Software User Manual
Contents
1. Miliseconds Figure 31 Graph Trigger Set up Turn on the trigger function by selecting one of the five options in the drop down box In the example above both 1 and 2 of trigger functions has been selected activating the Trigger 1 and Trigger 2 set up boxes At the same time the Trigger Delay function can be selected to better capture the exact moment of the event you are looking for The figures inserted into this box are in humber of samples not time This figure can be either positive or negative A negative number would be used where it was desirable to capture some data ahead of the event you are looking for As an example if 500 samples had been selected in the Timebase set up see section 6 3 Timebase Setup and you chose to collect 100 samples prior to your trigger event you would insert a minus 100 100 into the Trigger Delay box In this case the 500 samples would be spread over the selected tripper event with 100 samples displayed before the event took place and 400 samples displayed after the trigger event occurred The actual amount of time that elapses over the 100 sample size will be dependent upon the sample location and the number of loops per sample as explained in section 6 3 ElectroCraft Inc 35 ElectroCraft CompletePower Plus Motion Control Software In either of the Trigger boxes a desired variable to trigger the graph can be selected from among the variables offered in the drop down2. Controller Command T ype Filter Trapezoidal Current Next gt Analog Ny fo C Sinusoidal Current Steps P ev lt Previous r Secondary Analog Input muy EE Type Units Filter Nong of Exit Lim n Supply Voltage 254 ac Rectified VDC 359 Drive ACESOO connected Motor to be defined Save Figure 11 Step 2 Setup Wizard Choose between analog voltage pulse width modulation step amp direction or serial RS232 from the Controller CMD Type window Use the pull down menu for the input method being used to command drive Command Filter can be used to filter out noise on PWM or analog inputs Analog Voltage Control Feedback Select if using a separate analog velocity or position sensor and chose the units being monitored Anlg2 Filter can be used to filter out noise on the analog feedback Note The Command and Analog Feedback filters introduce lag into the system Higher filter values will cause higher lag The correct setting of these filters is one that filters just enough to obtain acceptable results ElectroCraft Inc 13 ElectroCraft CompletePower Plus Motion Control Software Supply Voltage Adjust the supply voltage to the correct input voltage being used to power the drive If using AC input the rectified DC voltage will be displayed Drive Output The Drive output can be either Trapezoidal or sinusoidal Sine mode can run with either encoder with hall synch
3. Gre H E EE EE E RB 4 M8 AM Offset 12 5 Gain 40 960000 0 eia JL A LE LE rb 2 ues NL EM v Preview EE bebes Leer geet H ae Wer I CI Ein Wed RE ia Gin GG Wee lake scura 3 cssc pag Epic p YF Acoute Graph Data BT E BCE SEES qs x z uh euer Ve Es a ep G t uia en iier Wen E ei SE occ E EE E E E A E E E E oa 0 20 40 60 50 100 120 140 160 180 200 220 240 260 Miliseconds Figure 35 Example Graph of Current Loop Tuning In Function Generator ElectroCraft Inc 39 ElectroCraft CompletePower Plus Motion Control Software 7 Terminal Window This window acts like a dumb terminal and can be used under the direction of ElectroCraft Inc personnel to enter drive commands and check drive state and status Characters are sent verbatim to the drive without syntax or value checking 7 1 How to Use ElectroCraft Inc All keys pressed will cause a character to be sent to the drive and displayed in the terminal screen Type the drive command and press the enter key The drive will respond as follows gt indicates the command was not understood or was illegal gt l indicates the value was stored into a parameter t indicates the drive is ready for the next input ElectroCraft CompletePower Plus untitled APP iai x File Edit View Communications Options Setup Help 58816288 RCE588 Sept 4 2669 gt Drive in standby mode gt Figure 36 Example of the
4. m Save Application Q Quick Diagnostics 42 Connect To Drive Hall sensors or encoder count Pai Halls Encoder are Version UO Sept 4 2003 IO DSP Firmware Version 50016303 amp CESO00 DSP July 2009 ElectroCraft Inc Figure 25 Jogging a Motor 29 ElectroCraft CompletePower Plus Motion Control Software To jog the motor simply click one of the GO buttons to move the motor shaft Pressing the other GO button will change direction By sliding the cursers up and down the user can increase or decrease the speed of the motor as well as the rated current The control has been limited to protect the user as well as the equipment lol x Motor Feedback Hall Sensors State 53 GA 51 Haw Encoder Heading 2i Bud mu mur Appling Speed 10 of 279 Rated Electrical Current D eg Sec Figure 26 Changing variables As the motor shaft is turning verify that all three hall sensor states or encoder readings are changing The encoder states will count up or down depending on the direction of the motor shaft The motion of the motor may appear to step or pulse This is normal The drive is in an open loop stepping mode that causes the jog motion without the need for any motor feedback This mode is intended to verify that the motor feedback signals are connected properly and are functioning ElectroCraft Inc 30 ElectroCraft CompletePower Plus Motion Control S
5. 6 4 Trigger Setup Tab The ElectroCraft CompletePower Plus graphing utility has been supplied with an additional data trigger feature to allow for easier capture specific events of interest Data can be captured at any time that the drive is in the Run mode by clicking on the Acquire Graph Data button at the bottom left of the graph this special trigger feature allows the user to start data capture upon a particular event or action 3 ElectroCraft CompletePower Plus ACE500 cur halls trap APL z Oj x File Edt View Communications Options Setup Help Channel Timebase Trigger Func Gerl No Data No Data No Data No Data M Trigger Setup J EE Trigger Dela fo 99 y 1 8 d EISE eddy Ai EE eR rs PE I LUE ERE IAN ATTE RO RC CURA X RU Y XC LR CR ROC MN RA TE A SCOPO CI RE YR ASTRA TOC T RON RO Trigger Select i CR P Trigger 1 Variable Commanded Current Y EE Style X Less Than Y 1 ae ee SEENEN add E M LEE ess jo Absolute 0 8 se MEME MMC en ag ee e Value nj n TETUER ODD ee a E E EEE EEF Hi Freq el Fetal 2 EE eee A E E Trigger 2 EEEE C EL E ELLE Variable Commanded Current E eR EORR er cee cee EE Style Less Than 42 eeee AeeMecll ee jo Absolute 44 EE ee mech el Value rf NEXT OESTE A I OI EISE SOEUR KS IRR E EE Fitter ll H l TT DEE s WEE EECH Ye Acquire Graph Data v p n gau o E r aes enee
6. Completed Application After completing control loop tuning in Step 8 click the FINISH button to save the setup parameters to a file and download the parameters to the drive ElectroCraft Inc 28 ElectroCraft CompletePower Plus Motion Control Software 4 Quick Diagnostics 4 1 General Description 4 2 How to Jog The Quick Diagnostics button uses a Jog command to actuate the motor Use this feature to verify that the motor cables are electrically connected and that the motor has drive power This feature does not require the drive to be configured The user may use this feature before or after using the Wizard The user can verify that the motor will rotate change direction and that both the Hall sensors and the encoder signals function as the motor rotates a Motor WARNING motor shaft should be uncoupled and free to rotate without coming in contact with user or any stationary objects With a motor cabled to the drive and the drive enabled click the Quick Diagnostics button to bring up the Jog Motor window The drive will be placed into a special operating mode and the Jog Motor window will appear ElectroCraft CompletePower Pl File Edit View Communications Options Setup Help New Application Open Application ACE500 Information Mode Position control utatia Tuma Trapezoidal mode Preparing drive for jogging x et Edit Last Application zem
