Attisan Sd Petr Sea ety See au) Sees tracy Et Seung poary Sey Pease Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS. WE BUY USED EQUIPMENT Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment ‘at our full-service, in-house repair center We also offor crodit for buy-backs and trade-ins wwwartisantg.com/WeBuyEquipment 7 Instra Vea!” REMOTE INSPECTION LOOKING FOR MORE INFORMATION? Remotely inspect equipment before purchasing with Visit us on the web at www.artisantz.eom ” for more our interactive website at wwwlnstraview.eom 7 information an price quotations, drivers, tachnical specifications, manuals, and documentation Contact us: (355) 5E-SOURCE | salesmartsantacom | waw.artsarte.comEN EGHGO REDEFINING MOTION CONTROL.Document revision no. 1.02 (December 2001) Document part no. TM-01381-000 COPYRIGHT Copyright © 1999-2001 ACS-Tech80 Ltd, Changes are periodically made to the information contained in this guide. The changes are published in release notes and will be incorporated into future revisions of this guide [No part ofthis guide may be reproduced in any form, without permission in writing from ACS-Tech80. TRADEMARKS ACS-Techi80 and PEG are trademarks of ACS-Tech80 Lid. Microsoft, Visual Basic, and Windows ae repistered trademarks of Microsofi Corp. UL is a registered trademark of Underwriters Laboratories Inc.RECENT CHANGES TO THIS GUIDE IL RECENT CHANGES TO THIS GUIDE Ver. Date Section Change ECR 0.07 Sept/00 43.1.1 Waming added: Control module must be supplied via either an extemal isolating transformer or extemal isolated power supply that is European Approved for electrical separation of at least basic insulation. FIGURE 4-4 updated to reflect this, 0.07 Sept./00 4.5.1 Description of CAN indicator LED states improved.RECENT CHANGES TO THIS GUIDE Ver. Date Section Change ECR 1.00 Feb/Ol 8 Other Topics section changed to Vector control and motors, EMC section moved to Chapter 2 SAFETY AND EMC GUIDELINES. 1.01 June/01 2.1 UL compliance for section S08e, 1.02 Aug/0l 4-21 Encoder 2 “Master Encoder...” 1.02 DeciOl Cover Cover page, copyright page, and warranty updated, New &9 __ template added. Not all styles updated. 10) Decl 2300 Comte Commi eemmecten aering infin wndated tr: T4490CONTENTS uu CONTENTSCONTENTS: Waunc Diacras, POWER CONNECTORS (CONTROL CONNECTORS INDICATORS, STTCHES, DISPLAY, AND TEST POTS: WORKING WITH THE CONTROL UNIT GETTING STARTED “ApnstiG THE UNITCONTENTS v 8. VECTOR CONTROL AND MOTORS 84 8.1. VECTOR CoNTROL 0x DC BRUSHLESS (AC SERVO/AC SYNCHRONOUS) st Bet WHEN To USE AN AC INDUCTION MOTOR 9. WARRANTY ot INDEXFIGURES vil FIGURESvit FIGURES. FIGURE 4-17 Locations of jumpers for selecting 1/0 supply source and for selecting input type (ink/source), FIGURE 4-19 Input port interface... FIGURE 4-20 Output port interface... FIGURE 4-21 Joystick connection FIGURE 4-22 FIGURE 4-23 FIGURE 4-24 FIGURE 4-25 PEG outputs and corresponding digital outputs ‘The 7-segment display, DIP switches (off) Location of current test points. 422 snd DS 4-26 4-26 4-28 4.29 4-30 430FIGURES. Ix FIGURE 5-27 Feedback verification step 530 FIGURE 5-28 Current loop adjustment step. Sal FIGURE 5-29 Initial current loop profile 5332 FIGURE 5-30 Final current loop profile FIGURE 5 FIGURE 5-32 Commutation preferences dialog box. 31 Commutation adjustment step. FIGURE 5-33 Prompt to write parameters to nonvolatile memory... FIGURE $-34 Adjustment in progress. FICUIRE 6.36 Snececefial camnletian of commutationx FIGURES. FIGURE 5-62 ACS Saver FIGURE 5-63 ACS Loader. FIGURE 6-1 Control algorithm FIGURE 6-2 Plant (motor + load) model. FIGURE 6-3 Commutation and power amplifier stage... FIGURE 6-4 Current loop and filter FIGURE 6-5 Velocity loop aud filter FIGURE 6-6 Current filter Bode diagram... PIGURE 