COOL WORKS LITE USER'S MANUAL
Contents
1. Programs Uninstall a programs Select CoolWorks Lite 4 4 1 and click Te ee rd aa wP i a de eared bor Loew eer Be vet Uninstall Change Tae tore nets race i ed eet See SE e ped es Se ee e d Sa iy OR i p ae ap ees py e u pet The uninstallation is successful if t displayed _ a r 1 Select the shortcut in start menu All Programs CoolWorks Lite uninstall CoolWorks Lite 4 4 1 2 ae os ee pe ee ply es Cel Le AT CEE Chapter 9 Uninstallation 23 Chapter 10 Appendix How to find the COM port No in Window XP Open the Control panel click System and Security and then 1 System COM amp LPT The available COM ports are displayed in the tree selection Ports 3 a a per cert eres rire ee Harara are ara Tiat irapa arl Prya he MD en nn oe ig we k ee es 2 In this case COM1 is available P ee Le Bire pee er Aran h ri ee op eee M e ambos eeen raae ens Apam pone ee ror iee Tirban oma as SS a ee ee ee ee Aksi pira taemirerh isting mae Dmi be oii Yer rerin mamm Prats T hjii ispa a p cl oe a DEAE en pw ea COR nae a oe pS ia Binsa ed ies Bee eee Chapter 10 Appendix 24 http www musclecorp com Microsoft and Windows are registered trademarks of Microsoft Corporation in the United States and other countries Other company names and product names described in this document are trademarks or registered trademarks of their r2. the motor s set resolution To start the Step Test click Start button The motor will move 7 2 degree instantaneously during the test Pay attention please To stop the test process click Stop button When the test process ends click OK Red line The simulation result from Green line Real response for the same experimental condition The step response is displayed The experimental data is also displayed in The instruction box for every 2msec 1000pulse 7 2 degree Chapter 8 Response Adjustment Window 20 Frequency Test Frequency response shows output gain amplitude proportion against input frequency command Gain dB shall be 20log K and the output amplitude proportion against input shall be K time When gain equals 0 the amplitude proportion equals 1 So that the same output amplitude as input amplitude shall be obtained Frequency characteristic has features as less intuition but minutia feature is well described Frequency response test displays its response characteristic by increasing To start the Frequency Test click Start button the amplitude 3 6 degree 500pulse 50000ppr sine wave from 1 Hz up to The motor shaft will vibrate in the range of plus minus 3 6 degrees then 100 Hz despite the motor s set resolution the frequency of vibration will be increased gradually Pay attention please To stop the test process click Stop button When the test process ends c
3. 1 Target Speed 1 Real Position 2 Clear Gaps 2 Real Position 2 Real Speed zi m J 3 Real Speed 3 Torque aad Firer OR AsteeRespMede Echa n COMI amp opened apened Recened bytes 4 Torque 4 Position Error Chapter 7 Graph Window 13 Setting of Graph Properties To display the following window click Graph prop button Set the minimum and maximum values for the X axis an integer between 32767 and 32767 Set the minimum and maximum values for the Y axis an integer between 32767 and 32767 Set the horizontal and vertical grid numbers an integer between 1 and 32767 Set the width of the line and the scale of the data Set the labels for the X axis Y axis and title The color of each data line can be independently defined Set the Background Color Grid Color and Font Chapter 7 Graph Window 14 Plot Type Time History Plot The time history plot data Y axis can be displayed versus time X axis Unit for the X axis is SamplingTime msec When multiple motors are selected graphs will be displayed only when the motor of the final axis is in motion oO SP 25 25 55 25 35 35 53 S E a vOne Peed Pee ee 1 OPPO eee PERN TEEATEPENTEENTTEE Fanny bas es a H oe on SPSS Se PSS eee a i _ feelin Pp ji HEPA i AAAS ESB SOY ee ee EE B a Sampling Tis T Pie Typa Even when multiple motors are connected the data from specified motors can be
4. MDUG CWL 14501E 01 Rev 1 Utility software for Cool Muscle COOL WORKS LITE Ver 4 4 1 USER S MANUAL INDEX Chapter 1 Installation 1 Chapter 2 Startup and Initial Settings 3 Chapter 3 General Terminology and Descriptions 5 Chapter 4 Terminal Window 9 Chapter 5 Motor Browser Window 11 Chapter6 Jog Window 12 Chapter 7 Graph Window 13 Chapter 8 Response Adjustment Window 17 Chapter 9 Uninstallation 23 MUSCLE Chapter 10 Appendix 24 CORPORATION Chapter 1 Installation COOL WORKS LITE COOL WORKS LITE CWL is a utility software for Cool Muscle CWL can communicate with a Cool Muscle directly It lets you modify and save parameters and data It can jog the motor plot motor data on a graph and do gain tuning CWL is Cool Muscle Language CML compatible CWL is a user friendly software It assists in easy operation of Cool Muscle Main features In the terminal window data and bank programs can be set and the status of motion monitored Terminal function In the motor browser window the motor parameters are easily set Motor browser function In the Jog window the motor can be rotated by dragging a slider with the mouse Jog motion function In the graph window the position speed torque etc can be displayed graphically in real time Graph function In the Response Adjustment window controller gain can be easily tuned by step response or frequency response Response Adjustment functi