7. in standby mode and apply logic power Apply AC DC power to the drive if applicable Double click on the Complete Power Plus shortcut to run the program The following screen will be displayed ElectroCraft CompletePower Plus untitled APP B x File Edit View Communications Options Help ElectroCraft CompletePower ElectroCraft powering innovation lx New Application t CS Open Application WW Unavailable ppe Unavailable Unavailable gA Edit Last Application Save Application ET CI Duck Diagnostics v 4 Version 5 0 11 015 Sep 10 2008 Unavailable ElectroCraft Michigan Version P ETE 4480 Varsity Drive Suite G 5 0 11 Ann Arbor MI 48108 USA Sep 10 Voice 734 662 7771 Eastem Time 2009 Fax 734 662 3707 www E lectroCraft com Figure 1 ElectroCraft CompletePower Plus screen Immediately after this screen see figure 1 above the Connect to Drive screen shown in figure 2 will be displayed With the drive enabled Select the Search Communication Port tab or select Communication Port to establish communications ElectroCraft CompletePower Plus untitled APP Bl x File Edit View Communications Options Setup Help Drive Information h New Application pe Connect To Drive 1 SCH sis railable vallable LZ EH j Open Applice lt 43
8. or encoder as its feedback device Therefore in most applications there will be no need to configure this input Define Enter desired input and output limits Enter input command level and its desired output result into the appropriate boxes If the individual value boxes turn red it means they are out of bounds or illegal Left Point Selects Minimum command input and output result Right Point Selects Maximum command input and output result Define Analog Feedback untitled APP Bl xl Setup Step Define Analog Feedback I2 34 678 Input Measured Values Left Point Right Point Units Units 3 No Anat og lt Previous G Feedback Selected Erg i Go On To The Save Next Step Ex Input Drive ACESOD connected Motor EXC42 350V325 xxx D Save Figure 14 Step 5 Setup Wizard Click next to continue to step 6 ElectroCraft Inc 17 ElectroCraft CompletePower Plus Motion Control Software 3 11 Step 6 Set Limits Limits Fault Allows user to limit performance of the drive and configure various fault modes To enable click check boxes on the left side of the screen and change the values from its default setting Depending on the drive s operating mode some of the options may not be available Max Current Output Limits the maximum current that the drive is allowed to output to the motor Max Voltage Output Limits the maximum voltage the dr
9. terminal screen 40
10. the desired wave form Enter the number of cycles to repeat the function or click the continuous cycling box Using the Channels setup select up to four extra variables to graph using the first 4 channel selectors Type in the time base and other desired recording options The last two channels are used by the function generator Note Itis best to reset the drive when any changes have been made to the configuration word CL CG e When the Start button is clicked in the function generator window the drive s Command input signal as determined by the configuration word is replaced with the function generator signal the drive is enabled in software and graphing begins automatically Figure 25 shows an example of a typical graph of the current loop tuning with square wave excitation ElectroCraft CompletePower Plus ACE500 cur halls trap APL E Bl x Commanded Current Current File Edt View Communications Options Setup Help Channels Timebase Trigger Func Gen Apply Function to Curent C Velocity Position PE ETE SANE DANN CENE TNR E PEL ONU MN CNET M ONE IE Excitationr s x Type Square Wave I Cycles 10 Slope 256 101 i r ck dE GEET CEET DE Continuous Cycling mX Axis Time x ES E EE SN D MN M AE rap rc Period 30 Milliseconds opere uaa eee WK rer Vm mar Cabin CR Ge geet rix DC Gelee eco MN Y Axis Current e e e aw 5
11. the drop down box Nameplate Rating Based on the drive type selected a default peak and RMS current rating will be displayed Verify with the serial label which is on your Drive the correct value for your unit This is necessary for proper current control Note Custom units may not have standard current ratings Please refer to the Drive s serial label for correct rating Click in the drop down box and select the model and peak current that matches your particular unit WEE Setup Step Select Drive 2434567 8 Firmware Part Number 5001 6208 Choose Drive Type v ACS300 DC only 4 7 Select Drive untitled APP Dl Sl Peak Nameplate Rating EBC100 DC only hwe peak Setup Step Select Drive EBC150 DC only SR SS 2 4 56 7 8 EBC225 DC onl ACE500 AC DC Firmware Part Number 5001 4102 Next gt Choose Drive Type acs200 DC only DI Peak Nameplate Rating he Amps Peak of Sinewave 10 6 Arms Save Exit Drive ACE500 connected Motor to be defined Drive ACS200 connected Motor E22 20V48 xxx E Figure 10 Step 1 Setup Wizard Note At any time while using the setup wizard the setup can be saved by clicking on the save button Note The setup wizard can be exited without any changes being made by clicking on the exit button Click the Next button to continue to Step 2 ElectroCraft Inc 12 ElectroCraft CompletePower Plus Motion
12. units B commanded Cur Ho Units w Difset 0 Gain 1 Variables can be captured and displayed graphically using the Graph screen In this way control loop tuning can be evaluated Initial Graph Select View and then Graph normal or full window from the ElectroCraft CompletePower Plus menu bar The following screen will be displayed SS ElectroCraft CompletePower Plus ACE500 cur halls Erap APL E B x le Edit View Communications Options Setup Help flo Data Mo Data No Data Graphing can be synchronized No Units m using the trigger function Gan Commande Volta sl Units On we Offset 0 Gain 1 22 sl Units sl Onf ffset Bani E sl Units Uni Offset o Gan Ss k de Y LJ Bir Em Used to acquire data when cycling Onf Offset jo Gain fi af continuously be Acquire Graph Data Y Milizeconds Figure 28 Initial Graph Setup In figure 19 Commanded Current Current and Commanded Voltage are variables in the current or torque control loop ElectroCraft Inc 32 ElectroCraft CompletePower Plus Motion Control Software 6 2 Channel Setup Tab Clicking on the drop down box located under Channels at the top of the screen will select a variable to be graphed For example select the variable named Position Error by scrolling down and then clicking on it Click on the second drop down box to select a second variable to graph such as Commanded Po
13. Control Software 3 5 Step 2 Define Drive Drive Mode Drive Input Configure Drive mode Command input type and output current type The drive can be configured in one of four operational servo modes Current torque Velocity Position without velocity or Position with velocity Select the control type from the pull down menu depending on the application In Position mode the user can choose whether or not to use velocity control by clicking the Run Velocity Loop check box The icons on the right will display which control loops are currently active l indicates the Current loop control and is always active e V indicates the Velocity loop is active e P indicates the Position loop is active Requires a motor with an encoder or a resolver feedback Motors with a resolver will need an ElectroCraft resolver adaptor Enter the Control Unit type for the particular drive mode from the pull down menu Units will vary depending on the selected drive mode e Current Mode Amps or MaxAmps e Velocity Mode Revolutions per minute revolution per second radians per second or degrees per second e Position Mode Degrees revolutions or radians untitled APP ini x Define Drive Inputs and Outputs Setup Step Define Drive Inputs and Outputs l 3498 798 P MI Control Type Position Y w Run Velocity Loop Control Units dea v Drive Inputs Drive Output