6.7 Cament Joon pecnanee after fret Cain (PA) admmerment fete 4) 5-68 5-69 6-10 6-LL 610TABLES xl TABLESxil TABLES TABLE 4-19 DIP switches TABLE 4-20 Current test points TABLE 5-1 Topics covered in this chapter... TABLE 5-2 Resouces for more information about topics covered in this chapter TABLE 5-3 ACS Tools TABLE 5-4 Adjustment steps TABLE 5-5 Amplifier record fields TABLE 5-6 Motor record fields... TART E &.7 Detailed onjdelines for calenlatine nrotective narametersPREFACE Xiu PREFACExiv PREFACE Further information An information box is used to refer to other sections of the guide or other guides. ACSPL terms appearing in the text are presented in bold style. ACSPL program fragments are presented in bold Courier New typefice. Guide OutlineINTRODUCTION 1-1 1. INTRODUCTIONSAFETY AND EMC GUIDELINES 2-1 2. SAFETY AND EMC GUIDELINES2-2 SAFETY AND EMC GUIDELINES TABLE 2-2 UL Compliance Label for SB1381 $B1381 B < ‘Model Input Voltage 24-65Vde 60-120Vde 18-45Vac (50/60 Hz, 10) _| _40-85Vae (50/60 Hz. 10) ‘Model Input Current 6.0.A (ams) 4.0. Gms) Motor Type DC or AC or DC or AC or Stepper_| Brushless DC | Stepper | Brushless DC Output Voltage Govde | 42Vac (mms) | 12Vde | 80Vac (rms) eeade | a0avmny | a5Adq0 | 9 6ATuOSAFETY AND EMC GUIDELINES 2-3 2.1.2. Branch Circuit Short Circuit Protection Section 55.1: Short circuit rating and fuse information Suitable for use on a cite 250 volts maximum, apable of delivering not more than 5,000 rms symmetrical amperes, 2.4.3. Wiring Terminal Markings Section 57: Wire Terminal Markings Refer to FIGURE 4-2 Witt diagram, for correct terminal connections. Chapter 4 MOUNTING2-4 SAFETY AND EMC GUIDELINES 2.2.3. Power Supply and Motor Cable Ground The power supply cable and the motor cable must have a ground wire that is connected to the protective earth terminal located on the motor and power cor jectors. A connection must also be made between the protective earth screw (located on the top of the unit) and the equipotential bar inside electrical enclosure. cote Connection to any other equipment (e.g., for supply, communications, data processing, etc.) must be only to either Class III Type equipment or to equipment that is approved for an applicable Low Voltage Directive standard.SAFETY AND EMC GUIDELINES 2-5 Moor Gable Separation of 1 inch for every 3 feet Encoder RS. FIGURE 2-1 Cable Spacing It is recommended to use cables that are completely shielded }]OO]HOKOTTTIEEBHEIBBSSX2-6 __ SAFETY AND EMC GUIDELINES 3. Avoid ground loops.FEATURES & SPECIFICATIONS 3-1 3. FEATURES & SPECIFICATIONS3-2___ FEATURES & SPECIFICATIONS 3.1.2.2. Registration “This feature allows the destination position of the axis to be changed on-the-fly based on the position of an external sensor captured during a move, Registration has a variety of uses including labeling and high- speed printing. The ‘Search-For-Contact’ registration mode is specifically designed for pick and place applications such as wire bonding, die attachment and SMD assembly. 3.1.2.3. Position Event Generator (PEG) ‘The PEG function generates real time, position-triggered output to activate external events based on position. Ithas a position compare accuracy of #1 count at up to $ million counts/second, and is designed for such demanding applications as high accuracy laser cutting and automatic optical inspection (AOT) and ‘ecannine systems.FEATURES & SPECIFICATIONS 3-3 3.2. Product Specifications 3.2.1. Position Control Sampling Rate: 20k#12 Control Algorithms: Peain. acceleration feed-forward, automatic velocity feed- forward, anti-reset windup Trajectory Calculation Rate: 1kHz 3.2.2. Velocity Control Sampling Rate: 20kHz Control Algorithm: PI + second order low pass filter Range: Up to 128.000.000 counts/second