Using CME 2 with AccelNet

Transcription

1 Using CME 2 with AccelNet Software Installation Quick Copy (with Amplifier file) Quick Setup (with motor data) Offline Virtual Amplifier (with no amplifier connected) Screen Guide Page 1

2 Table of Contents Table Of Contents Software Installation...3 Quick Copy...7 Opening An Amplifier File... 7 Saving To Flash... 7 Connecting The Motor... 7 Quick Setup...8 Basic Setup... 8 Creating A Motor Data File... 9 Calculating Initial Values Connecting The Motor Enable The Amplifier Run Auto Phasing Current Loop Tuning And Testing Velocity Loop Tuning And Testing Position Loop Tuning And Testing Command Configuration CAN Configuration Offline Virtual Amplifier Screen Guide Main Functional Diagram CME Toolbar Motor Settings Feedback Settings Brake/Stop Settings PWM Command Adjustments Digital Position input Adjustments - Configuration Digital Position input Adjustments - Trajectory Input And Output (I/O) Configuration Custom Output Configuration Control Panel Current Loop Parameters Velocity Loop Parameters Position Loop Parameter Screen Scope Screen Communications Log Error Log Manual Phase Phase And Hall Transitions Filters Page 2

3 Software Installation Software Installation: 1.1 Insert the CD containing the CME 2 software into the computer s CD ROM drive. 1.2 The Installer software is automatically launched. When the Introduction screen is presented, click the Next button to continue If the software is not automatically launched, run the Setup.exe on the disk. Page 3

4 Software Installation 1.3 During the installation process, you must select the directory in which the CME 2 software is stored. It is strongly recommended that you use the default setting. However, if you wish to change the location, click the Choose button and navigate to the folder in which you want to load the software. Click the Install button to continue. 1.4 When the Install Shield Wizard has been successfully installed, click the Done button to continue. 1.5 Start the software by double-clicking the CME 2 icon located on the computer desktop. If this is the first time you are running the CME 2 software, the Communications Wizard automatically starts after the software s splash screens appears. Page 4

5 Software Installation 1.6 Configure communication to the amplifier by selecting the communications port to which the amplifier is connected. Click the Next button to continue. COM ports available on PC Selected port for PC 1.7 Select the baud rate for the serial port you are using in your system. Click the Next button to continue. Baud Rate dropdown menu Page 5

6 Software Installation 1.8 Verify the values shown on the final screen. If the values are correct for your system, click the Finish button. If the values are not correct for your system, clicking the Back button allows you to make changes. NOTE: To access the Communications Wizard after the software has been successfully installed click the Tools menu located on the Main Screen s Toolbar and select Communications Wizard. Page 6

7 Quick Copy Quick Copy The Quick Copy procedure should be used by end users who are installing new amplifiers, which were previously configured by the design engineer (no parameter changes are required - simply copy existing configurations). Step 1: Opening an amplifier file 1.1 Click the Open Amplifier icon to open an amplifier file. 1.2 Locate the amplifier file created for this axis (motor and amplifier matched pair). Amplifier files have the.ccx extension. Select the desired.ccx file from the Restore Amplifier Data from Disk screen and click the Open button. NOTE: The amplifier s volatile memory will contain the new settings. Typically, the original design engineer would have created a new amplifier file after successfully configuring and tuning the amplifier in a particular mode. Step 2: Saving to Flash 2.1 Click the Save to Flash icon to permanently store the parameters from the.ccx file in the amplifier s flash memory. NOTE: The amplifier s flash memory will now be used to load the volatile memory on power-up or reset. Step 3: Connecting the Motor 3.1 Hardware disable the amplifier. The green LED on the amplifier should be flashing. 3.2 Power down the amplifier, then connect the motor according to the original design engineer s connection diagram. Page 7

8 Quick Setup Quick Setup The Quick Setup procedure should be used by design engineers when configuring an axis for the first time. Step 1: Basic Setup 1.1 Click the Basic Setup icon located on the main CME 2 Toolbar. 1.2 Select the motor options (the motor family depends upon the amplifier model you are using). You may choose either Brush or Brushless for the Motor Family, Rotary or Linear for Motor Type, and Sinusoidal or Trapezoidal for Commutation. 1.3 Select the Encoder, Hall and Brake settings. 1.4 Select the operating mode in which you will be operating from the Basic Setup window. Click this button to view the firmware rev and amplifier specs 1.5 Select the Command Input. You have two options: CAN Open and PWM (Pulse-Width Modulation). In Position Mode Digital Input is the only option. 1.6 Click the OK button to continue. Page 8

