Manual Intelligent Motion Controller

Transcription

1 Manual Intelligent Motion Controller IMC5510 An ERIKS brand e ERIKS bv Aandrijftechniek Schoonhoven

2 ERIKS bv Broeikweg RM Schoonhoven The Netherlands Tel: Fax: This manual is for software version: v page 2 IMC5510 Manual

3 Contents Introduction Technical specifications Connections Wire thickness J1 RS J2 Inputs (analog) Tacho feedback input Setpoint input J2 Inputs (digital) Start/stop input Hi/Lo speed input Direction input J3 Encoder out / programmable outputs Brake output J4 Encoder in J5 Motor J6 Main supply JP1 Setpoint Potentiometers P1 Imax P2 Offset P3 IxR P4 Ramp P5 Lo Spd P6 Hi Spd P7 Tacho Status LEDs Operating modes Over current disable Left/right mode Analog modes IxR mode Tacho feedback mode Encoder feedback mode Current mode Encoder speed following mode Encoder position following mode Encoder position mode Semi digital mode Semi digital Imax Semi digital IxR Semi digital Ramp Semi digital Low Spd Semi digital Hi Spd ERIKS bv page 3

4 3.5 Digital mode Serial interface Communication properties Set-up the controller Adjusting IxR mode Adjusting tacho feedback mode PC programming tool Connection Parameters File menu File Open File Save File Save as File Connect File Terminal File Preferences File About File Exit General menu General Status General Warnings + Errors General Measurements General Service General Movement General Inputs General Outputs General Motor General Analog Settings General Semi Digital Settings General Update Firmware General SoftEnable General Left Right Mode General Over Current Disable General Factory Defaults Mode menu Mode Current Mode Mode IxR Mode Mode Speed Mode Encoder Mode Speed Mode Tacho Mode Move Absolute Mode Move Absolute Encoder counts Mode Move Relative Mode Move Relative Encoder Counts Mode Encoder Position Mode Toolbar buttons Connect/Disconnect page 4 IMC5510 Manual

5 SoftEnable SoftDisable Save to drive EEprom Hardware enabled/disabled Drive status Parameters Communication examples Command example Read/write parameter example Read only parameter example Communication error example Commands Save Reset Factory Defaults Set Position To Zero Internal readings Actual position Actual Current Actual Speed Actual Motor Voltage Encoder Position Increments Per Revolution Actual External Position Actual External Speed External Encoder Position Increments Per Revolution External Inputs Outputs Mask Error Output Mask Status Output Invert Error Output Invert Status Output Supply Main Profile Status Motor Status Brake Status Temperature Mode parameters Soft Enable Is Motor Homed Current mode IxR Mode Speed Mode Encoder Speed Mode Tacho Move Absolute Move Absolute Encoder counts Move Relative Move Relative Encoder counts Target Position Target Position Target Position ERIKS bv page 5

6 Target Position Motor configuration parameters Motor configuration Acceleration Deceleration Max Motor Voltage Max Motor Current Nominal Current Max Speed Speed Home IxR Active IxR Value IxR Max Voltage I 2 T Time Following Error Actual Position Following Error At Position Window Position Window Time Out Max Speed Error Actual Speed Following Error Speed Error Time Out Speed Error Start Delay At Speed Window Speed Window Time Out At Current Window Current Window Time Out Stop Current Stop Current Time Stop Current Home Stop Current Time Home Over Current Disable Digital Current Shutdown Current Ramp CKP CKI SKP SKI SKD SKI Max PKP PKI PKD PKI Max Friction Feed Forward Velocity Feed Forward Acceleration Feed Forward Brake Voltage Disable Motor and Encoder Test Brake On Delay Brake off Delay Encoder configuration parameters Invert Encoder Invert Motor Invert External Encoder page 6 IMC5510 Manual

7 6.7 Semi digital parameters Imax to Digital Offset to Digital IxR to Digital Ramp to Digital Low Speed to Digital Hi Speed to Digital Digital Hi Speed Target Digital Low Speed Target Digital Hi Current Target Digital Low Current Target Digital Jog Speed Controller info System Uptime Version Hardware Is Drive Enabled Left/Right Active Digital Left/Right Active Errors/warnings Error List Warnings Warning History Clear Error list Auto Reset Fatal Error Clear Warnings Appendix 1 Warnings Appendix 2 Errors Appendix 3 Troubleshooting Appendix 4 Mechanical drawings Appendix 5 Accessories Index ERIKS bv page 7

8 Introduction IMC5510 Intelligent Motion Controller The IMC5510 is an economic 4-quadrant controller for brushed DC Motors. By the use of Pulse Width Modulation, a high efficiency is achieved. There are several ways of controlling the IMC5510: Analog (switches and potentiometers on the controller) or PC (serial with programming tool or dedicated tool). The IMC5510 can control brushed DC motors with a nominal current of max 10 Ampere, supplied with a voltage of 10 Vdc up to 55 Vdc. A continues maximum power of 350 Watts (1100 Watt peak) can be achieved with a supply voltage of 55 Vdc. I 2 T is included for motor protection. The IMC5510 is a complete controller with several modes to control motors. Current mode, IxR mode, speed mode encoder, speed mode tacho, relative and absolute position moves, encoder position following and encoder speed following. The status and error output are configurable for several functions. Current shutdown is available in all modes. page 8 IMC5510 Manual

9 1 Technical specifications DC supply Voltage range Brake down voltage Brake resistor trigger voltage Fuse Power Standby Output power Maximum nominal output current Maximum peak output current Vdc 60 Vdc 56 Vdc ± 5% (adjustable by parameter) internal 10 A slow blow; 6.3 x 30 mm 1 W (Without IO and bridge disabled) 10 A 20 A Continuous 35V or 55V without additional cooling or heat sink Continues output power Peak output power If you need more output power, please contact ERIKS. 350 W 1100 W Environmental specifications Ambient temperature C Relative humidity %, non-condensing Weight Weight Dimensions Measurements (l x w x h) Digital inputs Input type Input voltage low Input voltage high Input impedance Digital output Output type Maximum current Connecting voltage Analog inputs Input voltage Input impedance Encoder input Encoder type Input voltage low Input voltage high Supply voltage Maximum current Encoder output Encoder type Output voltage low Output voltage high Maximum current ±0.5 kg 172 x 97 x 32 mm NPN 0 3 Vdc 9 30 Vdc 5 k NPN 250 ma 0 30 Vdc Vdc 20 k Incremental, 2 channels 0 1 Vdc 4 5 Vdc 5 Vdc 100 ma Incremental, 2 channels 0 1 Vdc 4 5 Vdc 50 ma ERIKS bv page 9

10 Serial interface Serial interface RS232C Protection I 2 T motor protection I 2 T time adjustable Motor short circuit protection Hardware/software Overvoltage protection > 59 Vdc (warning > 55 Vdc) Under voltage protection < 9 Vdc (warning < 10 Vdc) Over temperature protection > 75 ºC Under temperature protection < -30 ºC Conformity International standards Manufactured according to 89/336/EEC (EMC) EN-IEC ISO9001:2000 page 10 IMC5510 Manual

11 2 Connections This chapter describes the connections to the controller. In this connections chapter, text saying high or low refers to a high or low voltage compared to Gnd. Figure 1) IMC5510 Connections J1 RS232 (See 2.2) J1.1 RX PC J1.2 TX PC J1.3 Gnd J Vdc out, Max 100 ma J1.5 RX spare J1.6 TX spare J1.7 Not connected J1.8 Gnd J2 Inputs (See 2.3 and 2.4) J2.1 Gnd J2.2 Tacho J2.3 Setpoint J2.4 Start/stop J2.5 Hi/Lo speed J2.6 Direction J2.7 Gnd J Vdc out J3 Encoder Out/Outputs (See 2.5) J3.1 Gnd J3.2 Enc out A J3.3 Enc out B J3.4 Status output J3.5 Error output J Vdc out J4 Encoder In (See 2.6) J4.1 Gnd J4.2 Motor Enc A J4.3 Motor Enc B J4.4 Ext Enc A J4.5 Ext Enc B J Vdc out J5 Motor (See 2.7) J5.1 Motor + J5.2 Motor J5.3 Shield J6 Supply (See 2.8) J6.1 Supply J6.2 Gnd JP1 Setpoint (See 2.9) 1-2 External ref Vdc (internal reference) ERIKS bv page 11