14. ElectroCraft powering innovation Define Motor untitled APP B x r Setup Step Define Motor M otor Database See Product Famil TY ElectroCraft v rae Imperial Rated Torque 100 ozin Metric User Defined T Select Motor BARE SIRs of Poles bh poles Motor Position Feedback Encoder gt Encoder Counts per Revolution ano counts rev RE Resistance phase t sme ElectroCraft CompletePower Plus test APL Inductance phase t ile Edit Yiew Communications Options Setup Help Motor Cor Operating ACERO Information Maximum Tem Motor Specification 8 keira Completefoses Plus unbibled AP Pia ee Communication piid Seg Help Deech T instare Inam Fure pel Be damd Phan Curent Dn ts afc Gen foit Wel Datz a n Gen ness T E De A Create a new Application sl ij with drive and motor Torque Current control B Zi Une Commutation Type Sine mode Datz ajo Geds Pas U Currer Ho tes d ei E dit Last Application Command Input Pui eee e i Motor Feedback Halls Encoder a Ep l l i n mep mfe m Save Application Primary DSP Firmware Version h 50016208 amp CES00 Sept 4 2009 Ve Zcoss Dih Dan 7 e 1 EN 10 DSP Firmware Version l Quick Diagnostics 50016303 ACE500 DSP July 8 2009 42 Connect To Drive ElectroCraf
15. Family DI Imperial Custom Motors Rated Torque DI ozin Meine Select Motor Sas Ba ELK ua H of Poles zu poles Motor Position Feedback Encoder Encoder Counts per Revolution ano counts rev Resistance phase to phase i ohms Inductance phase to phase bh mH Motor Specification Nisl B Next gt G Previous x Tu ARE Save E s amp h rend Motor Constant Ke 643 V KRPM P o4 ei ts Operating Voltage 5 DC Volts r3 Jumper Setting gt Exit Maximum Temperature hs deg C Ge 18 3 1 Save to Motor Database Customize Motor Data Drive ACE1200 connected Motor EXC56 740V325 xxx D Save Figure 12 Step 3 Setup Wizard Note If using an ACE1200 or ACE1300 drive verify that the J3 jumper setting shown on the lower right side of the window matches the drive s jumper setting When not using one of these drives the jumper graphics will not be shown After configuring the motor data click the Next button to continue to Step 4 The user will now be prompted to save motor information to the database when adding new motors or editing existing motors ElectroCraft Inc 15 3 7 3 8 ElectroCraft CompletePower Plus Motion Control Software Step 4 Command Input Output Scaling Overview Define Calculation Scale input command to match desired output result This step defines the input and output relati
16. Found On Available Com Ports Figure 4 Drive Not Found ElectroCraft Inc 9 ElectroCraft CompletePower Plus Motion Control Software 3 Drive Configuration 3 1 General Information The Setup Utility was designed to make it easier for the user to set up and run a motor The utility takes the user through a step by step setup wizard and configures parameters needed to run a specific motor This is all done automatically The parameters will be saved into the drive after step eight The user may also open and or edit an existing application and adjust individual parameters as necessary leaving all other settings unchanged In some incidences the drive may come delivered with a set of parameters preconfigured from the factory for a known motor In other cases troubleshooting the drive performance under the direction of ElectroCraft Inc personnel may require the customer to change specific parameters For these purposes please refer to the ElectroCraft CompletePower Plus Parameter application manual 3 2 Drive Found Dialog After communication with the drive is established the Drive Found dialog window offers four options for configuring a new drive Selecting the New Application button starts the Drive Configuration Wizard to configure a new drive and motor See Section 3 4 for further information on using the Drive Configuration Wizard Create a new Application with drive and motor Copy Drive Configura
17. Search Comm Ports ES Select Comm Port Search for a drive connected to your computer vallable 127 Edit Last Applic vallable Save Applice EI Work Offline A E 1 Ouick Diagna S d 43 Connect To Drive Figure 2 Connect to Drive Screen ElectroCraft Inc 8 ElectroCraft CompletePower Plus Motion Control Software If proper communication is established the drive information will be displayed in the information box on the right side of the window and the Drive Found dialog box will open Note The software will automatically set the baud rate to 38 400 ElectroCraft CompletePower Plus ed Ap ll x File Edit View Communications Options Setup Help ACE500 Information er E B New Applicat KUTTEN EE SIRO Bl x Open Applical ITT i ue Current control Create a new Application bezoidal mode y J EN Ea Dra Corian with drive and motor M s only J SayeApplical m20 a ersion m 2118 Write Application to Drive 4 2009 Quick Diagno i Q E Use Other Features GEES 43 Connect To Drive Figure 3 Drive Found If communication was not established then verify that the drive has proper power the power status light s are green the status light is flashing slowly and that the interface connections are correct see operations manual for the proper wiring configuration Ho Drive
18. Set the frequency to 100 Hz typically Set the amplitude of the applied current to 20 of the drive s continuous current rating Verify that the amplitude of the applied current does not exceed the specifications of the motor Start the function generator by clicking on the START button at the bottom of the window Then use the Proportional Gain CL KP slide bar to adjust the current Loop by first 1 Setting the current loop Integral Gain CL KI to zero 2 Increase or decrease the Proportional Gain CL KP until the desired step response has been obtained Typically the desired result is little or no overshoot with a 100 Hz low current square wave applied Note If the Proportional Gain CL KP has been set too large oscillation may occur If the Proportional Gain is set too low the response will decrease ElectroCraft Inc 23 Gain Scaling Proportional Integral Gain ElectroCraft CompletePower Plus Motion Control Software 3 Adjust the current loop Integral Gain CL KI from zero until the desired result has been obtained If the value is set too high then this will cause the loop to overshoot to low and the commanded Setpoint value will never be achieved Once the desired current response has been obtained Click the STOP button to stop the function generator and then select the OK button to save these values Note Atanytime if you wish to exit the tuning program without saving the new current tuning values sel