9 Quick Setup Step 2: Creating A Motor Data File Motor/Feedback 2.1 Click the Motor/Feedback button located on the Main Screen s Functional Diagram. The Motor window will open (see figure on next page). NOTE: This step assists in creating a motor data file (.ccm). Page 9

10 Quick Setup 2.2 Refer to the motor manufacturer s spec. sheet and enter the values provided into the fields on the screen. It is important to note following: The Resistance and Inductance values entered are used for calculating the initial Current Loop tuning values. The Inertia values entered are used for calculating the initial Velocity Loop tuning values. The Motor Constants and Torque Values entered are used for calculating the Current Limits. The Top Speed is used to calculate velocity and acceleration limits for the Velocity Loop. The Number of Poles and the Encoder Lines are used for calculating the phase counts for proper commutation. Tool Icons 2.3 Click the Feedback tab located at the top of the screen to enter feedback values. 2.4 Clicking the Save to disk icon located on the Motor screen saves the motor/feedback data for later use. Motor Data files have the.ccm extension. 2.5 Click the OK button to store the data (including any changes) to the amplifier s Flash memory. Alternatively, you may click the Save to Flash button located on the Motor screen. NOTE: The Current Loop screen (and other screens) are activated once data is entered for the motor/feedback and the OK button is clicked. For more information refer to the Motor Settings section of this manual. Page 10

11 Quick Setup Step 3: Calculating Initial Values 3.1 Click the Calculator icon located at the bottom of the Motor screen. The initial tuning values and limits are generated using the information you provided in the Motor screen. 3.2 Verify the calculated values on the Calculated Settings screen. If these values are valid, click the OK button to continue. Page 11

12 Quick Setup Step 4: Connecting the motor 4.1 Verify that the amplifier is hardware disabled. The software enable is located on the Control panel (see next step). NOTE: View the connection diagram from the amplifier s datasheet. Step 5: Enable The Amplifier 5.1 Click the Control Panel icon located on the main CME 2 toolbar, to monitor the Control status. Verify that all LEDs on the Control Panel are green. For proper operation, Hardware Enable and Software Enable are both required. Hardware Enable typically requires connecting the enable line to ground. Software Enable simply requires selecting the appropriate checkbox on the Control Panel screen. NOTE: If there are no errors present the Motor Output LED is green. If the LED is not green an error exists and you should use the Error Log to diagnose the problem. If any of the LEDs are red the motor may be inhibited. The <F12> key may be used to execute a software disable if proper communication exists. 5.2 If the active level of the Enable line must be changed, use the Discrete Input/Output screen to change the active level. The Input/Output button is located on the main screen s Functional Diagram. Step 6: Run Auto Phasing NOTE: It is strongly suggested that you DO NOT connect a load to the motor at this point. 6.1 Click the Auto Phasing icon located on the main CME 2 toolbar. The Auto Phase window opens. Follow the directions and screen prompts contained within the two screens of the Phasing Wizard. NOTE: You MUST always connect the motor using the same configuration. Wire properly and consistently. Connections are actually changed within the DSP, not at the motor terminals, and the results are Saved To Flash memory. The actual wire configuration should NEVER change. Brushless motors require two electrical cycles for Autophasing The Motor must be able to move when current is applied If Auto Phasing does not function properly, the Manual Phase tool may be used (Tools >> Manual Phase). See Screen Guide for more information. Page 12

13 Quick Setup Step 7: Current Loop Tuning And Testing 7.1 Click the Current Loop icon located on the main screen s functional diagram. 7.2 When the Current Loop screen opens, verify the current limits and the current loop tuning values for Cp and Ci (where Cp = Current Loop proportional gain and Ci = Current Loop integral gain). If the Current Loop is not properly tuned for your application, perform either the Automatic or Manual Current Loop Tuning procedure below: Automatic Current Loop Tuning Click the Auto Tune button located on the Current Loop screen The auto tuning procedure initializes and begins to run. The Cp and Ci values are determined by the amplifier Click the Save to Flash icon to permanently store the changes in the amplifier s flash memory. Manual Current Loop Tuning Click the Scope icon (located on the main CME 2 tool bar) to open the Scope window Adjust the values of Cp and Ci while monitoring the signal displayed on the scope. The Gains tab, located on the Scope, may be used to accomplish this task Create a Test Function by performing the tasks below: Select Actual Current from the Channel 1 drop down menu Set the Trace Time to 25 ms In the Function Generator section of the scope, select Current for the Apply To field Select Square Wave excitation Verify that the current value you have selected will not damage the motor you are using Set the Test Frequency to 100 Hz. Page 13