Resolution: | count/second3-4 FEATURES & SPECIFICATIONS 3.2.5. I/O Safety Inputs: Left limit and right limit per axis, E-stop General Purpose Inputs: Eight (two are fast inputs with propagation delay <0.2u1sec) General Purpose Outputs: Fight S0mA/output, maximum total current 350m<, fully protected against overloads Features Common to Safety & General Purpose 1/0: Fed by common external supply via the VO connector Tone: Srerce amir jentated (contact factors 3.2.7. Controller Dual Processor Architecture: 20MH7 Intel 80C196KD for high-level tasks and management + 80MHz SB2500 ACS Servo Processor for realtime control tasks Firmware: 256k RAM: 256k Nonvolatile Memory: 128k, 100,000 writeMOUNTING AND WIRING 4-4 4. MOUNTING AND WIRING4-2 MOUNTING AND WIRING If the heat sink temperature reaches 70° C, the over-temperature protection is activated and the motor is shut down. rasoocesra 4)MOUNTING AND WIRING 4:3, 4.2. Wiring Diagram Connection to any other equipment (.g., for supply, communications, data processing, etc.) must be only to either Class TIT Type equipment or ‘to equipment which is approved for an applicable Low Voltage Directive standard.MOUNTING AND WIRING 44MOUNTING AND WIRING 4-5 4.3. Power Connectors Warning } ‘Do not turn on the power while making connections. Doing so could result in severe bodily injury or damage to the unit. TABLE 4-3 Power connectors J# Name Phoenix Contact Description4-6 MOUNTING AND WIRING To CONTROL SUPPLY J etvac over i x 230Vac/ PPLY 115Vec sureMOUNTING AND WIRING 4-7 It is recommended to use 16 AWG to 12 AWG wire for the power supply cable. external isolated power supply for the drive supply. ‘The external isolated transformer/power supply must be European Approved (for a transformer to either EN60742 - latest version, or equivalent) for Warning eS ‘The unit must be supplied via either an external isolating transformer or ‘electrical separation of at least basic insulation. TABLE 4-4 AC power connector pins4-8 MOUNTING AND WIRING TABLE 4-6 Control supply connection pins Description +24VDC__24 Ve #10% @1. 2AVRIN 24 Vde retum PE Protective Earth 4.3.2. Motor Connector (J7) The contentlerte Mater cowMOUNTING AND WIRING 4-9 43.2.1. DC Brushless (AC servo/synchronous) and AC Induction Motor Connection (Three-Phase) Connect the three phases of the DC brushless (AC servo/synchronous) or AC induction motor to R, $ aud T. The ordcr is not important. However, itis recommendcd to decide on a configuration. stich as that shown in FIGURE 4-8, and use that same configuration for each motor connection,4-40 MOUNTING AND WIRING CONTROL MODULE R Ss T / mc \ PE MOTOR NLMOUNTING AND WIRING 4-14 4.4. Control Connectors Further information An overview of ACSPL parameters for programming the hardware interface (erial connection, VO, display. ete.) can be found in Chapter 6, "Hardware Interface Parameters.” More detailed information can be found in the ACS Software Guide, TABLE 4-8 Control connectors4-42 MOUNTING AND WIRING Pin Name Description 9 RX. RS-422/485 negative receive signal ‘When making the serial connection, verify that the PC receive is wired to the control module transmit and the PC transmit is wired to the control module receive. PC Control ModuleMOUNTING AND WIRING 4-13 Warning For CAN communication, COM_SD must be OFF. e 4.4.2. CAN Connector (J6) The optional CAN bus connector is D-type, 9 pin, male. The C: support option must be specified in the product order Upto 127 devices can be connected on the same CAN line. The last unit should have termination resistor (1209) on the control module connector CANL and CANH.4-44 MOUNTING AND WIRING 4.4.2.1. CAN Connection Troubleshooting Ifa fault occurs with the CAN communication, the CAN indicator lights tums red, Proceed as follows: TABLE 4-11 CAN connection troubleshooting Possible Cause Corrective Action 1. Incorrect mode Check the CAN rotary switeh 2. CAN communication problem Verify that the RS-232/422/485 band rate is one of the following:MOUNTING AND WIRING 4-15 Pin Name Description 300A Encoder A- 4B Encoder B= SB Encoder B- 6 GND Ground for +5. 