5. be calculated Enter the necessary data for calculation Click Calculate button The chosen variable and time for motion will be calculated In the left case distance of Rotation type is selected Resolution 1000ppr Speed unit 100pps Speed 10000 100 100 pps Acceleration 100kpps and Time 10s The rotation distance is calculated as 99000 pulses To transform the result to the other motion type in this case it is Linear type simply change the motion type You will have to enter the pitch data first Enter the pitch data in the Linear type Chapter 3 General Terminology and Descriptions 7 4 Copy Motor Settings 5 Data Log Copy the motor parameters and program banks from one motor to the other To record the incoming messages from the motors check Log file on Caution The settings for the motor depend on its type Such as 23L 17S The Log file on is not checked by default C type and P type Please be careful when copying between motors with The log file will be reset if Log file on is unchecked or CWL is closed different types Select the source motor ID To read the data click Read button click Hes io reed dala from source molor Select the destination motor ID To copy the motor settings click Copy button Sve 1ST ASOT cs Us a pp Chapter 3 General Terminology and Descriptions 8 Chapter 4 Terminal Window H
6. ed z Remark Please refer Page 24 about how to find the available COM port in your computer Start communication by clicking on the Open COM Button To start communication and open the terminal window click Open COM To close the CWL program click Exit 3 Fill in the necessary information 4 The terminal window is now displayed 2 HAFIMBAABASHHASESHS Choose the Communication Type Default is Serial communication Choose the Baud Rate Default is 38400bps Chapter 2 Startup and Initial Settings 4 Chapter 3 General Terminology and Descriptions Menu Bar See Page 6 for details Tool bar Select windows and functions ee at Yer Communication Windows Toot Options Help h ce IE a E B53 5G a gn faa n Communication Open Open Open Open Open through icons settings COM1 COM2 COM3 COM4 COM5 COM6 terminal motor jog Response window browser f window adjustment window window Motor firmware version Status bar Displays the motor status and other relevant CWL information 3 FirnVers 3 128 Metorherpiteds Echo On CORU is Chapter 3 General Terminology and Descriptions 5 Menu bar Open a selected file into the CML Editor Close COOL WROKS LITE Undo of the last action Windows Terminal Display the terminal window main window Tools Motion Calculator 3 Calculate the m
7. espective holders The trademarks notices are not necessarily appended to company system and product names described in this document 2007 Muscle Corporation All rights reserved co Sea N
8. ged in this window will be saved to the motor Any modification of the resolution and speed unit will be saved to the motor The current position is displayed according to the modified resolution Choose Resolution from 200 50000 ppr Since the incremental motion can not be executed when K37 40s and 60s Except for K37 41 and 61 this list does not show the resolutions for K37 40s and 60s Choose Speed unit 100pps or 10pps Jog in CW direction Set speed and acceleration 9 for jog motion When changing values during jog motion the values are reflected to the motion Jog in CCW direction Move to the position 0 Stop motion Chapter 6 Jog Window 12 Chapter 7 Caution Do not start up the Graph Window function while Cool Muscle is not powered on or executing communication frequently H Doing so may cause CWL to stop working and to be inoperative subsequently ra p l n OW To recover from such unusual situation the reinstall of CWL is necessary How to Use Graph Window Graph Prop Set the necessary data See Page 14 for details 2 Clear Graph Clear graphical data displayed CoeotWerks Lit jet Setting idish Ve gee E Lin aaa aa aa aa aa es eiala a s a a a ete etal ante etal E a a a aa aa euL Dm G The sampling time for data streaming or polling 1 30000 mi Plot Type See Page 15 and 16 for details PRO oat og Time History Plot Display the data trend versus time nie X Y Plot Displa