14 Quick Setup Click the Start button. If you must disable and stop the signal, click the Stop button The output of the amplifier is displayed on the scope. These selections generate a 100 Hz square wave at the output of the amplifier. The current loop gain and the response characteristics are determined by the motor s inductance and resistance, and the values for Cp and Ci. You must adjust Cp and Ci to obtain the desired step response for your application. Typically, an overshoot value of 5 to 10% is acceptable. NOTE: For our amplifiers, the current loop gain is independent of the power supply voltage Set the Ci value to zero Press the <ENTER> key located on the keyboard Adjust the Cp value on the I-loop screen and click the Record button. Repeat this process until the desired overshoot is obtained. You may use the Up and Down arrow keys to increment or decrement the Cp value by a value of one; the Page Up and Page Down keys may be used by increment or decrement the Cp value by a value of ten. NOTE: If the Cp value is too large, ringing may occur. If the Cp value is too low, bandwidth decreases After the appropriate Cp value is obtained, increase the Ci value until the desired settling time is obtained. NOTE: If the Ci value is too low, the waveform becomes over dampened. If the Ci value is too large the waveform becomes under dampened. Critical damping is recommended only if sufficient current loop bandwidth is produced (typically 1-3 khz) depending upon the design engineer s preferences Click the Save to Flash button to permanently store the changes in the amplifier s flash memory. Page 14

15 Quick Setup Step 8: Velocity Loop Tuning And Testing (Not required for Current Mode) 8.1 Click the Velocity Loop icon located on the main screen s functional diagram. 8.2 When the Velocity Loop screen opens, verify the velocity limits and the velocity loop tuning values Vp and Vi (where Vp = velocity loop proportional gain and Vi = velocity loop integral gain). If the velocity loop is not properly tuned for your application, perform the Velocity Loop Tuning procedure below: NOTE: In order to tune the Velocity Loop the Current Loop MUST already be properly tuned. If the Current Loop is NOT already tuned, you MUST tune the Current Loop before proceeding. For more information refer to the Current Loop Tuning and Testing section of this document. For more information on the Velocity Loop, refer to the Velocity Loop parameters in the Screen Guide section of this document Click the Scope icon to open the Scope window The Gain tab, located on the Scope, may be used to adjust the values of Vp and Vi while monitoring the signal displayed on the scope Create a Test Function by performing the tasks below: Select Actual Velocity from the Channel 1 drop down menu Set the Trace Time to 250 ms Select Velocity for the Apply To field In the function generator section of the scope, select Square Wave excitation Verify that the velocity value you have selected will not damage the motor you are using. NOTE: It is strongly suggested that you DO NOT connect a load to the motor the first time you tune the amplifier. After the amplifier is tuned, you should connect the load and tune again. Page 15

16 Quick Setup Set the Test Frequency to 5 Hz Verify that the settings displayed in the Test Function frame are correct for your application Click the Start button The output of the amplifier is displayed on the scope Set the Vi value to zero. These selections generate a 5 Hz square wave at the output of the amplifier. The velocity loop gain and the response characteristics are determined by the motor s mechanical characteristics, and the values for Vp and Vi. You must adjust Vp and Vi to obtain the desired step response for your application. Typically, an overshoot value of 5 to 10% is acceptable Press the <ENTER> key located on the keyboard Adjust the Vp value until the desired overshoot is obtained. You may use the Up and Down arrow keys to increment or decrement the Vp value by a value of one; you may use the Page Up or Page Down keys to increment or decrement the Vp value by a value of ten. NOTE: If the Vp value is too large, ringing may occur. If the Vp value is too low, bandwidth decreases After the appropriate Vp value is obtained, increase the Vi value until the desired settling time is obtained. NOTE: If the Vi value is too low, the waveform becomes over dampened. If the Vi value is too large the waveform becomes under dampened. Critical damping is recommended only if sufficient velocity loop bandwidth is produced (typically khz) depending upon the design engineer s preferences Click the Save to Flash button to permanently store the changes in the amplifier s flash memory. Page 16