7 HA ‘Motor Hall A 8B ‘Motor Hall B4-16 MOUNTING AND WIRING 4.4.3.2. Sensor Inputs There are three Hall sensors (in motors that include Hall sensors): A, B, and C. The connection for each Hall sensor is shown in FIGURE 4-12, Instead of Hall sensors, some motors are supplied with encoders that have special commutation tracks. Those tracks can be connected instead of the Hall connection signals USER CONTROLLER L LMOUNTING AND WIRING 4-17 Po | CONTROL MoDU | Encoder 1 Hall connector +50 HL 1 | | ov | | I418 MOUNTING AND WIRING External Supply 5¥86 r b \ 1 | yen uso CONTROL MO Encoder 1 + Hall connectorMOUNTING AND WIRING 4-19 Pin Name Description L___MTMPR___A return for temperature sensor, (Intemally connected to GND) 12 SCRN _ Screen (shield) Not used Not used 15 MTMP Motor temperature input. A normally-closed sensor must be connected between MTMP pin 15 and pin 11, Ifno sensor is used, pi 15 must be shorted to pin 11 for proper operation4-20 MOUNTING AND WIRING Resolver / Encoder 1 Cos co O Sin si CX sw bdMOUNTING AND WIRING 4-21 4.4.4. Encoder 2 Connector (J4) The Encoder 2 connector is D-type, 9 pin, female. ‘Therefore, when facilities for overspeed protection are required for the end- product, they will have to be provided separately by the end-user. The interface of the Encoder 2 connector is identical to the interface of Encoder 1 connector Common uses for the Encoder ? connection are master'slave and dual-loon control.4-22 MOUNTING AND WIRING All the digital 1/0 are isolated. The digital 1/0 supply can be either an external supply (factory default configuration) or the internal $Vdc (non-isolated). The source of the /O supply is jumper-configured (see table below), If an external supply is used, the voltage level can be either SVde (+/-10%) or 24Vde (+/-20%). with the voltage level detected automatically. required jumper configuration from the factorMOUNTING AND WIRING 4-23 Input supply source Output supply source JP5on JP6 on JP21 JP22 pins pins on pins on pins Tntemnal 5Vde (non- External SVde/24Vde 23 23 isolated) Intemal 5Vde (non- Internal SVde (non- 1-2 isolated) isolated) TABLE 4-16 Input/output connection pins4-24 MOUNTING AND WIRING Pin Name Description 20. A OUT Analog output, +10Vide. Can be programmed to represent XD4 (analog output) (£511) ot for monitoring motion variables. For more information see Chapter 6, "Hardware Interface Parameters." 21 AIN- Analog inverted input. +10V can be applied between AIN+ and AIN-. ‘The input is converted by a 12-bit A-to-D converter and is represented by XAO (2,048, +2,04 AINt Analog noninverted input OUTS Output 6MOUNTING AND WIRING 4-25 CONTROLLER: _ ef4-26 MOUNTING AND WIRING Warning To change the jumper position itis necessary to open the control module. This, Volds the product warranty. Therefore, itis recommended to order the required jumper configuration from the factory.MOUNTING AND WIRING 4-27 4.4.6. HSSI + PEG Connector (J5) The optional HSSI + PEG connector is D type, 15 pin, male The PEG option must be specified in the product order. Maximum PEG delay0, 21sec Minimum Pulse width>100nsec The high-speed serial interface (HSSI) can serve as a general-purpose means for adding external extensions. These can include: SSI-type encoder, another A to D converter. or temperature sensor. All the HSST signals are differential, non-isolated => T Warning4-28 MOUNTING AND WIRING Pin Name Description UL. ATAL- HSSI