9. lick OK X axis in frequency response graph is an angular frequency w rad sec a and the formula in relation with the frequency f is w rad sec 27 f ee ee dma Ex When 100 Hz 2 x a X 100 628 rad sec Chapter 8 Response Adjustment Window 21 How to Use Response Adjustment Window for CM2 The servo stiffness for applied motor can be adjusted with using this screen Test Controller Test results for Step and Frequency responses are available See Page 20 and 21 for details Motor Selection Choose Motor ID Servo Stiffness Adjustment The servo stiffness can be adjusted by moving the slider Additionally direct setting of numeric number into the right box is available for the adjustment Overshoot Setting is high High servo stiffness and response are obtained However if too high the servo system becomes unstable and the oscillating state or the overshoot tends to occur Too low Setting is low If too low the response and tracking performance go down For adequate setting adjust the servo stiffness to get no oscillation and less overshoot Chapter 8 Response Adjustment Window 22 Chapter 9 Uninstallation There are two ways to uninstall CWL 1 The following message will be displayed Click Yes To All button tiem hae fin a es Open the control panel for windows on the start menu
10. nertia of inertia and viscosity coefficient the payload by experimental results See Page 19 for details based on the vibration starting Test Controller Test results for Step and Frequency from Starting Freq to Ending Freq with the given Amplitude responses are available See Page 20 and 21 for details See Page 19 for details So Mo 1k i Dd ee a er ee lg i ie i ee R Duite hO Oca The tuning result is dependent on the payloa inertia when the design value is unknown All the conditions for identification must be set properly in order to get an accurate estimation The identification results might be different if the experimental conditions are not set properly The estimated result might not be accurate enough even under the proper experimental condition The estimated data is a reference to adjust the tuning The parameters must be tuned with a trial motion Control Design and Simulation Simulate with different inertia If the inertia of payload is unknown use the inertia identification function Identification is to add some probing signal to the system and estimate the unknown parameter of it in order to build a mathematical model for control design Chapter 8 Response Adjustment Window 18 Identify System Inertia Identify the inertia of the playload by motor s information from vibration at specified frequency Precise identification is achieved by aggregating the information from the motor b
11. obtained by setting unspecified motor s Data Type as 0 No Action Chapter 7 Graph Window 15 Plot Type X Y Plot When only one motor is connected X Y Plot is not displayed Related data will be displayed in X Y plane The following example is real time position display When multiple motors are selected graphe will be displayed only when the motor of the final axis is in motion Bigs heiii 1290 p12 LEen mT E re Ca se iw eww Chapter 7 Graph Window 16 Chapter 8 Caution Motor will vibrate during the identification and tuning process This window will not work for Ver 3 00 and 1 07 or before Response Adjustment Window Eas Type of Response Adjustment Window The screen configuration depends on Cool Muscle s version For CM1 ver 2 XX For CM2 ver 3 XX Tuning and simulation are available See Page 18 21 for details Servo stiffness adjustment is available See Page 22 for details Paik MORE 5 Ep mm oS Chapter 8 Response Adjustment Window 17 How to Use Response Adjustment Window for CM1 The Response Adjustment window can simulate and assist tuning the PPI control parameters Motor Selection 3 Control Design and Simulation Position P Gain Speed P and Choose Motor ID and Motor Type Gain can be tuned by comparing the dentify System Inertia Optional results of the simulation for a given Calculate and display the i
12. on The latest COOL WORKS LITE can be downloaded for free from the following web site by answering a simple questionnaire http Avww musclecorp com Compatible OS WINDOWS 7 File Size 2 74MB CWL would be updated without notice Installation Extract the downloaded zip file and unzip it 1 To install click SETUP exe in the folder where the files are extracted Chapter 1 Installation 1 Choose the folder to install CWL according to the instructions given To complete the installation click Finish button by the installer Click Next button to continue When the installation is completed successfully an icon will be appeared on your desktop Chapter 1 Installation 2 Chapter 2 Startup and Initial Settings Connect the PC DC 24V and Cool Muscle by a RS 232C cable CM1C2 2000A according to the following diagram 4 Make sure DC 24V power supply is OFF Caution Do not plug or unplug the connector when the power is on This can cause damages to Cool Muscle or other devices Please pay attention to Cool Muscle the direction of the connector lt Connection example gt RS 232C cable RS 232C connector Connect to PC s RS 232C port DC 24V power supply Chapter 2 Startup and Initial Settings 3 After turning on the DC 24V power supply double click CoolWorks Choose the COM Port 2 Lite 4 4 1 icon to open CWL Enter COM port number which the Cool Muscle is connect