19. act All rights are reserved with respect to the content of this documentation and the availability of the product ElectroCraft MI Incorporated P O Box 7746 Ann Arbor Michigan 48107 USA Tel 734 662 7771 Fax 734 662 3707 http www electrocraft com Dept Sales and Marketing ElectroCraft CompletePower Plus Motion Control Software Table of Contents 1 ElectroCraft CompletePower Plus EE 5 1 1 eral eene M MER 5 Parameters Sc Variables de 5 2 ElectroCraft CompletePower Plus Introduction 1 ecc 6 2 1 JE ege tee E dt E 6 2 2 System Requilemiebits easier Dian Ode pete PER tace M meo NR EN OR vx eva Par atu n eR Uds 6 COMIDU LE e M 6 Bra 6 lee EE 6 Aurejt i r 6 AST Ge Ee MU NE 6 2 3 Installing ElectroCraft CompletePower Plus eeeeeeeeennnn 7 a f2eci MEI T 7 2 4 Setting Up and RUGS E e Seo siones ori betta ua d Pire ue Dara leone lai uiv tus event boil 8 3 Dive Conlb9uratlol EE 10 3 1 General IMOrmMma On EE 10 3 2 Drive Found DIJOE iecit ea mi tert Ea a 10 New ADBDIICaLIOD BEE 10 Copy Drive Config UL ELO user e age ern Ee 10 Write Applicatlori to DRIVE soos retired baee rent tudes eunte sev ee beds 11 BR 11 3 3 KEREN 11 3 4 Step Kee e UE 12 Firmware Part Number ue eerie ya ene a Eee ix Soy toe Eg aves ate cout teen 12 PIN GEV IOC T M
20. cceleration Max Jerk v Max Vel Loop Output o Amps 14 1 Arms IT Max Pos Loop Output Not Used rpm Next gt lt Previous Fault Value Units v Locked Rotor This allows the drive Max Current Allowed p o Amps 14 1 Arms to shut down when a Save Max Duration Before Fault boer ms motor overtemperature Exit Iw Motor OverT emp Limit condition occurs itch Fault On Open Switch Fault On Open Switch Fault On Close Drive ACE1200 connected Motor EXC56 740V325 xxx D Save Figure 15 Step 6 Setup Wizard Click next to continue to step 7 ElectroCraft Inc 18 3 12 3 13 ElectroCraft CompletePower Plus Motion Control Software Step 7 Motor Phasing This utility will correctly setup the Drive and configure the motor feedback Motor Phasing Overview This step will automatically configure the Drive to operate with any motor even if the correct motor phase encoder direction and or hall order is unknown In order for this setup to work properly the number of motor poles and encoder count must be set correctly in Step 3 Define Motor Applied Current Sets the amount of current that will be applied to the motor during the phasing Jog Speed configuration The default value of 1096 should be adequate for most motors However motors with high start up current or cogging torque may require additional current Adjust the applied current if necessary Note It s advisable to set t
21. display box ElectroCraft CompletePower Plus ACE500 cur halls trap APL Egit No Data No Data No Data No Data Commanded Position Commanded Velocity Commanded Voltage Current Current Error Current Integral Electrical Angle Figure 32 Selecting Trigger Variables to Graph ElectroCraft Inc 36 6 5 ElectroCraft CompletePower Plus Motion Control Software Zoom Feature OUT ALL PAN All viewing functions are available by right mouse clicking on the graph and selecting from the drop down box ElectroCraft CompletePower Plus ACES5O00 cur halls trap APL Bl x File Edit View Communications Options Setup Help Timebase Trigger pue Ger Position Error Commanded Position velocity Commanded Velocity EE Error Ony XQOffset Gain fi commanded Positi Ony ffset Gan Channels Ony Offset 10 Gain 0 03515 l Zoom Out i Zoom In BB commanded Velo v RPM DI i i i i Zoom All On Offset j Gain 0 03515 Full Window View CT x NoUns zl l M as Normal View On Offset 10 Gain fi i d Acquire Graph CI No Units On Offset 0 Gain 100 200 200 400 500 600 700 500 900 1 000 1 100 1 200 1 300 Miliseconds Figure 33 Zooming in out on Graph To zoom in on a graph click in the Graph window and drag a box from the upper left side to the l
22. e tool bar ZS Position Loop Tuning d iani x Function Type r r Square Wave m Peak to Peak 360 deg I Command Period 000 Miliseconds Min Detail Max H DH DH H 1 500 1 000 500 0 500 1 000 1 500 Milliseconds Gain Scaling Proportional Integral Gain Derivative Derivative ain Gain Filter 16384 1000 cl Hg i ig fl 4 d Figure 23 Tuning the Position Loop In figure 15 we have selected the Velocity loop for tuning Tune the Position Loop in the same manner as tuning the Velocity Loop Adjust the gain setting and other settings to obtain the desired performance ElectroCraft Inc 27 ElectroCraft CompletePower Plus Motion Control Software 3 19 Set Advanced Parameters Allows advanced parameters that are not handled by the Setup Wizard to be stored in application files and saved to the Drive upon completion of the wizard Parameter values defined in the advanced parameter window will override or take precedence over other settings in the setup wizard and application The values are not checked for errors and may cause undesired operation of the Drive ZS Advanced Parameters l B x Advanced Parameters Enter parameters to be downloaded after those set by the Wizard Syntax Parameter Value 1 optional comment Examples CL AP5 CL AP 5 Spaces and blank lines ignored LL Ab Lk Cancel Figure 24 Advanced Parameter Window 3 20 Saving
23. ect the Cancel button The Gain Scaling CL SH is a multiplier applied to both the Proportional KP and Integral KI gain values When adjusting gain values it is strongly recommended to use the lowest possible value for the gain scaling For example use KP 10000 KI 2000 and SH 0 rather than KP 5000 KI21000 and SH 1 The Proportional and Integral gain settings are integer values between 0 and 432767 If CL SH 1 then the KP amp KI range of O to 32 767 represents O to 200 gain If CL SH 2 then the KP amp KI range of O to 32 767 represents O to 40096 gain etc If the amplifier is to be used in current mode only skip the Velocity and Position Loop tuning steps in sections 3 16 and 3 17 The remainder of this page is intentionally left blank ElectroCraft Inc 24 ElectroCraft CompletePower Plus Motion Control Software 3 17 Tuning the Velocity Loop Click on the Tune Velocity Loop button found in the tool bar velocity Loop Tuning Inl x Function Type i Square Wave Mw Peak to Peak Command Period 3000 Milliseconds DI Min Detail Max 1 500 1 000 500 0 500 1 000 1 500 Milliseconds Gain Scaling Proportional Integral Gain Derivative Derivative Measured in Gain Filter Velocity Filter 16384 2048 n n 44 0 sm fa ago E E dL d d Figure 22 Tuning the Velocity Loop In figure 14 we have selected the Velocity loop for tuning Function Type Selects the v
24. eful for displaying variables with different user units or different numerical ranges on a single graph for viewing ElectroCraft Inc 33 ElectroCraft CompletePower Plus Motion Control Software 6 3 Timebase Setup Tab After selecting the initial variables to include in your graph you will need to select the Timebase tab for your data collection ElectroCraft CompletePower Plus ACE500 cur halls trap APL Bl x File Edt View Communications Options Setup Help Channels Timebase Trigger pue Ger No Data No Data No Data No Data r Sample Location Spd PosLoop Current Loop LI C Re r Sample Frequency Number of d Frequency pokey ZS E J 750 0Hz Number of Total Time E Samples S 1 33 Sec r Async Serial Event 7 Command E Enable Delay 0 5 ec r Biraph Display Properties Line Width Persistence E On Max Packet Size Auto Update 250 7 Enable Performance Ka Acquire Graph Data Miliseconds Figure 30 Graph Timebase Set up Either select your Sample Location from within the Speed Position Loop or from within the Current Loop located at the top of the tab Determine your Sample Frequency This is influenced by your Sample Location selection above and is determined by both the number of loops per sample used as well as the number of sample points desired As the Numbe