data 1 input (inverted) 12, X_STA- X status output (inverted) 13, NC Not comnected 14, X_PEG- X PEG output (inverted) 15,_NC Not connectedMOUNTING AND WIRING 4-29 Off: Motor disabled. MP_ON On: Control unit working properly. ‘When the control unit detects a receive message, this LED goes off for a fraction of a second. This indicates that the processor and communications are functioning property. vP ‘On: Fused power stage DC bus is present Off: If AC power is present, indicates that the internal fuse failed and the unit requites service. CAN (optional) Green and red LED. ‘When the CAN switch is set to CAN mode (positions 0, 3, 7 - E), the LED4-30 MOUNTING AND WIRING # Control module transmits only messages generated by ACSPL disp statements PROG. — |1 com_sp — |? ON _ __ FIGURE 4-24 DIP switches (off) TABLE 4-19 DIP switchesMOUNTING AND WIRING 4-31 TABLE 4.20 Current test points Test point Use AOUT Analog output with respect to GND. +10V. GND Ground for analog input Is, Phase $ current sensing, The scale factor is SV per Ipeak. IT Phase T current sensing. The scale factor is SV per IpeakWORKING WITH THE CONTROL UNIT 5-1 5. WORKING WITH THE CONTROL UNIT5-2 WORKING WITH THE CONTROL UNIT Acti Related ction Documentation Setup & | tune Install Tools controllerWORKING WITH THE CONTROL UNIT _5-3 TABLE 5-2 Resources for more information about topics covered in this chapter Required information Documentation resource Fine tuning the module's control loops. Chapter 5, "Adjusting the Control Loops" & CS Adjuster online Help ACS Adjuster - Tool for setting up and adjusting ACS Adjuster online Help the control module. ACSPL motion programming language reference ACS Sofiware Guide for operating the control unit in direct mode and programming mode.5-4 WORKING WITH THE CONTROL UNIT Warning Its recommended when activating the motor for the first time to disconnect it from external loads and verify that the area fs clear of any object that might be hit by the moving motor. Action _Effect of action Poweron During power up. the MP_ON indicator flickers as the control processors the unit, communicate with each other. The 7-segment goes on (Lc. displays an "8") for a few seconds to show it is functioning properly and then goes off. me meme toy de emmym|ete the LED ORS indicate pemete on chowuime tearWORKING WITH THE CONTROL UNIT 5-5 Action Effect of action 5 men duklotthe The following ACS software fools will be added to the Saver/Loader in the PC disk ACS Tools program group. drive, ACS Saver ACS Loader 5.2. Adjusting the Unit The purpose of adjustment isto setup the module and to tune the control oops. The process is5-6 WORKING WITH THE CONTROL UNIT Step Description 8. Position loop Tune the position loop gain while monitoring the response to a third adjustment _ofder point to point move 9. Polishing Optimize acceleration feed forward and AC induction motor control parameters, Review 10. Review View all the results of the previous steps. Edit as necessary parametersWORKING WITH THE CONTROL UNIT 5-7 2 Adjustment parameter values Direct made ACSPL ‘commands & ACSPL program K Controller RAM ‘Adjuster Hard disie5-8 WORKING WITH THE CONTROL UNIT 5.2.2. Starting ACS Adjuster Further information This guide does not cover Microsoft Windows. the PC environment in which ACS software tools run. For more detailed information about MS Windows, consult the appropriate user documentation. Action Effect of action On the Windows Start menu, The main Adjuster window opens, as shown in. point to the ACS Tools FIGURE 8-3.WORKING WITH THE CONTROL UNIT _5-9 5.2.3. Establishing Communication After ACS Adjuster starts up, it attempts to communicate with the control unit I it sueceeds, the Communication parameter in the Adjuster stats bar will read ON. asin FIGURE 5-3 ‘Applcaion Adust Yew Dotbae ACSEL Setings Window Heb styl gP|3) | a l3l Ss] fl KIC l a) Bl 2)5-10 WORKING WITH THE CONTROL UNIT ema FIGURE 5-4 "Communication error" message.WORKING WITH THE CONTROL UNIT 5-14 Action Effect of action 4, Ifstill not successful, then If communication is successful, as indicated in the reopen the Communications status bar. the process is complete. settings dialog box and check the other serial port parameters in Windows. 