13. otion data according to given position speed acceleration and Cut the selected area Copy the selected area to the clipboard Paste the contents on the clipboard CM Toolbox Display the CM toolbox on the upper left corner of the screen time other Options Data Log 5 Record the log file of incoming messages Eo lida ee Help About COOL WORKS LITE The version information for COOL WORKS LITE is displayed in the following window Choose the motor ID Stop the motor Enable the motor Disable the motor Set Show Hide toolbar Set Show Hide Status bar Set the language for CWL Coon Lie imen Aa a Tarp EAA Has Dapoi Adi Riga Ferre 1 The Response Adjustment window cannot be used for firmware Ver 1 07 or before 2 5 Please refer to page 7 8 for the details Close Terminate communication Chapter 3 General Terminology and Descriptions 6 2 Speed Calculator Enter the target speed in rpm Click Calculate button Calculate the Speed value in pps for given resolution Since the incremental motion can not be executed when K37 40s and 60s Except for K37 41 and 61 the speed calculator does not show the resolutions for K37 40s and 60s For the above case where the Resolution is 1000ppr and Speed Unit is 100pps s 167 is calculated as 1002rpm 3 Motion Calculator Set motion type Set the combination of resolution and speed unit Choose distance speed acceleration or time to
14. ow to Use Terminal Window The first window displayed after opening CWL and selecting a COM port is the terminal window The terminal window allows reading and writing of motor data parameters and program banks Text files created in other editors for example notepad can be read into this window It is convenient to save data as a file and use it later repeatedly a a 6 Motor ID EE Select the target motor ID Command Line Enter CML commands in a single line Function Buttons Go to origin Reset motor coordinates and motor Enable Disable CML Editor Motor data Send multiple lines of CML at the same See Page 10 for details time To send a set of commands click Send button Ferite Motor information See Page 10 for details Sent Data Display the data sent to the motor in Buttons for Program bank or To clear the motor response See Page 10 for details window click Clear button and press Enter key to send Motor Response Save Print Email Display the data received from the motor To clear the Motor Response window Save Print Email the data which is click Clear button sent to or received from motors The data log file will not be affected by clicking Clear button Chapter4 Terminal Window 9 D Motor data Buttons for Program bank Choose bank No from the list 1 30 a Execute pre
15. tions as K23 This example shows 7 should be entered to assign 1 In position and Alarm 2 Report when input signal changes and 4 Report when output signal 5 Files Chii Tia Dates tot Sune changes as 1 2 4 7 Fortin eed ras Tia Dade ta Sie Feu Lape weal npg Funcom Tepe Bote ihur Faa Faramir i Foray Fiba a ipd Anaiog a Fpi Precio al Faleg Big d Guia kpi kurrin ot Tarpt Etec Dimi beaa Parana at Fhir Cape a Sper Foul Purei of Filled bibh ot Bow ese thipad ings wea raag uei Farais It takes several seconds to read Cla Pisa imi Chg Samh Haasi he the data from the motor when the PF Come Jean aiii motor browser is started up Tiin Low l a i 7 Maul Woe Tul Please wait until the status bar Piah Mice E parve ee ew Raed eega turer mee Barred changes from Reading data from Accolia for Gniges Search ma Masai Peed Uih Ce yes mart bo unre thee to menor ne rent F motor to Ready Ea Save the parameters Save the data to all Save the data to the Ysg la to the PC the motors connected current selected motor a _ e r inen Z mn O Caution If you click OK the original data of the motor will be changed Chapter 5 Motor Browser Window 11 Chapter 6 Jog Window How to Use Jog Window This window is for a jog motion with the mouse pointer The resolution and speed unit can be set For jog motion click the JOG button The resolution chan