12 Table 1) Feedback for different modes Current Encoder Tacho Current mode IxR mode Speed mode encoder Speed mode tacho Relative move Absolute move Encoder following Encoder speed following Encoder position mode In every mode the current is limited by the controller 2.1 Wire thickness. Table 2) Wire thickness Connector Min mm 2 (AWG) Max mm 2 (AWG) J2-2.5 (13) J (30) (22) 1 J (30) (22) 1 J (30) 4 (11) J (30) 4 (11) 1 Depends on used crimp contact. 2.2 J1 RS232 A communication channel is present on the controller. The communication channel is connected to J1 (RJ45 connector). The communication channel is intended for RS232 communication to a PC and used by the programming tool. Figure 2) J1 RS232 connector Pin 1 J1.1 RX Prog (RX for PC connection, RS232) J1.2 TX Prog (TX for PC connection, RS232) J1.3 Gnd J Vdc out, Max 100 ma J1.5 RX spare J1.6 TX spare J1.7 Not Connected J1.8 Gnd page 12 IMC5510 Manual

13 2.3 J2 Inputs (analog) The maximum wire thickness that can be fitted in connector J2 is 2.5mm 2.. Connector J2 has several inputs: J2.1 Gnd J2.8 Output +5 Vdc, Max 100 ma. Tacho feedback input J2.2 The tacho feedback input is an analog input on which a tacho feedback can be connected. (-100 Vdc +100 Vdc) Figure 3) Tacho feedback input Setpoint input J2.3 The setpoint input is an analog input on which an external setpoint can be connected. (-10 Vdc +10 Vdc) Jumper (JP1) has to be placed on extern. Figure 4) Analog input (setpoint high speed and low speed) ERIKS bv page 13

14 2.4 J2 Inputs (digital) Figure 5) Start/stop, Hi/Lo speed and Direction input Start/stop input J2.4 Start/stop is a digital input. Used to start or stop the mode selected. To disable, leave open, to enable, switch to ground. Enabled on falling edge (internal pull up). Hi/Lo speed input J2.5 The digital input Hi/Lo speed is used to select whether the high or low speed potentiometer is used for the setpoint. Switch to ground to select high speed, leave open to select low speed. In encoder following mode this input activates a negative jog see encoder position following mode. In encoder position mode, this input in combination with the Direction input selects the target position. Direction input J2.6 The digital input Direction is used to invert the direction of the motor. Leave open to use normal direction, switch to ground to invert direction. When Left/right mode is active, a move can be started with the direction input. See 3.2 left/right mode for more information. In encoder following mode this inputs activates a positive jog see encoder position following mode. In encoder position mode, this input in combination with the Hi/Lo speed input selects the target position. J2.7 Gnd connection. page 14 IMC5510 Manual

15 2.5 J3 Encoder out / programmable outputs The encoder output of J3 is meant for another controller in encoder position following mode or encoder speed following mode. The encoder out can be connected to the external encoder input of another drive. It is possible to make a chain of controllers. The motor encoder inputs are hardware connected to the encoder outputs. For more information of connecting IMC5510 s in encoder speed or position following mode see Application Note Encoder Speed or Position Following.pdf Figure 6) Encoder input and output ERIKS bv page 15

16 The status and error output are configurable. It is possible to configure a single function or multiply functions for each output. With multiple functions, the output will become active when one of the configured functions is active. Parameters mask error output and mask status output can be used to configure these outputs. Both of the outputs are invertible. The controller can read back its own outputs. It is possible to directly connect all the error outputs of each controller (master and multiple slaves). No external components are required to let the master stop if one or more slaves have an error. If the Error output is externally pulled low, the drive will not enable the bridge if the Error output is masked with one of more of the errors. Note: Only controllers of revision A3 or higher can read back their own outputs. Figure 7) Error and Status output, with read back page 16 IMC5510 Manual

17 2.5.1 Brake output If one of the outputs is configured as brake output this output could control an external brake connected to the motor. If so, and the controller gets an enable command the controller will first hold the motor on position, depends on the mode if this is speed or position control, then release the brake, waits for BrakeOffDelay and then let the motor run. If the controller gets a disable command the motor is ramped down to zero velocity, then the brake is activated and then the controller will wait for BrakeOnDelay after which the controller disables the power stage. Enabled Hard/Soft Enable Disabled IMC5510 Power stage Enabled moving Enabled not moving Disabled Brake output Brake on Brake off Brake off delay Brake on delay Figure 8) Brake output sequence 2.6 J4 Encoder in An encoder can be used to determine the position of the motor. The encoder that can be used with this controller is a standard 5V incremental encoder with 2 channels. The controller will not use an optional index signal from the encoder. The encoder must be connected using a shielded cable. Only single ended, 5V signals are supported, requiring therefore at least 4 wires. The encoder of the motor is connected to J4. If the direction is incorrect change parameter invert motor and/or invert encoder (Invert Motor, Invert Encoder). ERIKS bv page 17

18 2.7 J5 Motor The controller has a 4-quadrant PWM output to drive a DC brush motor. The nominal current can be up to 10 Amps and the maximum motor current can be up to 20 Amps. To drive the motor, the controller uses Pulse Width Modulation (PWM) with a frequency of 20 khz. The motor must be connected using a two wire shielded cable. The shield has to be connected to J5.3 (Shield) and to the motor so that the shield is in direct contact with the controllers housing and the motor. Connecting wires should not be used, since this cancels the effect of shielding. The motor is connected to J5. The + and connections are not absolute. The maximum wire thickness that will fit in connector J5 is 4mm J6 Main supply The main supply for the controller comes from an external DC power supply. This power supply is connected to J6. The supply range for normal operation must be from 10 Volt to 55 Volt. The (main) power supply must have either a plug connection or an on/off switch. The (minus) connection of the main supply is connected to the controller internal ground (Gnd) connection. The housing is connected to Gnd. Inside the controller, a fuse of 10AT protects the main supply. It is not recommended to replace the fuse. The maximum wire thickness that will fit in connector J5 is 4mm JP1 Setpoint With JP1 the setpoint configuration can be selected. There are two options available; Internal setpoint or external setpoint. Connect JP1 to 1-2 for external setpoint selection and 2-3 for internal setpoint selection (+5V). When set to internal, no external setpoint needs to be connected. Figure 9) Jumper page 18 IMC5510 Manual

19 2.10 Potentiometers In digital mode, the potentiometers are not active, except for P7! Parameter values will override the potentiometer values. Figure 10) Potentiometers P1 Imax Potentiometer P1 Imax is used for the current limit. The maximum motor current can be adjusted by turning this potentiometer. Turning this potentiometer clockwise will result in higher maximum motor current, turning counter clockwise will lower the maximum motor current. Nominal motor current is maximum motor current divided by two. P2 Offset Potentiometer P2 Offset is currently not used. P3 IxR Potentiometer P3 IxR is used to adjust the motor resistance equivalent for IxR compensation. The resistance must be the same value as the resistance of the motor. (See datasheet motor) Turning this potentiometer clockwise results in a higher resistance, turning counter clockwise will result in a lower resistance. P4 Ramp Potentiometer P4 Ramp is used to adjust the acceleration and deceleration of the motor. It is only possible to have a different acceleration and deceleration in digital mode (not position mode, there acceleration = deceleration). Turning this potentiometer clockwise results in faster acceleration and deceleration and turning counter clockwise results in slower acceleration and deceleration. P5 Lo Spd Potentiometer P5 Lo Spd is used to adjust the low speed. It is also possible to use an external analog signal ( V) with the setpoint input (J2.3). Jumper JP1 has to be set to Ext. In this way, it is possible to regulate the low speed with the setpoint input and use the Lo Spd potentiometer as max target speed, in current mode this potentiometer is the max target current. Turning this potentiometer clockwise will result in higher motor speed and turning counter clockwise will result in lower motor speed. ERIKS bv page 19

20 P6 Hi Spd Potentiometer P6 Hi Spd is used to adjust the high speed. It is also possible to use an external analog signal ( V) with the setpoint input (J2.3). Jumper JP1 must be set to Ext. In this way, it is possible to regulate the high speed with the setpoint input and use the Hi Spd potentiometer as max target speed, in current mode this potentiometer is the max target current. Turning this potentiometer clockwise will result in higher motor speed and turning counter clockwise will result in lower motor speed. P7 Tacho Potentiometer P7 Tacho is used to adjust the tacho feedback input voltage. This potentiometer is used in combination with input J2.2 Tacho feedback. page 20 IMC5510 Manual