5. Ifill not suecessful, then check the serial connection wiring, Once Adjuster has established communication, it checks the version number of the fimwvare ‘rmunning on the control unit. If it recognizes the firmware version. the number is displayed in the5-12 WORKING WITH THE CONTROL UNIT 5.2.4. Adding an Amplifier to the Adjuster Database ACS Adjuster maintains two databases, one for amplifiers and one for motors. Adjuster accesses the databases during the adjustment process (for the Amplifier parameters and Motor/feedback parameters steps, which are described later), The database comes with ACS-Tech80 amplifiers already defined. If the system's amplifier is not in the database yet, it should be added now. Action Effect of action 1. Onthe Database menu, point to The first time that the amplifier database is accessed. Amplifiers, and then click Add the message in FIGURE 5-8 appears, to prevent theWORKING WITH THE CONTROL UNIT 5-13 7m FIGURE 5-8 "5-14 WORKING WITH THE CONTROL UNIT Either use the arrow keys to move the selection point here and then press Enter, ot.WORKING WITH THE CONTROL UNIT _5-15 Bee Description | BCbus vol Nominal curent A Peakcurent A | / Enable logic5-16 WORKING WITH THE CONTROL UNIT Field Amplifier Description type Enable signal Extemal Polarity of amplifier’s enable signal amplifier Commutation Extemal Controller - the commutation is done by the control unit. The by amplifier control unit generates a two-phase current reference. The amplifier generates the thitd phase reference. Amplifier - the commutation is done by the amplifier. The control unit oupputs a single current commandWORKING WITH THE CONTROL UNIT _5-17 [151] Aopleaton Act = cers] {a ee fact Chute OfFAULT NOT5-18 WORKING WITH THE CONTROL UNIT (EMR rrcesiu mena! Create now tem -— Based upon tem: Descraton fec.seo0s caveatWORKING WITH THE CONTROL UNIT 5-19 Action Effect of action Open the Type list by either The list of motor types opens, as shown in FIGURE moving the selection point with 6 the arrow keys to the Type box label and then pressing Enter or by clicking in the list ast column). as shown in FIGURE 5-5-20 WORKING WITH THE CONTROL UNIT Action 6. Edit the fields based on the manufacturers specification, The specific fields depend on the motor type selection. The fields are described in TABLE 5-6. Warning Failure to specify correct values for critical fields such as Nominal current, could result in damage to the motor. TABLE 5-6 Motor record fieldsWORKING WITH THE CONTROL UNIT 5-24 Field Motor type Description Peak ‘Maximum current for acceleration/deceleration, Can be derived current from Tp/Kt (Tp is peak torque and Kt is torque constant, Stall current Maximum continuous current allowed during a stall. If this value is not known, use the nominal current ‘Moving part Rotary only Total inertia of the motor’s moving part and the load. inertia ‘Moving part Linear only Total mass of the motor’s moving part and the load. mass5-22 WORKING WITH THE CONTROL UNIT Fiold Motor type Description Dualloop All When improved velocity and position loop bandwidth is required. two encoders can be used. Dual loop control is, described in Section 6.9, "Dual Loop Control." Dualloop All ‘The ratio of the encoder one to encoder two. This