17 Quick Setup Step 9: Position Loop Tuning And Testing (Not required for Current or Velocity Mode) 7.1 Click the Position Loop icon located on the main screen s functional diagram. For more information refer to the Position Loop parameters in the Screen Guide section of this document. Manual Position Loop Tuning Set the Pp (Position Loop Proportional Gain) value to zero Press the <ENTER> key located on the keyboard Adjust the Pp value until the desired stiffness is obtained. You may use the Up and Down arrow keys to increment or decrement the Pp value by a value of one; you may use the Page Up or Page Down keys to increment or decrement the Pp value by a value of ten. NOTE: If the Pp value is too large, noise or oscillations may occur. If the Pp value is too low, stiffness decreases. It is suggested that you use a low frequency sine wave on the scope function and monitor the following error when tuning the Position Loop. The Velocity Loop values, Vp and Vi, may be reduced to eliminate noise. However, if Vp and Vi are set too low, the response to instantaneous rates of change may be reduced (i.e. slow correction to disturbances or transients) Click the Scope Profile tab Click the Trajectory\Limits tab. Verify the Trapezoidal Profile values you ll be using as your test profile. The velocity, accelerator, and deceleration values will be used by the trajectory generator to obtain the desired number of counts Enter an appropriate relative distance or absolute position (in counts), which produces the expected Trajectory Profile Click the Start button (it is recommended that you disable the Following Error Fault on the Gains tab prior to clicking the Start button) The Profile and Position Error is displayed on the screen Using the Gains tab, adjust the Vff (Velocity feed forward) value, while monitoring the constant velocity portion of the velocity profile. Changes in Vff reduce the velocity error at a constant state velocity While monitoring the acceleration/deceleration portion of the velocity profile, adjust the Aff (Acceleration feed forward) value. Changes in Aff reduce the position error during motor acceleration/ deceleration Click the Save to Flash icon to permanently store the changes in the amplifier s flash memory. Page 17

18 Quick Setup Step 10: Command Configuration 10.1 Click the Command button located on the main screen s Functional Diagram. Depending upon the Basic Setup screen s Input selection, the button displays either CAN Configuration (step 11), PWM command (step 10.4), or Digital Position Input (step 10.5) Analog Command The Scaling field allows you configure the Input Command to the amplifier. In Current Mode, you define the full scale output amperage for a 10 Volt input signal. In Velocity Mode, you define the velocity for a 10 Volt input signal. Page 18

19 Quick Setup 10.4 PWM Command When you are operating in either Current or Velocity Mode (determined on the Basic Setup Screen), you may select the PWM Command for the Input Command Type Set the full scale value if a 100% command is used If a one wire PWM command is used with no direction command, use a 50% duty cycle. If a two wire command is used with a direction command then use a 100% duty cycle Select the Allow 100% output checkbox. Full command produces no motion (fail safe), to allow 100% command Select Invert PWM or Invert signal to change input logic Digital Position Input Click the appropriate option button to select the Control Input. You may select either Pulse and Direction, Pulse Up/Pulse Down, or Quadrature Click the appropriate option button to select the Increment Position method. You may increment on a signal s rising edge, or on a signal s falling edge Set the Stepping Resolution by entering values into the Input Pulses field and the Output Pulses field. You may set the resolution according to your application. Page 19

20 Quick Setup 10.6 Trajectory Limits Adjust the Velocity, Acceleration, and Deceleration Trajectory Limits for the Digital Position command positioning to smooth the Step commands produced by the Digital Position Input. This will be used when the Input Command Pulse generates several output pulses. Page 20

21 Step 11: CAN Configuration If 16 or fewer amplifiers are on your network, you may set the CAN address using amplifier hardware. If more than 16 amplifiers are used, the CAN addresses may be used using software. A CAN network may support up to 128 devices. NOTE: The CAN address will not take affect until the device is repowered or reset. Remember to save the changes to flash memeroy before the device is powered down, or reset Click the CAN Configuration button located on the Main Functional screen If your network is less than 25 meters, select a CAN network baud rate of 1 Mbits/second. Refer to CAN specifications for baud rates if your network is larger than 25 meters Select the method for configuring the CAN addresses. Typically, an 8-axis application would use 3 input lines to set addresses 1 through 8. Page 21