21 2.11 Status LEDs The status LEDs on the controller gives an indication about the status of the controller. Figure 11) LEDs IMC5510 Status (Green) Colour Blinking slow green (1Hz) Blinking fast green (20Hz) Continues green Off Enabled (Green) Colour Continues green Off I > INOM (Red) Colour Off Continues red Blinking fast red (20Hz) State System working ok. An error has occurred. For more details, see appendix 2 error. Software error. Controller not powered, internal fuse defective, supply shorted, hardware error or software error. State Bridge enabled. Bridge disabled. State Actual current <= Nominal current. Actual current > Nominal current. I 2 T activated. ERIKS bv page 21

22 3 Operating modes If a mode change is done, switch start/stop or SoftEnable to activate the new mode. In analog or digital mode, the start/stop is combined with SoftEnable. Both have to be enabled before the controller will be enabled. 3.1 Over current disable With dipswitch 6 over current disable is selectable. Switch dipswitch 6 to ON to enable overcurrent disable. Dipswitch 6 can be used in addition to other dipswitch settings. With the programming tool, the shutdown current and shutdown time is configurable. Default 1000 ma and 500 ms. If enabled the controller will disable the bridge if the actual current is higher than the shutdown current for the configured shutdown time. To enable bridge again toggle start/stop or toggle SoftEnable. Over current disable is an addition for all modes. Figure 12) Overcurrent disable dipswitch page 22 IMC5510 Manual

23 3.2 Left/right mode With dipswitch 5 left/right mode is selectable. Switch dipswitch 5 to ON to enable left/right mode. Dipswitch 5 can be used in addition to other dipswitch settings. Left/right mode is an addition for all analog modes except encoder position following mode and encoder position mode. Figure 13) Left/right mode dipswitch When enabled, motion can be started with start/stop and direction input. Start/stop is the positive direction and direction is the negative direction. See table 3 for the function description. Table 3 Left/right mode actions Action Status motor Start/Stop Direction Turning Turning counter Stopped clockwise clockwise 0 0 Motor stops Motor stops Motor stops then Motor starts turning positive turning positive 0 1 Motor stops then Motor starts - turning negative turning negative 1 1 Motor stops Motor stops - To change direction neither input may be active (0) before making one of the inputs active (1). ERIKS bv page 23

24 3.3 Analog modes Analog mode is enabled if at least one of dipswitches 0 to 4 is on. The mode is selected with the dipswitches see table 4. Table 4) Mode selecting table Dip 1 Dip 2 Dip 3 Dip 4 Mode On Off Off Off IxR mode Off On Off Off Tacho feedback mode On On Off Off Encoder feedback mode Off Off On Off Current mode On Off On Off Encoder speed following mode Off On On Off Encoder positing following mode Off Off Off On Encoder position mode 1 1 Dipswitch 6 must also be on for homing IxR mode IxR mode will keep the speed of the motor equal to the setpoint speed (Hi/Lo speed). P3 (IxR) must be set to the correct motor resistance. With a wrong P3 setting the motor will have a different speed at different loads. To use this mode set the dipswitches in the correct position (see Figure 14) Dipswitch settings for IxR mode). For adjusting the settings for IxR mode see 4.1 Adjusting IxR mode. Figure 14) Dipswitch settings for IxR mode In IxR mode, the following potentiometers are usable: P1 Imax: With P1 the max (nominal) current can be adjusted P3 IxR: With P3, the resistance of the motor is set P4 Ramp: With P4 the ramping can be adjusted (acceleration and deceleration) P5 Low Spd: With P5, low target speed is adjustable, or the max target speed (low) when an external analog setpoint is used. P6 Hi Spd: With P6, high target speed is adjustable, or the max target speed (high) when an external analog setpoint is used. page 24 IMC5510 Manual

25 3.3.2 Tacho feedback mode Tacho feedback mode is a tacho controlled loop. The tacho feedback value will rise if the motor turns faster. To use this mode set the dipswitches in the correct position (see Figure 15) Dipswitch settings for tacho feedback mode). For adjusting the settings for tacho mode see 4.2 Adjusting tacho feedback mode. Figure 15) Dipswitch settings for tacho feedback mode In tacho feedback mode, the following potentiometers are usable: P1 Imax: With P1 the max (nominal) current can be adjusted P4 Ramp: With P4 the ramping can be adjusted, acceleration and deceleration P5 Lo Spd: With P5, low target speed is adjustable, or the max target speed (low) when an external analog setpoint is used. P6 Hi Spd: With P6, high target speed is adjustable, or the max target speed (high) when an external analog setpoint is used. P7 Tacho: With P7 the input voltage of the tacho can be adjusted to a valid range ERIKS bv page 25

26 3.3.3 Encoder feedback mode In encoder feedback mode the motor will turn the set speed of potentiometer P5 (Hi Speed) or P6 (Lo Speed). To use this mode set the dipswitches in the correct position (see Figure 16) Dipswitch settings for encoder feedback mode). This mode uses the encoder as speed feedback. Figure 16) Dipswitch settings for encoder feedback mode In encoder feedback mode, the following potentiometers are usable: P1 Imax: With P1 the max (nominal) current can be adjusted P4 Ramp: With P4 the ramping can be adjusted, acceleration and deceleration P5 Lo Spd: With P5, low target speed is adjustable, or the max target speed (low) when an external analog setpoint is used. P6 Hi Spd: With P6, high target speed is adjustable, or the max target speed (high) when an external analog setpoint is used. page 26 IMC5510 Manual

27 3.3.4 Current mode In current mode, the motor will run with the set current. The speed is dependent of the load and current. The max current can be adjusted with P1 (Imax). The target current can be set with Hi Spd and Lo Spd potentiometers. In this way, it is possible to have two current institutions. The direction input will give a positive or negative current. To use this mode set the dipswitches in the correct position (see Figure 17) Dipswitch settings for current mode). Figure 17) Dipswitch settings for current mode In current mode, the following potentiometers are usable: P1 Imax: With P1 the max (nominal) current can be adjusted P4 Ramp: With P4 the ramping can be adjusted, acceleration and deceleration P5 Lo Spd: With P5 the target low current is adjustable, or the max target current (low) when an external analog setpoint is used. P6 Hi Spd: With P6 the target high current is adjustable, or the max target current (high) when an external analog setpoint is used. ERIKS bv page 27

28 3.3.5 Encoder speed following mode In encoder speed following mode the motor will follow the speed of the external encoder. In this mode, the ramping is still active. The motor will not follow the master acceleration and deceleration but will ramp with its own ramping settings (P4 Ramp). To use this mode set the dipswitches in the correct position (see Figure 18) Dipswitch settings for encoder speed following mode). Figure 18) Dipswitch settings for encoder speed following mode In encoder speed following mode the following potentiometers are usable: P1 Imax: With P1 the max (nominal) current can be adjusted P4 Ramp: With P4 the ramping can be adjusted, acceleration and deceleration page 28 IMC5510 Manual

29 3.3.6 Encoder position following mode In encoder position following mode the motor will follow the position of the external encoder. To use this mode set the dipswitches in the correct position (see Figure 19) Dipswitch settings for encoder position following). Figure 19) Dipswitch settings for encoder position following In encoder position following mode the following potentiometers are usable: P1 Imax: With P1 the max (nominal) current can be adjusted P5 Low Spd: With P5 the jog speed can be adjusted In encoder position following mode the Hi/Lo speed and Direction input are used to jog de slave motor. This can be very useful to adjust the slave to the master position. When one of the inputs is active, the motor will jog with the speed set with P5 low speed. Both inputs (Hi/Lo speed and Direction) must be inactive to enable encoder following mode. See table 5 below for behaviour in encoder position following mode. Table 5) Jog in encoder following mode Hi/Lo speed Direction Mode input input Not active Active Jog positive (speed adjustable with P5 low speed) Active Not active Jog negative (speed adjustable with P5 low speed) Active Active Keep speed at zero velocity Not active Not active Encoder following mode ERIKS bv page 29