ratio is ratio described in Section 6.9, "Dual Loop Control." Action Effect of action A COURT bene) Lessee, Meta peste pomp Abbe Manse Aecoe.WORKING WITH THE CONTROL UNIT __5-23 Action Effect of action From the Adjust menu, select the Adjuster displays a waning that some of the values in axis to adjust, for example, Axis X_ the control unit RAM may change (FIGURE 5-19) (FIGURE 5-18). (Leave the Partial adjustment option wichecked.)5:24 WORKING WITH THE CONTROL UNIT 5.2.7. Step 1 - Amplifier PrunesWORKING WITH THE CONTROL UNIT _5-25 Click here to open lis.5-26 WORKING WITH THE CONTROL UNIT Action Effect of action $.__ Click the OK button 4 The Amplifier parameters dialog box closes Warning motor. 5.2.8. Step 2 - Motor/FeedbackWORKING WITH THE CONTROL UNIT _5-27 ERLE) [15] ‘Type, _——— a! ss rotary 4 EloctroCraft Li. i [Number of poles a ‘Maximum required velocity revimin $000.0. |Nominal current A 400 ‘Torque constant 0.145-28 WORKING WITH THE CONTROL UNIT FZ Protection parameter: These yales wil These value vil Torque limit when not be used for be savedin the moving (TL) ‘adusirenttine nena ‘only meray Torque limit when moving (TO) ‘Error limit-except during acceleration deceleration (ER) | fs no | fsaWORKING WITH THE CONTROL UNIT __5-29 TABLE 5-7 Detailed guidelines for calculating protective parameters Parameter Description Current level CL sets the limit for the actual RMS current of the motor. When the RMS «cL current exceeds that limit, the amplifier is disabled, generating error message 27. Set CL as a percentage of the motor continuous current and the amplifier nominal current. CL is specified as a percentage of the nominal current of the amplifier. For example, ifthe nominal continuous eurtent of the amplifier is 254, and the maximum continuous cusrent of the motor is 15A. set CL to 60 (SXCL60). Ifthe maximum current of the motor is 10.0A, set CL to 40 (SAXCL40), In summary:5-30 WORKING WITH THE CONTROL UNIT 5.2.10. Step 4 - Feedback GATE anes Pightlimitewitch [04 [=lRETWORKING WITH THE CONTROL UNIT 5-34 © BeandB., or © 2 pins on Hall HE i ees sees ae rset rng ee atest seston hey should be turned back on upon session completion. 5.2.11. Step 5 - Current Loop5-32 WORKING WITH THE CONTROL UNIT Action 4. Set the Integrator Gain (D3) t0 2000 and the Gain (D4) to 100. Effect of action An initial profile is displayed, similar to the following figure. (If the profile extends out of view click the Adjust vertical scale button Il in the ACScope toolbar.)WORKING WITH THE CONTROL UNIT _5-33 | Fz) I Wf he cmng f=] roan 0) —_I ines ma5-34 WORKING WITH THE CONTROL UNIT Caution A 5.2.12. Step 6 - Commutation Avoid setting the Current parameter outside the range 10% t0 30%. Contre are)WORKING WITH THE CONTROL UNIT _5-35 Een cuss [x] Sumrchveloety(coune/ee) EE] 1 indince Trace two indlaree G Finn etch ret caea] Soarchdirecton’ + Postive > Negaive Mosimum search istence: = Untied + Tworotatone Userdetined (counts) = [TT5-36 Action WORKING WITH THE CONTROL UNIT Effect of action ‘As a part of the commutation adjustment all parameters will be ‘saved into the non-volatile ‘memory and the controller will be restarted,WORKING WITH THE CONTROL UNIT _5-37 Action Effect of action ‘Commutation adjustment DX]5-38 WORKING WITH THE CONTROL UNIT 5.2.13. Step 7 - Velocity Loop (iledon Ast Yow Desbre ACSEL Sgr rc sleleples| celgalaal 2 slo) 2/0) ga vxnysona [ST] _ AeonWORKING WITH THE CONTROL UNIT _5-395-40 WORKING WITH THE CONTROL UNIT Action Effect of action 6, Set the Integrator Gain (D7) t0 200. Increase/decrease the Velocity A typical step profile for the velocity loop is shown Gain (D8) until a good step in FIGURE 5-38. (Ifthe profile extends out of view. response profile is achieved. click the Adjust vertical scale button [in the ACScope toolbar.) ho thon Tao;WORKING WITH THE CONTROL UNIT 5-44 Action Effect of action Select 8. Position loop ‘The Position loop adjustment dialog box and the adjustment and click Step ACScope window open (FIGURE 5-39) First set the motion parameters The Motion parameters dialog box opens (FIGURE for the position loop adjustment. 