25. elocity profile the drive will attempt to spin the motor Choose between square triangle sawtooth and sinusoidal velocity profiles Amplitude Sets the peak to peak speed of the velocity profile that will be sent to the motor i e 1000 RPM will spin the motor 500 RPM forwards and reverse Command Period Sets the period of the velocity profile sent to the motor In this example set the function generator to the desired Function Type Set the Command Period to 3000 mS typically Set the Peak to Peak velocity to no more than 2096 of the motor s maximum velocity value Verify that the amplitude of the applied velocity value is not excessive for the motor Note The Velocity Loop typically needs to be tuned with the load attached This may require the user to change the function type and command period to obtain the preferred result Start the function generator by clicking on the START button and adjust the velocity loop Proportional Gain VL KP and the velocity loop Integral Gain VL KI to obtain the desired waveform ElectroCraft Inc 25 Derivative Gain Derivative Filter Measured Velocity Filter ElectroCraft CompletePower Plus Motion Control Software Then use the Proportional Gain VL KP slide bar to adjust the Velocity Loop by first 1 Setting the velocity loop integral gain VL KI to zero 2 Increase or decrease the Proportional Gain VL KP until the desired step response has been obtained Typically the desired r
26. es The ElectroCraft CompletePower M Plus software can be used to e Configure the Drive s Operation Mode e Configure the Drive to operate several different motors e Tune the Position Velocity and Current control loops e Save and Load configuration files to and from the drive e Graph application variables like Velocity Position Current and Motor Voltage e Update the Drive s internal firmware Drive parameters are used to configure the Drive for different operating modes and to tune the control structure that each operating mode presents Variables are internal values that change while the Drive is running Parameters can be changed using the different parameter screens available in the ElectroCraft CompletePower Plus program Variables can be recorded using the Graph Window Variables are graphed in the loop tuning tools to evaluate the effectiveness of set Parameters Commands are values that are sent to the drive that cause the drive to do some action Note For further documentation support of parameters variables commands and graphing refer to the ElectroCraft CompletePower Plus Parameter manual The following sections are intended to familiarize the user with the basic operation of the ElectroCraft CompletePower Plus software ElectroCraft Inc 5 2 1 2 2 ElectroCraft CompletePower Plus Motion Control Software ElectroCraft CompletePower Plus Introduction ElectroCraft CompletePower Plus is a Wi
27. esult is little or no overshoot with a 3000mS slow speed square wave applied 3 Adjustthe Velocity Loop gain VL KI until the desired response has been obtained Once the desired velocity step response has been obtained save the values to the drive Click the STOP button to stop the function generator and then select the OK button to save these values Derivative gain works on the rate of change of velocity error In most applications derivative gain is not necessary The derivative filter is used to reduce the sensitivity to the noise in the error term The velocity filter uses a digital averaging method Typically this filter is only used when a high resolution feedback device like an encoder is not available and only the hall sensors are available as a feedback device The velocity filter will help to correct for irregular halls signals When using a motor with an encoder the filter value should be set to zero Note The velocity filter introduces lag into the velocity feedback Higher filter values will cause higher lag The correct setting of the velocity filter is one that filters the velocity only enough to obtain acceptable results If the amplifier is to be used in velocity mode only skip the Position Loop tuning step in the next section 3 17 ElectroCraft Inc 26 ElectroCraft CompletePower Plus Motion Control Software 3 18 Tuning the Position Loop Click on the Tune Position Loop button found in th
28. he applied current to a low value when first configuring the setup Set the speed the drive will attempt to spin the motor during the phasing configuration Can be set to slow 4 rpm medium 8 rpm or fast 16 rpm BER Y Step Detect Motor Phasing via AutoConfig I2 2 i SS 38 Motor Feedback Hall Sensors State Applied Current fi 0 of Max 1 5 Amps Jog Speed Slow 4 rpm o c a 53 52 1 Reverse Direction P Auto Contiguration Progress zm Encoder Reading fo Relative Angle deg Drive ACESOO connected Motor Unknown motor encoder Save Figure 16 Step 7 Setup Wizard WARNING motor shaft should be uncoupled and free to rotate without coming in contact with the user or any stationary objects ElectroCraft Inc 19 ElectroCraft CompletePower Plus Motion Control Software Click the START button to begin the Auto Configuration process The drive will reset and then an advisement window will appear prompting the user to check or uncheck the Reverse Direction box to obtain the desired FORWARD direction Program Advice 1 The motor will be in motion CheckfUncheck the Reverse Direction checkbox so that the motor shaft is turning in the FORWARD direction E Cancel Figure 17 Start Motor Phasing and Setting Correct Direction Click OK to start the Auto Configuration Note If at any point the motor begins to oscillate uncontrollab
29. ian N ES 12 N T 12 3 5 Step 2 Demne DVE NETTE 13 Drive E 13 DRIVE WUT soa a r E E E A E 13 Dve OUUU EE 14 3 6 Step SS Define MOtLOF eege a take a dean imd edet ied ood 15 Motor Database atu satis arise Ne cat Nempe ees i eese telnet iedb cct As Pac Me etuer NE pts 15 Motor SISCIMICATION MM ec S 15 3 7 Step 4 Command Input Output Scaling ssseee 16 3 8 eleme Mm E P 16 DS gie EE 16 Calculation soie MU REB C cM cita UR MEM 16 3 9 Step 5 Define Analog Feedback EE 17 310 Step EEN oa ATO E AAN 17 BIET 17 3 11 ouseNopEo MN c R e 18 Hinr c cr 18 mp emer RR UE ee 18 3 12 Step 7 MOTOLPhSSIEIE a1 destin teli vise oe ee 19 3 13 Motor Phasing TEE 19 ADDlIed e Die gn sess tee aara scu I atdu estt eden N 19 VOR SPECO M e Tn 19 3 14 Step S Tune CoHtFol Ee EEN 22 3 15 Control Loop Overview A 22 ElectroCraft Inc 3 ElectroCraft CompletePower Plus Motion Control Software 3 16 Tuning the Current Loop ausos c NR EE 23 F nction TYDE qe 23 eoo RR LO M E T TEENS 23 Command le el RE 23 CSAS MINS eite ns Pie int rieure d epe duca AED 24 Proportional Integral Gain seen nnne 24 3 17 TUNNE tne Velocity LOOD EE 25 FUPICTIONNI e e UTE E 25 P Xogre lidsro ER 25 Command Period sessi nisi EE 25 Derivative Gal NEE 26 DERIVATIVE EE 26 Measured Velocity FIKRET euis sepia tu Cis shoe Ob et Ebr Eden ee dU E Tete 26 3 18 T nine THE Positio
30. ive is allowed to output to the motor This is an average limit based on PWM output percentage The actual peak voltage will equal the supply input voltage Max Acceleration Limits the acceleration on the motor when in velocity mode Max Jerk Limits the maximum change in acceleration that the drive can deliver Max Velocity Loop Output Limits the maximum output of the velocity loop which is the input to the current loop Max Position Loop Output Limits the maximum output of the position loop which is the input to the velocity loop if the velocity loop is enabled in Step 2 or if not enabled to the current loop Locked Rotor Protects the motor and drive from excessive current during a stalled condition Select the current output that the drive must exceed and time in milliseconds the motor is allowed to remain in a stalled condition before the drive is placed into a fault condition and the motor output is shut off Note The maximum current allowed must be below the maximum current output setting Motor OverTemp Can be used to disable the drive when a motor over temperature condition is detected Choose the type of motor temperature sensor from the pull down menu Set Limits and Faults untitled APP 1 Oj x Setup Step Set Limit and Fault Thresholds 123436 27 8 Limit Value Units J Max Current Output p Amps 14 1 Arms v Max Voltage Output mg Volts ino rpm s itUsed rpms VLoop v Max A