30 3.3.7 Encoder position mode In encoder position mode, 4 positions can be configured with the GUI. Homing will automatically start when a target position commando is given (Switch Start/Stop input). Homing speed is adjustable. Homing will be on hard stop. Stop current and stop current time during homing is adjustable. The target speed during a position move can be adjusted with Hi Spd potentiometer. With the Imax potentiometer the max, and nominal, current can be adjusted. To use this mode set the dipswitches in the correct position (see Figure 20) Dipswitch settings for encoder position mode). Figure 20) Dipswitch settings for encoder position mode In encoder position mode, the following potentiometers are usable: P1 Imax: With P1 the max (nominal) current can be adjusted P4 Ramp: With P4 the ramping can be adjusted, acceleration and deceleration P6 Hi Spd: With P6 the target high current is adjustable, or the max target current (high) when an external analog setpoint is used. Table 6) Encoder position mode Hi/Lo speed input Direction input Not active Not active Target position 1 Active Not active Target position 2 Not active Active Target position 3 Active Active Target position 4 Mode Always first set target position with inputs, then switch start/stop input Homing is automatically done before a movement if necessary; Homing is done in the negative direction and on hard stop. page 30 IMC5510 Manual

31 3.4 Semi digital mode In semi digital mode for Hi and Low Spd, the external setpoint cannot be used. If the external setpoint must be used configure Hi and/or Low Spd potentiometer not as semi digital Every analog mode can be configured with the GUI so the potentiometers aren t used. Instead of the potentiometers, digital values can be configured with the GUI. For every potentiometer, the choice can be made to use the potentiometer or a digital configured value. Al the settings can be saved in internal EEprom so after power down the setting al still present. The file can also be saved on a computer so if every drive must be the same a parameter can be loaded in the drive Semi digital Imax If potentiometer Imax is configured as digital then the nominal and the maximum current can be configured separately. Now it is possible to configure any value for nominal current instead of maximum current divided by Semi digital IxR If potentiometer IxR is configured as digital then the IxR value must be configured with the GUI Semi digital Ramp If potentiometer Ramp is configured as digital then acceleration and deceleration can be configured separately. In semi digital mode it is possible to ramp up slowly and ramp down fast. This isn t possible if the Ramp potentiometer isn t configured as digital Semi digital Low Spd If potentiometer Low Spd is configured as digital then the potentiometer isn t used anymore. When configured as digital in different modes, different parameters will be used as targets. In IxR mode, Tacho feedback mode and Encoder feedback mode the DigitalLowSpdTarget is used to give the low target speed. In Current mode the DigitalLowCurrTarget is used to give the low current target. In Encoder Position Following mode, DigitalJogSpd is used as jog speed target Semi digital Hi Spd If potentiometer Hi Spd is configured as digital then the potentiometer isn t used anymore. When configured as digital in different modes, different parameters will be used as targets. In IxR mode, Tacho feedback mode and Encoder feedback mode the DigitalHiSpdTarget is used to give the high target speed. In Current mode, the DigitalHiCurrTarget is used to give the high current target. In encoder position mode, this will set the max speed during a movement. ERIKS bv page 31

32 3.5 Digital mode A device with a serial interface can control the digital mode of the controller. A program, which can send data into the serial bus can be used or the programming tool for the IMC5510 is available to control the IMC5510. In digital mode, different modes are available in comparing with analog modes. To use this mode set the dipswitches in the correct position (see Figure 21) Dipswitch settings for digital mode). In digital mode, the potentiometers are not active, except for P7. Parameter values will override the potentiometer values. In digital mode, make sure the hardware enabled is active. (Can be a wire between Gnd and Start/stop input) and use the SoftEnable parameter to enable/disable the drive. Figure 21) Dipswitch settings for digital mode Serial interface Communication with the controller can be realized with a serial cable to the PC. All available parameters are described in chapter 6 Parameters. Serial communications can be used to control the controller with your own software or the Graphical User Interface (programming tool) (see chapter 5 PC programming tool) Communication properties Baud rate: Data bits: 8 Parity: None Stop bits: 1 Flow control: None page 32 IMC5510 Manual

33 4 Set-up the controller Most modes require the potentiometers to be in the correct position to achieve a good controlled motor. 4.1 Adjusting IxR mode Before adjusting make sure the motor can run freely For a stable speed at different loads in IxR mode, potentiometer P3 (IxR) must be adjusted to the correct resistance of the motor. To achieve this, follow these steps: Do not connect any load to the motor and make sure the motor can run freely. Put the controller in IxR mode. Make sure the max current is adjusted high enough (potentiometer P1 Imax). Turn potentiometer P3 (IxR) fully counter-clockwise. Enable the bridge (switch Start/Stop input to Gnd). Let the motor turn at the desired speed (LO SPD potentiometer P5 or HI SPD potentiometer P6, depends on input HI/LO speed). Turn potentiometer P3 (IxR) clockwise until the motor starts oscillating. Turn potentiometer P3 (IxR) counter-clockwise until the motor stops oscillating. With the correct adjustment the motor speed remains constant until the load exceeds the capacity of the motor or until the current limit activates. ERIKS bv page 33

34 4.2 Adjusting tacho feedback mode Before adjusting make sure the motor can run freely To adjust the maximum motor speed at maximum command voltage, potentiometer P7 Tacho has to be adjusted. The easiest way to do this is in digital mode. To do this follow these steps: Do not connect any load to the motor and make sure the motor can run freely. Put the controller in digital mode. Turn potentiometer P7 Tacho fully clockwise. Enable the controller by hardware (Start/Stop input). In the programmer tool go to Modes Speed Mode Tacho. Fill in the target speed. Turn potentiometer P7 Tacho counter-clockwise until the target speed is reached (measure with external speedometer). Now potentiometer P7 Tacho has the correct setting for your application. If it is not possible to use digital mode, please follow these steps: Do not connect any load to the motor and make sure the motor can run freely. Put the controller in tacho mode. Make sure the max current is adjusted high enough (potentiometer P1 Imax). Do not switch input HI/LO speed to Gnd. (Select Lo speed). Turn potentiometer P7 Tacho fully clockwise. Turn potentiometer P5 Low speed fully clockwise. Enable the bridge. (switch Start/Stop input to Gnd). Turn potentiometer P7 Tacho counter-clockwise until the speed of the motor is controlled and the required highest speed is achieved. Now the motor speed can be lowered with P5 Low Speed. page 34 IMC5510 Manual

35 5 PC programming tool The programming tool is intended for controlling and programming the controller. In analog mode only programming and tuning of the control loops is possible. The programming tool shows the values of parameters in logically grouped pages, allowing easy adjustments and monitoring of the configuration. 5.1 Connection Connection to the controller goes through the RJ45 connector. The serial port to use can be adjusted by File/Preferences. The connection is made by selecting File/Connect or pressing the connect button. When the serial port is opened, the icon changes to. Pressing the connected button again will disconnect from the controller. Connection state is also indicated by a checkmark before the connect menu item in the file menu. The connected/disconnected state does not imply that a communication connection to the controller has been made, but only indicates that the serial port was opened without error. 5.2 Parameters Changes to the operation of the controller are made by parameters. These parameters are accessible via the programming tool. Type Text box Check box Selection box Command button Interaction There are two different categories of text boxes. Simple read-only, gray boxes. The value of the parameter cannot be changed. Editable, white boxes. These contain numerical values that can be changed. The value entered will be checked by the controller before acceptance. These parameters may have a unit attached to it (ma, mv, etc.) The parameter is either on or off. If on, the box is checked. Read-only is not visualised, however, clicking on the box will not change the checked state. A selection can be made from any of the listed items. A button that will send a command. 5.3 File menu File Open Open a saved settings file for reviewing or downloading into the controller. If a connection has been made with a controller, the question will be asked to download to the controller. Press Yes to download the settings to the controller, No to disconnect from the controller and open the file and Cancel to abort opening the file. If no connection has been made the file is opened without message. If the file was downloaded without problems a window will appear with the message all parameters where downloaded OK. If something fails during downloading the settings, the window will tell which parameters to check. ERIKS bv page 35

36 File Save The Save command is only available if a file was opened or a Save as has been done before it. Saves the settings to the file opened or saved before. File Save as Save the settings to the file specified. A file Save as dialog appears to select the folder and give the name of the file. File Connect Connects or disconnects from the controller. If the connection has been established the menu item has a checkmark. For more information about the connection, see 5.1 connection. File Terminal With the terminal, it is possible to enter special commands, which are not provided through the graphical user interface. These special commands fall out of the scope of this manual. In the Comm. box it is possible to write the command and using enter or the Tx button the command is transmitted to the controller. The big response box shows the transmissions received from the controller. File Preferences The Preferences menu command shows the preferences of the programming tool. These preferences are: COM port: Selects the serial COM port used for the connection to the controller. Note: only existing ports are shown. The list is not sorted. Language: Select the language to use in the programming tool. Press Ok to apply the preferences. File About Shows the about dialog box. The about dialog shows the version of the programming tool, the language selected and the version of the language file. File Exit Closes the programming tool. page 36 IMC5510 Manual