16. ulse If the identification error can not be avoided Step 3 Increase the value for ending frequency Hz Control Design and Simulation Enter the inertia directly if it is known If the inertia is already known and entered into this box previous step is not necessary Enter the viscosity coefficient if it is known If it is unknown enter 0 Tuning of Position P Gain Speed P Gain and Speed Gain Click and drag the slider on one of the bars The simulation result is displayed in the graph Tune the gains refering to the simulation results The gain values can be entered directly however the results is displayed only after the click of Start button in The data is not sent to the motor yet at this point Set the inertia for simulation to the same value as the normal payload However you can set it to any value for the simulation To send the tuned gains to the motor click Send to Motor button The data will be sent to the motor Chapter 8 Response Adjustment Window 19 Test Controller Select Step Test or Freq Test Step Test Step Test is as shown in the right the output waveform when step shaped command is entered Step response test has the feature that shows the characteristic features intuitively and comprehensibly Roughness could be still existing instead of the above features Step command 1000pulse 50000ppr that is 7 2 degree on the motor shaft is applied for the step response test despite
17. vious line of a bank lt 1 m 1 Execute bank m in motor 1 1 1 Stop bank execution Button Query Description vor Sr e Motor information sia 299 Display current motor status oae 298 Display current motor torque Pause bank execution 1 Pause bank execution after current motion gt 1 Execute the next line of a bank Display bank m in motor 1 m is selected from the Bank No list 1D1 must be selected in Motor ID Fea 296 Display current motor position 295 Display current position error 297 Display current motor speed Chapter 4 Terminal Window 10 Chapter 5 Motor Browser Window How to Use Motor Browser Window Motor data and parameters can be set up by features Open the feature folder which you want to check or change The list of parameters related to this feature are displayed in the right window Choose and double click the parameter that you want to modify The setting window of the parameter is displayed In order to change the data choose an item from the data list or enter data directly and then click OK At this point the modified data has not been sent to the motor After modifying all the data click Apply All or Apply A dialog box is displayed To save the data to the motor click OK To save the parameters to the PC click Save To File Only parameters can be saved in PC Enter a number directly when using a combination of func
18. y gradually increasing the vibration frequency The amplitude pulse setting shall always be based on 50000ppr despite the motor s set resolution Ex The motor shaft will vibrate between plus minus 3 6 degrees 500pulses 50000ppr when the amplitude pulse is set to 500 Enter the Starting frequency Ending frequency Amplitude and Max Iq Set these values according to your machine To start the identification click Start Iden button The altitude of the vibration increases gradually during the identification process Pay attention please irre The ahiri of tthe vibration mereaies an hes abeila h laira pratami attention peas Current Frequency I He To stop the identification click STOP When identification ends click OK The value subtracted the rotor inertia from the identified result will be entered into Load Inertia box in Identification Error The identification error will be occurred when the identification results do not converge which is tested at each frequency When the identification error occurs the data shall be reflected but the identification result shall be considered as inadequate More precise identification result will be obtained by avoiding errors following the steps below Step 1 Increase the value for Max Iq torque Motor Type Mite 40 so so 90o 140 150 If the identification error can not be avoided Step 2 Decrease the value for amplitude pulse p
19. y two related data in an X Y plane Choose one of the two The specified data can be displayed in a graph Operate according to steps from D Choose Streaming for Ver 2 20 or after Choose Polling for Ver1 07 or before Sampling Time unit msec pave nena Exporirrent Result 4 at a a When only one motor is connected X Y Plot is not displayed CML Data Please enter the motion commands in this window which will be See ee ee ee eee eee gle eer ce eer yrs ery ae eet piee used for generating the graph Any direct motion commands or Je i bank programs are available nu Run Run the motor according to the CML data given i ft fj SY Stop Stop the motion Draw Draw the graph Bb EEEE EEA A EE ETT Stop Draw Stop drawing the graph When only one motor is connected X Y Plot is t 4 not displayed Data Selection To select the data for monitoring first select the motor ID from Motor ID and then select data type from Data Type for each motor a rt ti npn mag ee gem esses iy ets ee et oes tess ret is Spee Ses is tae pes totes iron execs eps eee oe Soe are tet eee JPA noe ee ree pee ee panes ape eee ee eee ee ee ce geet a 7 900 1 Peete teeter ee tort ETENI tose Tone reg ti riitilomtot calorie t pees x a a ees lt ee ee a ce OER EETA Streaming Polling D ae ety eT canes Cate Sec 0 No Action 0 No Action gt z ma Times Hary Pict
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