31. ly click the STOP button to terminate the Auto Configuration process and stop the motor from running The drive will now attempt to rotate the motor two electrical revolutions to determine the proper motor phasing hall sensor order and encoder phasing if applicable Watch the rotation of the motor shaft The direction that the motor rotates will become the FORWARD direction If the motor is not moving in the correct direction for forward motion click the Reverse Direction check box This will operate the motor in the opposite direction and change the direction of FORWARD If the configuration has already been completed before the box is checked click the Start button again to redo the configuration Detect Motor Phasing untitled APP D x T Step Detect Motor Phasing via AutoConfig D SS a e SS 8 Motor Feedback i Hall S Stat Applied Current 10 of Max 1 5 Amps a as one es gn 53 52 Si Encoder Reading 1331 Relative Angle deg 38 Collecting Motor Data START mm Progress Previous Save Ed EM a Exit Drive ACESO0 connected Motor Unknown motor encoder Save Figure 18 Detecting Correct Motor Phasing ElectroCraft Inc 20 ElectroCraft CompletePower Plus Motion Control Software After the configuration has completed successfully click the OK button The drive will reset f Detect Motor Phasing untitled APP loj
32. n cycles to generate before the drive is disabled To cycle Control loop input type continuously check the Continuous Cycling box ElectroCraft ComplecePower Plus ACE Gell Ale Edit View Communications Options Zet Selects Wave form shape C annels Timebase tigger Func Gen Apply Function to e TOR TT NONEM ee ee Sets the initial slope ramp rate Sets the Period in milli Ey en NE from zero to the Offset level A seconds Type Square Wave a Dee value of 256 is unity meaning that Cycles 10 Slope 256 the starting reference signal will increase 1 count per loop period Continuous Cycling Sets the peak to peak X Axis Time Amplitude Period fi D Milliseconds Y Axis Current Ampl 100 No Units D Offset Lon Dam fi Sets the Offset level relative d Se v review to zero Start Stop Preview window is used to view the commanded waveform 0 20 40 60 80 100 120 140 150 180 200 220 240 Miliseconds Starts and stops the function generator Figure 34 The Graph Function Generator Screen ElectroCraft Inc 38 ElectroCraft CompletePower Plus Motion Control Software 6 8 Enabling the Function Generator Place the drive into standby Select Function generator from the menu bar to enable the function generator Apply the function to Current Velocity or Position control loop Change the excitation type to
33. n EOOD WEE 27 3 19 SEL Advanced Paramete S e E 28 3 20 Saving Completed ApplieatlOn o mae a vetet PR Re b e nn e OR EE ce PERS 28 4 ek Tee SEN 29 4 1 General DeseripL Ob eelere eb Ue ioc va le cia orte e e eos 29 4 2 How e Joea eie e 29 5 Opening an Existing Application essere nennen enne nnn nene 31 6 How to Graph Variables 5o tei nein bd eege 32 6 1 UE ell E e EEN 32 6 2 Channel Setup TaD WEE 33 6 3 TittiebaseSebHb T 3D E 34 6 4 Trigger Set b T3D send o EO o pror Ps Eed 35 6 5 elo me ES 37 Rp EE 37 OOU MEET ETE E E E 37 NEE 37 PAN gm 37 6 6 Biet gene eet TaD BEE 38 6 7 Function Generator OVeEVIQW srann diac EVANS ESPERE RUIN Dav EE EEFIESNUPPR RR Cp IRR IEEE 38 6 8 Enabling the Function Generator E 39 7 7 0 Terminal Window EE 40 7 1 mio de WEE 40 ElectroCraft Inc 4 ElectroCraft CompletePower Plus Motion Control Software 1 ElectroCraft CompletePower Plus Software 1 1 Overview Parameters and Variables PC based software used for the set up and analysis of an ElectroCraft servo drive is called ElectroCraft CompletePower Plus ElectroCaft CompletePower Plus is software that provides an easy way to setup ElectroCraft drives The software also contains advanced features for troubleshooting and performance analysis and is capable of configuring a motor to run on ElectroCraft driv
34. n order The current loop must be first then the Velocity loop if enabled and then the position loop if it is enabled Tune Control Loops untitled APP Oj x Setup Step Tune Control Loops 123495667 E Tune Current Loop Finish CS Tune Velocity Loop Tune Position Loop JE Set Advanced Parameters Drive ACESOO connected Motor Unknown motor encoder Save Figure 20 Step 8 Setup Wizard ElectroCraft Inc 22 3 16 ElectroCraft CompletePower Plus Motion Control Software Tuning the Current Loop Click on the Tune Current Loop button found in the tool bar BER Function Type i i Square Wave m Peak to Peak Command Period 1 n Miliseconds e Min Detail Max P eak Amps Milliseconds Gain Scaling Proportional Integral Gain ain 0 14000 300 ag il Figure 21 Tuning the Current Loop In the figure 13 we have selected the Current Loop for tuning Function Type Selects the current waveform that will be sent through the motor phases Choose between square triangle sawtooth and sinusoidal waves from the pull down menu Amplitude Sets the peak to peak current of the waveform that will be sent to the motor Should be set to no more than 67 of the drive s continuous current rating Command Period Sets the period of the current waveform sent to the motor As an example set the excitation of the function generator to square wave
35. ndows based program used for setup parameterization system diagnostics and motion control management ElectroCraft CompletePower Plus will lead the user through a Step by Step Wizard to create the correct configuration information required for the user to run a particular motor with a particular drive The result will be an Application containing all of the information required to run the motor with the drive This chapter presents basic installation procedures and instructions on how to install and run the ElectroCraft CompletePower Plus software Installation and Setup ElectroCraft CompletePower Plus can be downloaded from the website 9 www electrocraft com see section 2 3 ElectroCraft CompletePower Plus is installed in English System Requirements Computer Display Printer Mouse Serial I O ElectroCraft CompletePower Plus can be installed on any IBM PC compatible computer running Windows 95 98 Windows NT 4 Windows 2000 Windows XP VV WW A VGA display is required A color monitor display makes it possible to take full advantage of ElectroCraft CompletePower Plus s graphic interface ElectroCraft CompletePower Plus uses the default printer installed on your computer For optimal resolution especially when printing graphs use a high resolution 300 dpi laser or ink jet printer A mouse or other pointing device is required to use ElectroCraft CompletePower Plus ElectroCraf
36. oftware Opening an Existing Application To open an existing application either click the Open Application button from the main setup menu or File and then Open Existing Application from the drop down box ElectroCraft CompletePower Plus test APL Bl x File Edit View Communications Options Setup Help File Edit View Communications Optio New Application Open Existing Application Save Application Save Application As ACE500 Information Ctrl S Open Parameter File Ctrl 0 Save Parameters Status Open Graph File Save Graph B New Application Open Application ei Edit Last Application Motor Feedback Halls Encoder m Save Application Primary DSP Firmware Version 50016208 ACES500 Sept 4 2009 10 DSP Firmware Version 50016303 4CE500 DSP July 2009 Print D Exit Mode Position control Review or modify an existing Application stored on disk Commutation Type Trapezoidal mode Command Input PM 43 Connect To Drive Figure 27 Opening existing applications The remainder of this page is intentionally left blank ElectroCraft Inc 31 ElectroCraft CompletePower Plus Motion Control Software How to Graph Drive Variables 6 1 Adjust the recording time base using this tab Drop box is used to select variables Gain and Offset can be used to display data in user