37 5.4 General menu The general menu is used to adjust, test and check basic information of the controller. General Status The status menu page is used for overall status of the controller and program selection. General Warnings + Errors The Warnings + Errors page shows the warnings and errors of the controller. Warnings are cleared on start-up; errors are stored in non-volatile memory. The warnings are divided into two columns. The first column is the present warning and the second column is the history. The history is always active if the present is. To clear the history values press the Clear warnings button. Any present warnings will be copied into the history. For the complete list of warnings and their meaning, see Appendix 1 Warnings. The controller can store up to eight errors in its memory. These errors are stored in nonvolatile memory and therefore will retain their values, even after removing power. Clearing errors is done by pressing on the Clear error list button. For the complete list of errors and their meaning, see Appendix 2 Errors. General Measurements The measurement page shows the actual values of the measured parameters. These values are updated constantly. General Service The service page shows parameters and values required for service. General Movement The movement page shows the parameters that are related to movements. General Inputs The inputs page displays the actual status of the inputs. General Outputs The outputs page displays the actual status of the outputs. The error and status output can be configured here. Each output has a mask to allow multiple selections. Each output is invertible. Also the read back of the controllers own outputs are displayed here. General Motor The motor page displays all motor and encoder related parameters. It is possible to adjust the tuning parameters of the controller in this page. General Analog Settings The page analog settings displays the actual values of the potentiometers. General Semi Digital Settings The semi digital settings page displays all semi digital settings. Here the choose can be made for each potentiometer is the potentiometer is used or the digital value is used. General Update Firmware The firmware of the controller can be updated by clicking here. Firmware files have the extension *.firm. ERIKS bv page 37

38 General SoftEnable The mark before SoftEnable is an indicator if the controller is software enabled or not. Checked means software enabled. General Left Right Mode The mark before Left Right Mode is an indicator if the Left Right Mode is enabled or not. Checked means Left Right Mode enabled. Selected with dipswitch 5. General Over Current Disable The mark before Over Current Disable is an indicator if the Over Current Disable is enabled or not. Checked means Over Current Disable enabled. Selected with dipswitch 6. General Factory Defaults Clicking on the factory defaults asks for confirm and after clicking Yes the settings in the controller will be reset to factory defaults. To abort click No in the dialog box. 5.5 Mode menu Mode Current Mode Current mode will drive the motor with a preset current. Without load, the motor will run as fast as possible dependent of the supply voltage. I 2 T prevents an excessive current through the motor, resulting in a faulty motor. I 2 T becomes active if the nominal current is exceeded for a defined time. These values can be found in the datasheet of the motor. Mode IxR Mode IxR mode will hold a stable speed regardless at load variation. The limiting factor is the maximum current. A requirement for IxR Mode is a correct IxR value. This value is the resistance of the motor and can be found in the datasheet of the motor. If the value does not match the resistance of the motor, a stable speed is not achieved with different loads. Mode Speed Mode Encoder Speed mode encoder will turn the motor with a stabile speed and increase the current if the load increases until the maximum current. The difference between speed mode encoder and IxR mode is that the encoder is used to regulate a stabile speed in speed mode encoder. The encoder will increase the accuracy. Mode Speed Mode Tacho In speed mode tacho the tacho feedback input is used. It is recommended to adjust the tacho potentiometer to the correct value. The difference between speed mode tacho and IxR mode is that the tacho is used to regulate a stabile speed in speed mode tacho. The tacho will increase the accuracy. Mode Move Absolute Move absolute will turn the motor to the target position. When the motor is stopped and then released, the motor will turn faster due to the control loop. page 38 IMC5510 Manual

39 Mode Move Absolute Encoder counts Move absolute encoder counts will turn the motor to the target encoder position. When the motor is stopped and then released, the motor will turn faster due to the control loop. Mode Move Relative Move relative will turn the motor to the actual position + target position. When the motor is stopped and released, the motor will turn faster due to the control loop. Mode Move Relative Encoder Counts Move relative encoder counts will turn the motor to the actual encoder position + target encoder position. When the motor is stopped and released, the motor will turn faster due to the control loop. Mode Encoder Position Mode Al the parameters according to encoder position mode can be find here. The move itself cannot me initiated from here. 5.6 Toolbar buttons The PC programming tool has a toolbar with several buttons. Figure 22) Toolbar buttons Connect/Disconnect By clicking this button the tool will connect or disconnect to a drive. Figure 23) Connect/Disconnect button SoftEnable By clicking this button the drive is software enabled. Only clickable if drive is software disabled. Figure 24) SoftEnable button ERIKS bv page 39

40 SoftDisable By clicking this button the drive is software disabled. Only clickable if drive is software enabled. Figure 25) SoftDisable button Save to drive EEprom To save the adjusted parameters to drives non-volatile memory click the save to EEprom button in the toolbar. Save to EEprom is only possible when drive is disabled! Figure 26) Save to EEprom button After saving to drive EEprom the parameters will be stored in non-volatile memory. The parameters will be read from non-volatile memory during start-up. Hardware enabled/disabled This symbol indicates if the drive is hardware disabled (open) or hardware enabled (closed). Figure 27) Hardware disabled Figure 28) Hardware enabled page 40 IMC5510 Manual

41 Drive status This symbol indicates if the drive has an error or warning. No warning or error Green checkmark Figure 29) Drive status: no warning or error Warning Orange exclamation mark Figure 30) Drive status: warning Error Red exclamation mark Figure 31) Drive status: error ERIKS bv page 41

42 6 Parameters This chapter describes all available parameters in the controller. All parameters can be accessed with the serial interface. 6.1 Communication examples There are 3 types of parameters: Write only parameters or commands Read/write parameters Read only parameters = Carriage return, Line feed or both Command example Here an example for command Save. Bold green text is the reaction of the controller. Save [ ] Ok: SAVE Read/write parameter example The read/write parameters can be used in 2 ways, to read the parameter (no additional characters) and to set the parameter to the desired value. Here an example for the read/write parameter Nominalcurrent. Bold green text is the reaction of the controller. First example is read out a read/write parameter (Nominal current). NominalCurrent [ ] NOMINALCURRENT = 500 Second example is setting a read/write parameter (Nominal current). NominalCurrent 1000 [ ] Ok: NOMINALCURRENT Read only parameter example The read only parameters also do not need any additional data/values. Read out a read only parameter is the same as reading out a read/write parameter. For example. ActualPostion [ ] ACTUALPOSITION = -3 Communication error example When there is something wrong with the communication the controller replies with an error. Here a syntax error example. Position [ ] Error (0x8108): POSITION unknown command See table 7 communication error codes for detailed error codes. page 42 IMC5510 Manual

43 Table 7 Communication error codes Error code Description Cause 0x8100 General error General communication error 0x8101 Value out of range Tried to assign a value to a parameter, but it is out of the range of this parameter 0x8102 Internal error Internal error in controller firmware 0x8103 Write a read only value Tried to write a value to a read only parameter 0x8104 Invalid value Tried to write an invalid value to a parameter which need specific values like 0 or 1 0x8105 Save error Error during saving in drive EEprom 0x8106 Assign error Tried to assign a value to a parameter but there was no assign value in the send string. For example: NominalCurrent = [cr + lf]. There is missing a value after the = character 0x8108 Unknown command Tried to send a command not recognised by the controller 0x8130 I2T drive limited Tried to set the I2T higher than the drive is capable off. (Warning only). Drive is protecting itself. 0x8131 Not in digital mode Tried to give a digital mode only command when controller is not in digital mode. Check hardware enable and SoftEnable. Check dipswitch settings. 0x8132 Save enabled error Tried to save while drive is enabled. Disable drive before saving 6.2 Commands Commands with a default values means factory default. Save Save -, Command Saves parameters to non-volatile memory Reset Reset -, Command Reset controller immediately Factory Defaults FactoryDefaults -, Command Sets factory defaults Set Position To Zero SetPositionToZero -, Command Set the actual position to zero. Only possible if drive is disabled. ERIKS bv page 43

