu command Communication Setup to check change your PC communication settings Press the Help button of the dialogue opened Here you can find detailed information about how to setup your drive and do the connections Power on the drive then close the Communication Setup dialogue with OK If the communication is established PRO Config displays in the status bar the bottom line the text Online plus the axis ID of your drive motor and its firmware version Otherwise the text displayed is Offline and a communication error message tells you the error type In this case return to the Communication Setup dialogue press the Help button and check troubleshoots Remark When first started PRO Config tries to communicate via RS 232 and COM with a drive having axis ID 255 default communication settings If the drive has a different axis ID and you don t know it select in the Communication Setup dialogue at Axis ID of drive motor connected t
111. x pulse Initial movement is negative if the home Default switch is high Otherwise initial movement is positive then movement is reversed after home switch User defined Functions 4 Homing on the positive home switch and index pulse Initial movement is positive if the home 8 Default zy Bu Interrupts switch is low Otherwise initial movement is negative then movement is reversed after home switch User defined i CAM Tables homes Homing on the negative home switch and index pulse Initial movement is positive if the home 6 Default switch is high Otherwise initial movement is negative then movement is reversed after home User defined Homing on the negative home switch and index pulse Initial movement is negative ifthe 9 Default home switch is low Otherwise initial movement is positive then movement is reversed after home 7 User defined home Homing on the home switch and index pulse Initial movement is positive if the home switch Default is low otherwise is negative If moving positive wait for either the home switch low high transition User defined Reload default If you click on the procedure on the right side you ll see the MPL function implementing it The homing routine can be customized according to your application needs Its calling name and method remain unchanged 5 3 5 Customizing the Drive Reaction to Fault Condi
112. xpressed in SI units or derivatives refer to the load while the same commands expressed in IU units refer to the motor Motor PRO Ax0V80x SA CAN Tacho Figure 2 11 DC brushed rotary motor Speed torque control Tachometer on motor Open loop control of a 2 or 3 phase step motor in position or speed Scaling factors take into account the transmission ratio between motor and load rotary or linear Therefore the motion commands for position speed and acceleration expressed in SI units or derivatives always refer to the load Motor PRO Ax0V80x SA CAN Figure 2 12 No position or speed feedback Open loop control motor position or speed Motion commands can be referred to the motor by setting in PRO Config a rotary to rotary transmission with ratio 1 1 ElectroCraft 2015 24 PRO Ax0V80x SA CAN Technical Reference 13 Closed loop control of load position using an encoder on load combined with open loop control of a 2 or 3 phase step motor in speed with speed reference provided by the position controller The motion commands in both SI and IU units refer to the load Motor PRO Ax0V80x SA CAN Incremental quadrature encoder Figure 2 13 Encoder on load Closed loop control load position open loop control motor speed 14 Closed loop control of a 2 phase step motor in position speed or torque Scaling factors take into account the transmission ratio between motor and load rotary or line

PRO-Ax0V80x-SA-CAN - User Manual Rev 2

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