37. onship of the drive The user is defining a mapping feature from the analog voltage or the PWM on time percentage to the actual command needed for the drive to respond to a new Setpoint This is a translation that the user is defining between two different types of inputs This translation is linear meaning it is defined by a straight line By entering 4 values two left and two right in this step the user defines two points on this line each point needs an X and a Y value to locate it The program calculates the slope and intercept of this line and therefore defines the translation above Enter desired input and output limits Enter input command level and its desired output result into the appropriate boxes If the individual value boxes turn red it means they are out of bounds or illegal Left Point Selects Minimum command input and output result Right Point Selects Maximum command input and output result Note Input and output units will change based on selections made in Step 2 Note When using the direction input with PWM Placing the direction input in a logic Low state will reverse the command When customer is not using the direction input short the input to a logic high The Ratio and the Offset boxes will be green if the calculated numbers a function of the user inputs are valid If the Ratio or Offset fields turn red it means the calculated slope and intercept are out of bounds and illegal therefore the
38. ower right A zoomed view of that area of the graph will appear This can be done several times to see more detail It is also possible to right click on the graph and select Zoom In To zoom out on a graph click and drag a box from the lower right side to the upper left This can only be done once to reset the graph back to the default setting This is the same as zoom all To zoom out on a graph right click on the graph and select Zoom Out To return to the original view right click on the graph and select Zoom All It is also possible to click and drag a box from the lower right side to the upper left This can only be done once to reset the graph back to the original view Click and hold the right mouse button and drag the mouse to PAN the graphics while zoomed in ElectroCraft Inc 37 ElectroCraft CompletePower Plus Motion Control Software 6 6 Function Generator Tab 6 7 Function Generator Overview To tune the drive s current velocity and or position loops make use of the built in function generator feature found in the Graph window menu The function generator is used to output a user configured reference signal to either the current velocity or position control loops Note To stimulate the Velocity or Position control loops using the function generator these loops must first be enabled in the Configuration word By default the current torque loop will always be enabled Sets the number of functio
39. r of loops per sample figure is adjusted both the frequency as well as the total time for the samples to be collected will change When just the Number of Samples is adjusted after setting the number of loops per sample just the Total Time required to collect the sample data will change The Number of Samples is limited by the variables selected or the drive type and can vary from about 2 700 to about 32 000 If a number larger than the limit is entered the Number of Samples will be set to the limit In the Graph Display Properties box select the thickness of the graph display lines Range 1 10 Determine if you would like to retain the last graph to be overlaid by the next graph using the Persistence On feature This feature is useful when comparing two consecutive data results on the same graph The Graph Performance box allows the user to adjust the maximum data packet size from 20 to 500 for upload performance The best graphing performance will be obtained using the maximum data packet size however if too many retries messages appear then reduce the packet size to minimize the time spent recovering from communication errors The Auto Update Enable allows incoming data to be displayed as it is received rather than waiting until all data is collected This can be turned off if desired Graphing will run faster if Auto Update is turned off ElectroCraft Inc 34 ElectroCraft CompletePower Plus Motion Control Software
40. ronize feedback or using only hall feedback Click the Next button to continue to Step 3 The remainder of this page is intentionally left blank ElectroCraft Inc 14 ElectroCraft CompletePower Plus Motion Control Software 3 6 Step 3 Define Motor Define motor parameters and feedback type Motor Database For Electocraft motors check the Electrocraft checkbox and select the Product Family Rated Torque and whether the motor is Imperial or metric Then select the exact model from the Select Motor pull down menu If your motor is not listed contact Electrocraft for an updated motor database For non Electrocraft motors select the Custom Motors check box and select motor from the Select Motor pull down menu If you are not using a motor that is listed then select Add New Motor Motor Specification Motor parameters for existing motors will be loaded automatically When adding a new motor or editing an existing one enter the motor parameters from the manufactures data sheet and the type of motor feedback in the appropriate locations Data for existing motors may also be edited e g selecting Halls only feedback on a motor with an encoder and saved as a new motor by selecting the Customize Motor Data button Verify that the data entered is correct before going to step 4 Define Motor untitled APP l Bl xi Setup Step Define Motor 12 4 56 7 8 wa UC E Motor Database ElectroCraft Product
41. sition Additional variables can be selected in a similar fashion up to six As the channels are assigned a variable the color will be highlighted The color of the data being displayed can be changed by clicking on the color box associated with each variable ElectroCraft CompletePower Plus ACE500 cur halls trap APL 0 x File Edit View Communications Options Setup Help Timebase Trigger Func Ger HE Error EE Ony Offset jo Gain 1 Commande Positi zl D On Offset 0 erki Radians velocity Y Channels Degrees i On w Offset 10 Gain 0 03515 MIN Velo e RPM Ony Offset jo Gain 0 03515 A sine Units DI On Offset Jo Gain CI sine Units On Offset jo Gain Va Acquire Graph Data Miliseconds Figure 29 Selecting Variables to Graph Note Note that a check mark will appear in the On box located just below the selected variables This means that these variables are enabled for data collection You can disable a variable by clicking on this box Note Once data has been captured click on the colored box will turn on or off the display of the variable Select the units you desire the variable to be displayed in from the box adjacent to each variable For example the Velocity variable can be displaced as RPM RPS or Rads S Select the Offset and Gain boxes to scale each variable as desired This feature is us