44 6.3 Internal readings Actual position Formula: Actual Current Actual Speed ActualPosition User units, Read only Displays the actual position as processed from the encoder. Move the motor to test the encoder position feedback, this should change the value. ActualPosition = EncoderPosition / IncrementsPerRev ActualCurrent ma, Read only Displays the actual current going through the motor. (Hold the motor to test the actual current feedback, this should change the value) ActualSpeed Actual Motor Voltage Encoder Position RPM, Read only Displays the actual speed of the motor. (Hold the motor to test the actual speed feedback, this should change the value.) ActualMotorVoltage mv, Read only Actual voltage applied to the motor. EncoderPosition Increments, Read only Displays the actual encoder position. Turn the encoder to test the encoder position feedback, this should change the value. Increments Per Revolution Default: IncrementsPerRev [xxxxx] Increments, Read / Write 2000 Increments Actual External Position Formula: Specifies the encoder increments per motor revolution. ActualExtPosition User units, Read only Displays the actual position of the external encoder. Move the external encoder to test the external encoder position feedback, this should change the value. ActualExtPosition = ExtEncoderPosition / IncPerRev_Ext page 44 IMC5510 Manual

45 Actual External Speed ActualExtSpeed RPM, Read only Displays the actual speed of the external encoder. (Hold the external motor to test the actual speed feedback, this should change the value.) External Encoder Position ExtEncoderPosition Increments, Read only Displays the actual external encoder position. Turn the external encoder to test the encoder position feedback, this should change the value. Increments Per Revolution External Default: IncPerRev_Ext [xxxxx] Increments, Read / Write 2000 Increments Specifies the external encoder increments per motor revolution. Inputs Outputs Inputs, Read only Displays the sum of all values of corresponding inputs. Dipswitch Dipswitch Dipswitch Dipswitch Dipswitch Dipswitch Start/Stop HI/LO Speed Direction Error output Status output Outputs 0 2, Read only Displays the value of all added outputs. Error Output... 1 Status Output... 2 ERIKS bv page 45

46 Mask Error Output Default: MaskErrorOutput [xxxxxxxxx], Read / Write 1535 (All Errors) Specifies the mask of conditions for the error output. Over Temperature Error... 1 Drive Fault Error... 2 Connect Motor Error... 4 Motor Shorted Error... 8 Encoder Error Overvoltage Error Software Error Following Error Speed Error Stop Current Reached Under voltage Error Current Loop Saturated Current Limit Reached Over Temperature Warning Overvoltage Warning Current Over Nominal I 2 T Activated Under voltage Warning Motor Enabled Accelerating Decelerating Motor Moving Target Reached Brake Not Ready Mask Status Output Default: MaskStatusOutput [xxxxxxxxx], Read / Write (Motor Enabled) Specifies the mask of conditions for the status output. Over Temperature Error... 1 Drive Fault Error... 2 Connect Motor Error... 4 Motor Shorted Error... 8 Encoder Error Overvoltage Error Software Error Following Error Speed Error Stop Current Reached Under voltage Error Current Loop Saturated Current Limit Reached Over Temperature Warning Overvoltage Warning Current Over Nominal I 2 T Activated Under voltage Warning Motor Enabled Accelerating Decelerating Motor Moving Target Reached Brake Not Ready page 46 IMC5510 Manual

47 Invert Error Output Default: 0 Invert Status Output Default: 0 Supply Main Profile Status Motor Status InvertErrorOut [x] 0 1, Read / Write Invert (1) or not invert (0) the error output InvertStatusOut [x] 0 1, Read / Write Invert (1) or not invert (0) the status output SupplyMain mv, Read only Displays the actual main supply voltage ProfileStatus, Read only Profile status reads the combined value of the profile generator. Target Reached... 1 Decelerating... 2 Accelerating... 4 Profile Enabled... 8 Profile Limited Following Error Speed Error Error MotorStatus, Read only Motor status reads the combined value of the current loop and motor. Motor Enabled... 1 I 2 T Active... 2 Current Loop Saturated... 4 Current Limit Reached... 8 Stop Current Reached Motor Timeout Encoder timeout Over Temperature Short-circuit Overvoltage Power Stage Error Error ERIKS bv page 47

48 Brake Status BrakeState, Read only Unknown... 0 Brake On Delay Brake On Delay Brake is On Brake is On Brake Off Delay Brake Off Delay Brake is Off Brake is Off Temperature Temperature Degrees Celsius, Read only Read the actual temperature of the controller PCB 6.4 Mode parameters Soft Enable SoftEnable [x] 0 1, Read / Write Disable / Enable the controller by software. Sets the SoftEnable. Is Motor Homed IsMotorHomed 0 1, Read only 1 if motor is homed in encoder position mode, 0 if not homed. Current mode CurrentMode [xxxxx] ma, Read / Write Switch to current mode and set the current. Only available in digital mode. IxR Mode IxRMode [xxxx] RPM, Read / Write Switch to IxR mode and set the speed. Only available in digital mode. Speed Mode Encoder SpeedModeEnc [xxxx] RPM, Read / Write Switch to speed mode encoder and set the speed. Only available in digital mode. page 48 IMC5510 Manual

49 Speed Mode Tacho Move Absolute SpeedModeTacho [xxxx] RPM, Read / Write Switch to speed mode tacho and set the speed. Only available in digital mode. MoveAbs [xxxxxxxxxx] Revolutions, Read / Write Switch to position mode and start move to the absolute position. Only available in digital mode. Move Absolute Encoder counts Move Relative MoveAbsEnc [xxxxxxxxxx] Encoder counts, Read / Write Switch to position mode and start move to the absolute encoder position. Only available in digital mode. MoveRel [xxxxxxxxxx] Revolutions, Write only Switch to position mode and start the relative move to the set position. Only available in digital mode. Move Relative Encoder counts Target Position 1 Target Position 2 Target Position 3 MoveRelEnc [xxxxxxxxxx] Encoder counts, Write only Switch to position mode and start the relative move to the set encoder position. Only available in digital mode. TargetPosition1 [xxxxxxxxxx] Encoder counts, Read / Write Target position 1 for encoder position mode. TargetPosition2 [xxxxxxxxxx] Encoder counts, Read / Write Target position 2 for encoder position mode. TargetPosition3 [xxxxxxxxxx] Encoder counts, Read / Write Target position 3 for encoder position mode. ERIKS bv page 49

50 Target Position 4 TargetPosition4 [xxxxxxxxxx] Encoder counts, Read / Write Target position 4 for encoder position mode. 6.5 Motor configuration parameters Motor configuration Acceleration Default: Deceleration Default: MotorConfig -, Read only Motor configuration pre-sets Acceleration [xxxx] RPM/s, Read / Write 1000 RPM/s Ramp up with pre-set acceleration. In digital position mode, this parameter also sets the ramp down. Only writeable in digital mode. Deceleration [xxxx] RPM/s Read / Write 1000 RPM/s Max Motor Voltage Default: Ramp down with pre-set deceleration. In digital position mode this parameter is not used, Acceleration is used instead. Only writeable in digital mode. MaxMotorVoltage [xxxxx] mv, Read / Write mv Max Motor Current Default: Nominal Current Default: Max or peak voltage of motor MaxMotorCurrent [xxxxx] ma, Read / Write 1000 ma Max or peak current of motor. Only writeable in digital mode. NominalCurrent [xxxxx] ma, Read / Write 500 ma Nominal current of motor. Only writeable in digital mode. page 50 IMC5510 Manual

51 Max Speed Default: MaxSpeed [xxxx] RPM, Read / Write 1000 RPM Maximum speed, only active in position mode (absolute and relative) Speed Home SpeedHome [xxxx] RPM, Read / Write Default: 200 RPM Speed during homing in encoder position mode IxR Active IxRActive [x] 0 1, Read / Write Default: 0 Enable (1) or Disable (0) IxR compensation IxR Value IxRValue [xxxx] mohm, Read / Write Resistance of the motor. Only writeable in digital mode. IxR Max Voltage IxRMaxVoltage mv, Read only Calculated voltage for IxR mode I 2 T Time Default: I2TTime [xxxxx] ms*, Read / Write ms* The I 2 T time is a time for the protection of the drive and motor. It is used in combination with the Nominal Current to allow for an over current for a limited time. The calculation incorporates the amount of overload and as such is not really a time. A current for 2x (two times) nominal for 2 seconds (2000 ms) will require an I 2 T time of Following Error Default: FollowingError [xxxxxxxx] Inc, Read / Write Inc Max number of encoder counts that the actual position is allowed to deviate from the demand position. Write 0 to turn off the following error. ERIKS bv page 51