22 Offline Virtual Amplifier Offline Virtual Amplifier Feature The CME 2 software contains a Virtual Amplifier feature. This feature allows you to create a new amplifier file, view scope files or edit existing files, without actually being connected to an amplifier. To use this feature, follow the steps below. 1. Click the Virtual Amplifier icon located in the Amplifier Explorer Window. 2 Page 22

23 Offline Virtual Amplifier 2. The Open Virtual Amplifier screen is presented. Select which method you want to use to work offline on a virtual amplifier file by clicking the appropriate option button. Click the OK button to continue. 3. If you choose to create a new amplifier file, the New Virtual Amplifier window opens, allowing you to select a file to open. Default files contain values that are used to match the hardware and motor type (rotary or linear) you are using. NOTE: If you intend to create an amplifier file (.ccx) to be used with the amplifier and motor type in your application, you must select the proper (.ccv) virtual amplifier type. 4. All motor and amplifier values may now be viewed, entered, and adjusted on the appropriate CME 2 software screens. NOTE: Not all screens are accessible when you are using the Virtual Amplifier feature. Page 23

24 Screen Guide Screen Guide Main Functional Diagram Main Menu CME Toolbar Functional Diagram Status Bar Amplifier Explorer Window Page 24

25 Screen Guide The CME 2 Toolbar Restore From Flash File Icon Store to Flash Icon Open Amplifier and Motor File Icon Save to Disk Icon Error Log Icon Oscilloscope Icon Auto Phase Icon Control Panel Icon Basic Set-up Icon Page 25

26 Screen Guide Motor Settings The motor data may be used to calculate initial tuning values and current limits. Settings may be obtained from motors manufacturer s specification sheet, or from a previously created.ccm file (motor data file). After entering motor data values, click the Calculate button to compute the initial values. Refer to the table on the next page for more information. Save Motor Data To File Button Open Motor Data File Button Calculate Button Page 26

27 Screen Guide Motor Parameters Parameter Resistance Inductance Torque Constant Back EMF Constant Peak Torque Continuous Torque Velocity Limit Motor Inertia Description Motor resistance line to line. Min value = 0.01 ohms, max value = 328 ohms Motor inductance line to line. Min value = 0.1 mh, max value = 100 mh Motor constant for calculations to 1000 Nm/Amp (N/Amp linear) Motor constant for calculations 0.01 to 1000 v/krpm (v/m/s linear) Used with motor constant to calculate peak current to 1000 Nm (N linear) Used with motor constant to calculate continuous current to 1000 Nm (N linear) Used to calculate velocity limits and verify physical limits 0.1 to 100,000 RPM (mm/s linear) Used to calculate acceleration and deceleration limits with current limits Page 27

28 Screen Guide Feedback Settings When working with Rotary Motors, Encoder lines are used with the pole count to sinusoidally commutate with the motor. NOTE: A 1000 line Encoder will produce 4000 counts per revolution. Make sure you enter the correct value. When working with Linear Motors, Encoder Resolution and magnetic Pole Pair length is used to sinusoidally commutate with the motor. NOTE: Magnetic Pole Pair Length is 2 times the Pole Pitch. Clicking the OK button applies these Motor Data Values to flash memory. Page 28

29 Screen Guide Brake/Stop Settings The Brake Settings Screen allows you to define the Brake Delay Time, Brake Activation Velocity and PWM Delay Time Brake Parameters Parameter Brake/Stop Delay Time Brake/Stop Activation Velocity PWM Delay Time Description Time allowed to decelerate the motor Speed at which to engage the brake/start the PWM delay time Time allowed to disable the Servo Loop Page 29

30 Screen Guide PWM Command Adjustments The Scaling field is used to define the full-scale output of the amplifier used in your application. The units involved depend upon which Operating Mode you are using. In Current Mode, you would define the output amperage produced for a 100% duty-cycle input signal. In Velocity Mode, you would define the velocity for a 100% duty-cycle input signal. PWM Command Parameters Parameter Scaling PWM Input Type Invert PWM input Allow 100% Output Invert Sign Input Description Used to set the Transfer-function Output/Input One wire 50% or two wire 100% with direction Inverts the PWM logic Overides 100% command fail safe. Inverts Direction logic (100% PWM type) Page 30