42. t CompletePower Plus Software Version No 5 0 Setup and Analysis Software User s Manual ElectroCraft Incorporated Title Type of Documentation Document Type code Internal File Reference Purpose of Documentation Record of Revisions RELEASE NUMBER 1 0 Copyright Validity Published by ElectroCraft Inc ElectroCraft CompletePower Plus Motion Control Software ElectroCraft CompletePower Plus Software Setup and Analysis Software User Software Manual SM Rev 1 0 09 25 09 doc Document Number A11102 This documentation describes e ElectroCraft CompletePower Plus used for the ability to automatically set up and operate any motor easily DATE DESCRIPTION COMMENTS 09 25 09 Initial Release 2009 ElectroCraft MI Inc USA All rights Reserved Windows is a registered trademark of Microsoft Corporation Copying this document giving it to others and the use or communication of the contents there of without express authority is forbidden Offenders are liable for the payment of damages We reserve the right to modify our products at any time Information specifications and material data that appear within this user manual are subject to change without notice For the latest revision of this manual please check our web site or contact ElectroCraft The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contr
43. t CompletePower M Plus can be configured to use the PC s serial port for communication between the host PC and an ElectroCraft drive A RS 232 serial cable is required between the host PC and the drive A 3 wire cable can be used for normal operation A 5 wire cable is required in order to update the Drive s internal firmware ElectroCraft Inc 6 ElectroCraft CompletePower Plus Motion Control Software 2 3 Installing ElectroCraft CompletePower Plus To install ElectroCraft CompletePower Plus in a host computer running under Windows 95 98 Windows NT Windows 2000 or Windows XP To install ElectroCraft CompletePower Plus software from the ElectroCraft website Download onto a host computer running Windows 95 98 2000 or XP by doing the following 1 Download the latest version from the website at http www electrocraft com files downloads The file will be named CompletePowerPlus v5 O yy xxx zip where yy and xxx are version numbers Decompress this file and locate the resulting file named CompletePowerPlus v5 O yy xxx Setup exe Note The host computer must have a decompression utility for Windows to open compressed files The remainder of this page is intentionally left blank ElectroCraft Inc 7 2 4 ElectroCraft CompletePower Plus Motion Control Software Setting Up and Running the Setup Utility Connect the communications cable from your computer to the ElectroCraft Drive Have the drive enabled and
44. tion Write Application to Drive E Use Other Features Figure 5 New Application Copy Drive Configuration will clone the configuration of one drive to another identical unit Drive Found What Do You Want To Do Bl xl B New Application Read this drive s internal configuration then write it to another identical drive Write Application to Drive E Use Other Features Figure 6 Copy Drive Configuration Write Application to Drive will load a saved Application file to the drive See Section 3 4 for information on creating application files ElectroCraft Inc 10 ElectroCraft CompletePower Plus Motion Control Software Drive Found What Do You Want To Do mi x L New Application Copy Drive Configuration Download a saved complete Application file i to the drive Write Application to Drive E Use Other Features Figure 7 Write Application to Drive Use Other Features takes the user to the Drive Status Home Page where all of the features of the ElectroCraft CompletePower Plus setup program are available Drive Found What Do You Want To Do L New Application Copy Drive Configuration Write Application to Drive Use other features of this program using buttons and menu items Use Other Features Figure 8 Use Other Features 3 3 Start the Wizard From the main setup menu click the New Applica
45. tion button to configure a new drive and motor or select New Application from File menu To open and or edit an existing application select the Open Application button see Chapter 5 Open an Existing Application ElectroCraft CompletePower Plus untitled APP Ee xj File Edit View Communications Options Setup Help File Edit View Communications Optio New Application Open Existing Application Save Application Ctrl 5 Save Application As ACE500 Information Open Parameter File Ctr O Save Parameters Status Made Torque Current control L New Application Open Application Open Graph File Save Graph D Create a new Application with drive and motor Print Exit Commutation Type Trapezoidal mode Command Input BAM el Edit Last Application Motor Feedback Halls only LJ Save Application Primary DSP Firmware Version 50016208 amp CES00 Sept 4 2009 A IO DSP Firmware Version Quick Diagnostics 50016303 ACES00 DSP July 8 2009 Connect To Drive Figure 9 Create New Application ElectroCraft Inc 11 ElectroCraft CompletePower Plus Motion Control Software Step 1 Select Drive Select the drive type and maximum output current Firmware Part Number The current version of firmware installed in the Drive will be displayed Choose Drive Type Choose your drive type from
46. translation itself is illegal and one or more of the input fields have to be changed Because the input to output relationship is linear the output of the Drive is not bound or limited by the endpoints entered untitled APP ini x Translate Command Input to Motor Output Setup Step Translate Command Input to Motor Output 123 5678 Set Two Points To Define Input Output Relationship Calculations Based On Point Values Velocity at 10 2000 00 rpm Velocity at 10 2000 00 rpm Input Volts Velocity If Zero Input 0 00 rpm Output rpm Input Giving Zero Velocity 0 00 V n Ratio 20000 rpm Offset oo rpm Output rpm 500 reenter 108 8 7 6 5 4 3 2 101 23 4 5 87 8 810 Input Volts Reset Drive 4CESO0 connected Motor EXC42 350V325 xxx D Save Figure 13 Step 4 Setup Wizard ElectroCraft Inc 16 ElectroCraft CompletePower Plus Motion Control Software Example If the Drive is configured to run at 1000rpm with a 5vdc command input then it will run at 2 000 rpm when a 10vdc command signal is applied Click next to continue to step 5 3 9 Step 5 Define Analog Feedback The analog feedback can be configured to be used for position or velocity feedback It can also be used to provide a variable current limit 3 10 Overview This step works in the same manner as the Command Input Output scaling step 4 Most Drives use hall
47. x Setup Step Detect Motor Phasing via AutoConfig D SS a e SS 8 Motor Feedback Hall Sensors State SA 357 51 Applied Current 10 of Max 1 5 Amps Jog Speed Slow Reverse Direction Vv Application Advice x Auto Configuration Pro z Encoder Reading 5254 BEBBBBHEHERH Auto config complet 1 dni d acu Relative Angle deg en Auto config complete lt Previous Save Exit Drive ACESOO connected Motor Unknown motor encoder Save Figure 19 Motor Configuration Sucessful Click Next button to continue to Step 8 The remainder of this page is intentionally left blank ElectroCraft Inc 21 ElectroCraft CompletePower Plus Motion Control Software 3 14 Step 8 Tune Control Loops Assists the user in tuning the drive s three control loops Current Velocity and Position for your specific motor and load 3 15 Control Loop Overview ElectroCraft has developed a set of tuning tools that incorporate a built in function generator to excite the motor graphing function and slide bar adjustments for selecting various amounts of selected loop tuning parameters This is used to achieve the best possible closed loop servo performance Depending on the Drive Mode selected in Step 2 some of the modes may not be available Whatever tuning modes that are available perform all tuning steps from Current to Position Loop Furthermore the control loops must be tuned i
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