52 Actual Position Following Error ActualPosFollError Inc, Read only At Position Window Default: Reads the actual position following error, only valid when enabled and in position mode. AtPositionWindow [xxxxx] Inc, Read / Write 100 Inc This parameter is used for the target reached bit (see parameter Mask Error Output or Mask Status Output). Max number of encoder counts that the actual position is allowed to deviate from the target position. Position Window Time Out Default: PosWindowTimeOut [xxxxx] ms, Read / Write 100 ms Max Speed Error Default: This parameter is used for the target reached bit (see parameter Mask Error Output or Mask Status Output). Minimum time the encoder position must be in position window before target reached is activated. MaxSpeedError [xxxxx] rpm, Read / Write 0 rpm This parameter is used for the Speed Error in speed mode. When set to 0, speed error is disabled. This will activate a speed error if the actual speed deviates more than the max speed error of the target speed for the speed error timeout. The max speed error is only valid after the speed error start delay. Actual Speed Following Error ActualSpeedFollError Rpm, Read only Speed Error Time Out Default: Display the actual speed following error in rpm, only valid when enabled and in speed mode. SpeedErrorTimeOut [xxxxx] ms, Read / Write 10 ms This parameter is used for the Speed Error Timeout. If the actual speed deviates more than the max speed error for the speed error timeout then the speed error becomes active. page 52 IMC5510 Manual

53 Speed Error Start Delay Default: SpeedErrorStartDelay [xxxxx] ms, Read / Write 500 ms At Speed Window Default: This parameter is used for the Speed Error, it disables the Speed Error by starting for the Speed Error Start Delay time. AtSpeedWindow [xxxxx] Inc, Read / Write 100 Inc Speed Window Time Out Default: This parameter is used for the target reached bit (see parameter Mask Error Output or Mask Status Output). Maximum deviation in the actual speed. SpeedWindowTimeOut [xxxxx] ms, Read / Write 100 ms At Current Window Default: This parameter is used for the target reached bit (see parameter Mask Error Output or Mask Status Output). Minimum time the actual speed must be in the target speed window before target reached becomes active. AtCurrentWindow [xxxxx] ma, Read / Write 100 ma This parameter is used for the target reached bit (see parameter Mask Error Output or Mask Status Output). Maximum deviation in the actual current during current mode operation. Current Window Time Out Default: CurrentWindowTimeOut [xxxxx] ms, Read / Write 100 ms This parameter is used for the target reached bit (see parameter Mask Error Output or Mask Status Output). Minimum time the actual current must be in the target current window before target reached becomes active. Only in current mode operation. ERIKS bv page 53

54 Stop Current Default: StopCurrent [xxxxx] ma, Read / Write 1000 ma Stop Current Time Default: If actual current > stop current for stop current time then disable bridge. Only active if dipswitch 6 is on. StopCurrentTime [xxxxx] ms, Read / Write 500 ms Stop Current Home Default: If actual current > stop current for stop current time then disable bridge. Only active if dipswitch 6 is on. StopCurrentHome [xxxxx] ma, Read / Write 500 ma Stop Current Time Home Default: If actual current > stop current home for stop current time home then disable bridge. Only active if dipswitch 6 is on and only during homing in encoder position mode StopCurrentTimeHome [xxxxx] ms, Read / Write 1000 ms Over Current Disable If actual current > stop current home for stop current time home then disable bridge. Only active if dipswitch 6 is on and only during homing in encoder position mode CurrentShutdown 0 1, Read only Over current disable is enabled (1) or disabled (0). Selected with dipswitch 6. Digital Current Shutdown Default: 0 DigCurrentShutdown 0 1, Read / Write Over current disable is forced enabled (1) or disabled (0). No need to switch dipswitch 6. page 54 IMC5510 Manual

55 Current Ramp CurrentRamp [xxxx] ma Read / Write Default: 125 Max current ramping [ma] per 8kHz CKP CKP [xxxx] Read / Write Default: 300 Current gain proportional CKI CKI [xxxx] , Read / Write Default: 0 Current gain integral SKP SKP [xxxx] , Read / Write Default: 20 Speed gain proportional SKI SKI [xxxx] , Read / Write Default: 100 Speed gain integral SKD SKD [xxxx] , Read / Write Default: 100 Speed gain derivative SKI Max SKIMax [xxxx] , Read / Write Default: Speed gain integral max ERIKS bv page 55

56 PKP Default: 100 PKI Default: 0 PKD Default: 1000 PKI Max Default: 0 PKP [xxxx] , Read / Write Position gain proportional PKI [xxxx] , Read / Write Position gain integral PKD [xxxx] , Read / Write Position gain derivative PKIMax [xxxx] Friction Feed Forward Default: 0 Velocity Feed Forward Default: , Read / Write Position gain integral max FrictionFF [xxxx] ma, Read / Write Friction feedforward in ma. If target speed is positive then the friction feedforward is added by the target current and when the target speed is negative the friction feedforward will be subtracted of the target current. VelFF[xxxx] , Read / Write Velocity feedforward. Acceleration Feed Forward Default: 0 AccFF[xxxx] , Read / Write Acceleration feedforward. page 56 IMC5510 Manual

57 Brake Voltage BrakeVoltage [xxxxx] mv, Read / Write Default: mv Voltage above which the internal brake resistors are turned on. Brake voltage parameter controls the voltage above which the internal brake resistors are turned on. Does not control the brake output voltage. Disable Motor and Encoder Test DisableMotEncTest [x] 0 1, Read / Write Default: 0 Disables the motor and encoder test Brake On Delay BrakeOnDelay [x] , Read / Write Default: 0 Delay after the brake output is turned on. Brake off Delay BrakeOffDelay [x] , Read / Write Default: 0 Delay after the brake output is turned off. 6.6 Encoder configuration parameters Invert Encoder InvertEncoder [x] 0 1, Read / Write Default: 0 Inverts encoder direction Invert Motor InvertMotor [x] 0 1, Read / Write Default: 0 Inverts motor direction ERIKS bv page 57

58 Invert External Encoder InvertExtEncoder [x] 0 1, Read / Write Default: 0 Inverts external encoder direction 6.7 Semi digital parameters Imax to Digital Default: 0 Offset to Digital Default: 0 IxR to Digital Default: 0 Ramp to Digital Default: 0 IMaxToDigital 0 1, Read / Write Configures if the potentiometer is used for maximal motor current and nominal motor current or a digital value is used. OffsetToDigital 0 1, Read / Write Configures if the potentiometer is used for offset or a digital value is used. IxRToDigital Low Speed to Digital Default: 0 0 1, Read / Write Configures if the potentiometer is used for IxR value or a digital value is used. RampToDigital 0 1, Read / Write Configures if the potentiometer is used for acceleration and deceleration or digital values are used. LowSpdToDigital 0 1, Read / Write Configures if the potentiometer is used for low target speed/current or digital values are used. page 58 IMC5510 Manual

59 Hi Speed to Digital Default: 0 HiSpdToDigital 0 1, Read / Write Digital Hi Speed Target Default: Configures if the potentiometer is used for hi target speed/current or digital values are used. DigitalHiSpdTarget rpm, Read./ Write 1000 rpm Digital Low Speed Target Default: Target high speed when digital value is used instead of Hi Spd potentiometer. DigitalLowSpdTarget rpm, Read./ Write 500 rpm Digital Hi Current Target Default: Target low speed when digital value is used instead of Lo Spd potentiometer. DigitalHiCurrTarget ma, Read./ Write 1000 ma Target high current when digital value is used instead of Hi Spd potentiometer. Digital Low Current Target Default: DigitalLowCurrTarget ma, Read./ Write 500 ma Digital Jog Speed Default: Target low current when digital value is used instead of Lo Spd potentiometer. DigitalJogSpd rpm, Read./ Write 100 rpm Jog speed in encoder following mode when digital value is used instead of Lo Spd potentiometer. ERIKS bv page 59

60 6.8 Controller info System Uptime SystemUptime Hours, Read only Reads actual system uptime since power up Version Version V<Major>.<Minor>.<Build>, Read only Reads software version Hardware Hardware HW_XX, Read only Reads hardware version Is Drive Enabled IsDriveEnabled 0 1, Read only Reads if drive is enabled (1) or disabled (0) Left/Right Active LeftRightActive 0 1, Read only Reads if Left/Right mode is active (1) or inactive (0) Digital Left/Right Active Default: 0 DigLeftRightActive 0 1, Read / Write Forces the left/right mode active (1) or inactive (0), no need to switch dipswitch 5. page 60 IMC5510 Manual