31 Screen Guide Digital Position Input Adjustments - Configuration Click the Configuration tab to view the digital position input settings. Select the input type used and what input edge to increment output position. Enter the stepping resolution input pulses needed to produce output position counts. To change direction the invert command box may be checked. Note: A ratio of 1:1 is typical. Other ratios may be limited by source command frequency or feedback frequency limits. Digital Command Parameters Parameter: Input Pulses Output Counts Description: Used to set the number of input pulses required to produce output counts. Max = 215, Min 1. Used to set the number of output counts produced for some number of input pulses. Max = 215, Min 1. Page 31

32 Screen Guide Digital Position Input Adjustments - Trajectory Limits The limiting values are used to smooth the change of position, applied to any position step produced by the input pulse to output count ratio. Adjust the max velocity, max acceleration, and deceleration to set the trajectory limits. To disable the limits check the disable trajectory limits box. Click the Trajectory limits tab to view the trajectory generators limiting values. Digital Trajectory Parameters Parameter: Max Velocity Max Acceleration Max Deceleration Description: Used to set the maximum trajectory velocity. Max value may depend upon the back EMF and the Max feedback count. Min=0 Used to set the maximum trajectory acceleration. Max value may depend upon the load inertia and peak current. Min=1 Used to set the maximum trajectory deceleration. Max value may depend upon the load inertia and peak current. Min=1 Page 32

33 Screen Guide Input and Output (I/O) Configuration The amplifier s I/O configuration and default values are determined by the manufacturer, before the amplifier leaves the factory (for more information refer to the manufacturer s data sheet for the actual pin assignment). Changes to the active levels can be made for each input and output. After changes have been made, clicking the Restore Defaults button restores the original factory default values. Input Number Present Input Status Indicators NOTE: Selected values reside in Volatile RAM and must be saved to Flash to become permanent. Storing the information to Flash allows the information to be restored when the amplifier is powered-up or reset. I/O Configuration Parameter Not Configured Neg/Pos Inhibit Reset Motor Temp Amp Enable Fault Break Description Output is Hi with no change Inhibit motion in Negative or Positive direction Reset the amplifier on transition Disable drive for overtemp motor Hardware enable the amplifier Any fault independent of enable. Dependant on Break settings Page 33

34 Screen Guide Custom Output Configuration Use the Custom Output Configuration dialog to configure which events (fault, warning, or status) will cause the digital output to go active. Select any number of events from the list. The selected event will be OR ed together so that any active event will result in the digital output going to the active state. Clear de-selects all events. Select Larch Output to make the digital output remain in the active state until the amplifier is either reset, power cycled, or disabled (the latter only applies if the enable input is configured to clear latched events when the amplifier is disabled). Page 34

35 Screen Guide Control Panel The CME 2 Control Panel allows you to view the status of the amplifier, software enable/disable the amplifier, and jog the motor. All of the indicators must be green in order for motion to occur. Enable Disable Jog Mode Amplifier Reset Jog to move motor Set To Zero (Clear) Select the parameters to monitor. Click the Set Zero Position button to clear the position counter. The Enable Amplifier and Disable Amplifier controls allow you to turn the software enable on or off. The Reset button controls the amplifier s reset function. The Jog button controls the Jog feature. Page 35

36 Screen Guide Current Loop Parameter Screen You may enter Current Limit values and Current Loop Tuning values on this screen. Clicking the Auto Tune button allows you to run the Automatic Tuning routine, obtaining values for the Cp and Ci variables. Alternatively, you may click the Calculate button, located on the Motor Encoder screen, to obtain initial values for Cp and Ci. Clicking the arrow buttons adjacent to the Cp and Ci fields increases or decreases the value in the field. Limits Gains Current Loop Parameters Parameter Peak Current Limit Description Used to limit the peak phase current to the motor. Max value depends upon the amplifier you are using; Min value > continuous limit I 2 2 T Time Limit Used to limit the peak phase current. The I time parameter provides time to protect the motor. The min value = 1 ms. This utilizes more of the amplifier s capability to deliver current to the motor, without premature limiting. The peak time is also limited according to the amplifier s capability. Continuous Current Limit Used to limit the Phase Current. Max Value is < peak current and amplifier dependent. Min value = 0 15 Cp I-loop proportional gain. Max value = 2-1. Min value = Ci I-loop Integral gain. Max value = 2-1. Min value = 0. Page 36