61 6.9 Errors/warnings Error List 1 8 ErrorList1 -, Read only Shows error of position. Max 8 errors. See appendix 2 error for detailed information. Warnings Warnings , Read only Warnings read the combined value of all active warnings. Current Loop Saturated... 1 Current Limit Reached... 2 Over Temperature... 4 Overvoltage... 8 Current Over Nominal Under voltage I 2 T Activated I 2 T Activated (Drive) Warning History Clear Error list WarningHistory , Read only Warning History reads the combined value of all history warnings. Current Loop Saturated... 1 Current Limit Reached... 2 Over Temperature... 4 Overvoltage... 8 Current Over Nominal Under voltage I 2 T Activated I 2 T Activated (Drive) ClearErrorlist -, Command Auto Reset Fatal Error Clear Warnings Clears all listed errors AutoResetFatal 0 1, Read / Write When on, an auto reset will be done on a fatal error. If off then a fatal error can only be reset by switching the supply voltage off and on. ClearWarning -, Command Clears all warnings in history that are not currently active. ERIKS bv page 61

62 Appendix 1 Warnings Possible warnings Warning Motor I 2 T activated Current loop Saturated Current limit Reached Reason The motor I 2 T protection has activated. Current requirement exceeds nominal value of motor. Correct motor settings, decrease load, decrease speed/acceleration, or use motor that is more powerful. Drive is not able to deliver the required current. Max motor voltage too low or power supply voltage too low Demand current > Max current and I 2 T is not active Demand current > Nominal current and I 2 T is active This is also valid for negative currents In IxR mode, this warning is active due to the control loop. Temperature out of range Under voltage The temperature of the PCB is below -30ºC or exceeds +75ºC If the motor is enabled and the supply voltage becomes below 9000 mv. This warning also results in supply failure error. Over voltage If the motor is enabled and the supply voltage is exceeding mv. This warning also results in supply failure error. Current over Nominal Actual current > nominal current This is also valid for negative currents. page 62 IMC5510 Manual

63 Appendix 2 Errors The controller can have the following errors: Supply failure error (0041h) Meaning: Cause: Supply voltage detected above limit of 59 Vdc or below limit of 9 Vdc. Supply voltage too high/low, deceleration too high, insufficient capacitance in power supply, faulty controller. Current offset error (0042h) Meaning: Cause: Current offset detected during start-up. Faulty controller. Temperature range (0043h) Meaning: Cause: The temperature measured inside the controller was out of a valid range (lower than -30ºC or exceeds +75ºC). Ambient temperature too high, ambient temperature too low, load too high, faulty controller. Motor drive fault (0044h) Meaning: Cause: A problem is detected in the power stage of the controller. Faulty controller. Connect motor (0046h) Meaning: Cause: Motor shorted (0047h) Meaning: Cause: Encoder error (0049h) Meaning: Cause: Software error (005Dh) Meaning: Cause: Motor is not properly connected. Faulty motor connection, motor connection shorted, faulty encoder. Short circuit detection of the motor activated. Motor connection shorted, motor characteristics wrong, faulty controller. No encoder counts while the bridge is turning the motor. Faulty encoder connection, no encoder, faulty encoder. An internal software error was detected. Faulty firmware. Following error (0063h) Meaning: Cause: Speed error (0064h) Meaning: Cause: Following error exceeds configured value. The actual position of the motor is too far behind on the calculated position, load too high, current too low, acceleration too high. Motor exceeds maximum speed error. The target speed of the motor is too high for the motor, speed loop not stable. ERIKS bv page 63

64 Appendix 3 Troubleshooting Errors and warnings have appendixes describing the possible causes and solutions. Below is an additional list with problems and possible solutions. Problem Cause Solution Motor does not turn No supply voltage Connect the power supply. Controller is not on Motion disabled Status LED flashes fast Setpoint (Hi/Lo speed potentiometer) is zero Wrong mode selected Switch the power supply on. Check supply voltage going into controller. Motion is not enabled. Check the start/stop switch. Check the SoftEnable. Check error output. See 2.5 J3 Encoder out / programmable outputs. An error occurred. See appendix 2 error for the description and possible causes of the errors. Reset by: switching off and then switching on the controller, switch start/stop or SoftEnable. Check jumper setting is not on EXT and setpoint is zero. See 2.9 JP1 Setpoint. Check if not an invalid mode is selected with the dipswitches. See chapter 3 Operating modes. Motor runs uncontrolled Slave motor doesn t follow master in encoder position following mode Wrong mode selected Encoder signals wrong Motor connection wrong IxR value wrong Noise on setpoint input Tacho signals wrong Gnd of drives not connected Hi/Lo speed input and/or Direction input active Check the selected mode is suitable for the used motor combination (encoder/tacho feedback). See chapter 3 Operating modes. Check encoder wiring. Check invert encoder. Check motor connection. Check invert motor. Adjust IxR value. Check setpoint input signal. Check tacho wiring. Connect the Gnd of both drives to each other. To follow master both inputs must be inactive see Encoder position following mode. page 64 IMC5510 Manual

65 Problem Cause Solution Motor not in digital mode error SoftEnable not active Enable the drive by software Hardware enable not active Dipswitches not in right position Check hardware enable on Start/Stop input. Check dipswitch settings. Motor speed not controllable in tacho feedback mode Target speed not adjustable with potentiometer in IxR mode, Encoder feedback mode or Tacho feedback mode Target current not adjustable with potentiometer in current mode Jog speed not adjustable with potentiometer in encoder position following mode Max and nominal motor current not adjustable with potentiometer IxR value not adjustable with potentiometer in IxR mode Ramping not adjustable with potentiometer Overcurrent disable activates even when dipswitch 6 is off Left/Right mode active even when dipswitch 5 is off Tacho feedback connection wrong Potentiometer Hi or Low Spd configured as semi digital Potentiometer Hi or Low Spd configured as semi digital Potentiometer Hi or Low Spd configured as semi digital Potentiometer Imax configured as semi digital Potentiometer IxR configured as semi digital Potentiometer Ramp configured as semi digital Force overcurrent disable is on Force Left/Right mode is on Swap tacho feedback wires. Turn tacho potentiometer to the correct gain. Configure not as semi digital with the GUI Configure not as semi digital with the GUI Configure not as semi digital with the GUI Configure not as semi digital with the GUI Configure not as semi digital with the GUI Configure not as semi digital with the GUI Disable force overcurrent disable with the GUI Disable force Left/Right with the GUI ERIKS bv page 65

66 Appendix 4 Mechanical drawings Dimensions of the drawing are in mm. If possible, a solid metal underground is recommend for mounting for extra cooling. The controller can be mounted with M4 screws. Figure 32) IMC5510 dimensions page 66 IMC5510 Manual

67 Appendix 5 Accessories Starter kit There is a starter kit available to configure the controller digitally. The starter kit contains: USB stick with PC software, manuals and datasheets Communication cable (1 meter) Communication adapter USB to RS232 converter With the starter kit the controller can be configured, parameters files can be loaded and saved and a firmware update can be done. Figure 33) Starter kit Encoder connector kit The mating connectors for J3 and J4 are: Housing: Molex Crimp contacts: Molex (22-30AWG) Crimp tool: Molex (crimp tool not included) Encoder connector kits are available and contain: 2 Molex connectors 1 Molex connector 17 Molex crimp contacts RE30-2 Encoder cable Cable to connect a RE30-2 encoder directly to the IMC5510. Standard length 3m, for different lengths contact ERIKS. ERIKS bv page 67

68 Output cable Cable to connect the outputs of the IMC5510. Standard length 3m, for different lengths contact ERIKS. DIN rail mounting kit To mount an IMC5510 to a DIN rail there is a DIN rail mounting kit available. This kit contains 2 mounting brackets, 2 screws and 2 tooth locked washers. See picture below for mounting. Figure 34) DIN rail mounting kit page 68 IMC5510 Manual

69 Ethernet module To get the IMC5510 connected to the Ethernet, ERIKS can mount an Ethernet module in the IMC5510. The IMC5510 can then be controlled by sending the commands over Ethernet. With the Ethernet module placed, the normal RS232 does not function anymore, therefore a dust cap is placed in the RS232 connector. For more information about the Ethernet module, please contact ERIKS. Figure 35) Ethernet module Ordering information Table 8) Ordering information Product name Order code Starter kit Encoder connector kit RE30-2 Encoder cable (3m) DIN rail mounting kit IMC Ethernet Output cable IMC ERIKS bv page 69