37 Screen Guide Velocity Loop Parameter Screen You may enter Velocity Limit values on this screen. Click the Calculate button located on the Motor Encoder screen to obtain the initial limits and values for Vp and Vi. Clicking the arrow buttons adjacent to the Vp and Vi fields increases or decreases the value in the field. Refer to the Filter Screen for filter details. Filter Close Velocity Loop Parameters Parameter Velocity Limit Max Accel Max Decel Fast Stop Ramp Description Used to set the top speed limit. Max value may depend upon the back EMF & the Encoder value. Min value = 0. Used to set the acceleration rate. Max value may depend upon load, inertia, & peak current Min value = 1 Used to set the deceleration rate. Max value may depend upon load, inertia, & peak current Min value = 1 Used to decelerate the motor on a fault. Vp (Velocity Loop 15 Used to tune the velocity loop. Max value = 2-1 Proportional gain) Min value = 0 Vi (Velocity Loop 15 Used to tune the velocity loop. Max value = 2-1 Integral gain) Min value = 0 Page 37

38 Screen Guide Position Loop Parameter Screen You may adjust the Position Loop Tuning value on this screen. For example, clicking the arrow buttons adjacent to the Pp field increases or decreases the value. NOTE: If the Position Error prevents you from sucessfully tuning, click the Disable Following Error Fault box and toggle the Enable line to clear positive errors. If the reset on enable feature is selected on the I/O Screen, save the changes prior to resetting the amplifier. Position Loop Parameters Parameter Following Error - Fault Description Sets the Position Loop error limit to produce a fault. Stops the servo loop Following Error Warning Produces a warning but does not disable the servo loop. Tracking Window Tracking Time The number of counts required to remain within tolerance of the tracking window. The move will be settled if in the window for the Tracking Time. The time required in the tracking window to be considered tracking. Pp Position Loop proportional gain. Max value = Min value = 0 Vff Velocity feed forward. Max value = 2-1. Min value = 0, 100% Vff = 2 Aff Acceleration feed forward. Max value = 2-1. Min value = 0, 100% Vff = 2 Page 38

39 Screen Guide Scope Screen The function and profile generator, accessible on the Scope screen, may be used to produce various signals. For example, you may apply a square wave signal with an amplitude of 0.5 Amps and a frequency of 10 Hz to the current loop. Another example would be to set the profile type to Trap, move a relative distance, and repeat. Click the Start button to initiate the excitation; click the Stop button to cease the excitation. Trace Settings Loop Gains Profile Limits Start the function or generator profile The Scope screen may display two channels. You may select the parameters to plot on the scope screen. The Trace Time may be used to set the plot s time axis. The trigger setup may be used to adjust the plot s triggering point. Click the Record button to acquire a new trace. Click the Gain tab to adjust loop gains and view limits. Click the Trajectory Limits tab to adjust and view profile limits. Users may store scope plots as scope files (.sco) by clicking the Save to Disk icon. These files may be opened and viewed at a later time by clicking the Tools menu and selecting View Scope Files. Page 39

40 Screen Guide Communications Log The Communications Log is used to monitor low level commands that the software sends to the amplifier and the responses received by the software. This feature may be used to assist in diagnosing communications problems. Click the Clear button to erase the contents of the screen. To view commands that have been sent and received, select the Enable Logging checkbox. NOTE: The software polls the amplifier when data must be displayed on the screen. For example, if the Control Panel screen is displaying values, then the Com Log keeps record of the time, COM Port, Send/Receive command and Hexadecimal equivalents. Page 40

41 Screen Guide Error Log The Error Log helps track Faults causing motion to stop and warnings which may help diagnose potential problems. The Active tab indicate faults and warnings as they are reported and remain indicated as long as they are active. The History tab displays a chronological list of faults and warnings. The Frequency tab counts the occurrence of a particular fault or warning. The Clear log button erases the history and frequency log. The Save To Disc icon saves the error log as a text file. Page 41

42 Screen Guide Manual Phase To access the Manual Phase tool click the Tools menu located on the Main Screen s Toolbar and select Manual Phase. The CME2 manual phase tool allows the user to manually phase a brushless motor, monitor signals, check configuration wiring, and control a micro stepping current vector. NOTE: It is strongly suggested that you DO NOT connect a load to the motor when manual phasing. To control the current vector rotation, enable the amplifier and command the vector rotation forward or reverse. If the motor cannot keep up with the rate of vector rotation then reduce the rate or try increasing the current. Monitor the vector rotation through 1 electrical cycle for proper Hall transitions. The red indicator should rotate in the same direction as the motor phase angle and the transition should occur when the needle is between indicators. Also, verify actual position count for 1 electrical cycle, proper Hall state changes, and actual current. Configuration of the encoder can change direction of rotation for increasing counts with forward current. The motor configuration can change direction of motor rotation for a given rotation of current vector. The configuration of Halls will effect the rotation of motor and Hall states for proper transitions with respect to the rotating current vector. Page 42

43 Verifying Motor Phase and Hall Transitions While pressing the move motor FWD and REV buttons, the red indicator should rotate in the same direction as the black motor phase needle. The red Hall indicator should transition when the needle is centered between indicators +/-30 degrees (refer to the diagram below). The Hall Wiring List box can be used to swap Hall wires (in the amplifier) to make the needle and Hall follow a circle in the same direction. If the red indicator transition is leading or lagging the centered needle by more than 30 degrees, then a Hall offset, in +/- 30-degree increments, may be entered. Note: Some motors are equipped with bearings stiction. Manually assisting motors equipped with bearing stiction is acceptable. Motors that are not equipped with bearing stiction may need some friction added to steady motion. Red Hall transition occurring when needle is between Hall states +/-30 degrees. It is important that good Hall signals are received by the amplifier for trapezoidal commutation after power-up or reset. When the first all transition is detected, sinusoidal commutation may be performed. In sinusoidal commutation, the amplifier uses the encoder for commutation while monitoring the Halls to verify proper phase. If the encoder is losing too many counts and the phase cannot be corrected by the amplifier s constant monitoring of the Halls for phase correction, then the phase fault will be triggered. #1 Problem: Wrong data Verify rotary motor pole count and line count, or linear motor magnetic pair length and encoder resolution. #2 Problem: Bad wiring of high resolution encoders If the Halls produce good trapezoidal commutation but a phase fault is persistent in sinusoidal commutation mode, the encoder is highly suspect. Verify that the encoder signal transition sees proper termination resistance. Verify proper twisted shielded cable with good grounding. Disable the amplifier and move the motor by hand to test phase fault. If phase fault only occurs under command of current, make sure the motor power cable is not bundled with the encoder cable. #3 Problem: Hall signals bad Make sure Halls change states as the motor moves through one electrical cycle. Some Hall signals are noisy and required filtering. Check with motor manufacturer. Some Halls are not properly calibrated to the motor manufactures specification. #4 Problem: Hall transition wrong The location of the Hall transition is not within +/-30 degrees. Page 43

44 Screen Guide Filters Filter settings are set to default values. Therefore, adjustment of these values is not normally required. If the system has a resonance above 300 Hz then a filter may help. Typically, a 200 Hz low pass Butterworth is sufficient. To program the filter click the Filter button located on the loop screen. Select the class and type of filter, then enter the filter parameters. The Butterworth filter is a maximum flat low pass filter. This second order two-pole filter has a damping ratio of and produces no peaking in the Bode plot. The value you type into the Cut-off Frequency field provides the 3db point. The filter attenuates at 40db/decade past the cut-off frequency, further reducing the excitation of any high frequency resonance. The phase-lag at lower frequencies will be more than other second order filters with more peaking. The single-pole low pass filter is the simplest form of a filter. The value you type into the Cut-off Frequency field provides the 3db point. The filter will attenuate at 20db/decade past the cut-off frequency, reducing excitation of high frequency resonance. The Bi-Quadratic filter has two quadratic terms, one in the numerator and one in the denominator. The numerator affects the filter s two zeros and the denominator effects the filter s two poles. Many other filter classes and types can be expressed in the Bi-Quad form by entering the coefficients. The coefficients can be calculated on math software and entered as floating point numbers, however due to the fixed-point representation, the numbers may be rounded. Page 44

45 Using CME 2 with AccelNet Rev A 11/11/2002 Page 45