5-40), To do sa, click Motion.5-42 WORKING WITH THE CONTROL UNITWORKING WITH THE CONTROL UNIT _5-43 Action Effect of action 7. Increase/decrease the Gain (GA) _ Typical velocity and position error profiles for the until a good response profile is, position loop are shown in FIGURE 5-41 and achieved. FIGURE $-42. (Ifthe profile extends out of view, click the Adjust vertical scale button % in the ACScope toolbar.) Note FE | src prameterare ton este ean case pston ‘error failures. To correct this, click Protection to open the Protection5-44 WORKING WITH THE CONTROL UNIT 5.2.16. Step 10 - Reviewing ParametersWORKING WITH THE CONTROL UNIT _5-455-46 WORKING WITH THE CONTROL UNIT [v=] Ox] Xe! FIGURE 5-45 “Save to controller nonvolatile memory" queryWORKING WITH THE CONTROL UNIT _5-47 ‘Warning ‘Nour trac con upon sen ct 5.3. ACSPL Programming with ACS Debugger Note =a In the examples in this chapter, user input is shown as text im bold capitals, for example, SWO1. Input must be followed by pressing the ENTER (or Carriage Return) key, which is indicated in the examples by5-48 WORKING WITH THE CONTROL UNIT 5.3.2. Starting ACS Debugger Note Itis recommended to use ACS Debugger’ terminal for direct communication with the coutrol unit, However, any Windows terminal application can also be used. Action Effect of action 1. From the Windows Start menu, The ACS Debugger window opens, DebuggerWORKING WITH THE CONTROL UNIT _5-49 Action Effect of action nee communication is The Debugger’s Terminal window comes up. The established, click ‘Terminal is in indirect commmnications mode Communication Terminal on messages from the control unit arrive periodically the View menn (FIGURE 5-48). but the terminal can't send commands (FIGURE 5- 49). ACSPL Debug BZ! 5,5-50 WORKING WITH THE CONTROL UNIT coeiee ve te rere ee a Bid) ideal?) ol?) BProgan alalxi] #8 IOI {521 Q10) Salta) $9) 8] Fm) EF) | geno» coos-eoeWORKING WITH THE CONTROL UNIT 5-54 5.3.3. Disable Function © Kin aty button added to main toolbar. Kills the running ACSPL program including any autoroutines and disables all motors. After a Kill All command, no autoroutines can be invoked until you run the ACSPL program again, You do not need to restart ACS Debugger 5.4. Direct Mode In this mode, the host terminal communicates with the control unit via the serial communication link. The control unit interprets and executes each command as it receives it. The procedure is as follows:5-52 WORKING WITH THE CONTROL UNIT ‘Command’ Meaning Effect of command mnemonic 1. SxMOl Set Xaxis Motor Enable the amplifier enable to.1 2. SxMMO Set X axis Motion Set the motion mode to ode to. repetitive point-to-point (PTP), SXRP50000 Set X axis Relative Set a relative position move of Position to $0000 50.000 counts 4. SXLV10000 SetX axis Linear Specify the linear velocityWORKING WITH THE CONTROL UNIT _5-53 5.4.2. Repetitive Point To Point Move The result of the following command sequence is that the motor runs back and forth berween two points: Command mnemonic Meaning Effect of command 1, SxMo1 SetX axis Motor Enable the amplifier enable to 1 2. sxMMicer> Set Xaxis Motion Choose motion mode 1 Mode 1 (repetitive point to point) . «8xzPOccrs Get ¥ avic Fern, Get the cnrrent nacitian enunter5-54 WORKING WITH THE CONTROL UNIT Command mnemonic Meaning Effect of command 6, SKZPO Set X axis Zero Position to 0 Set the current position counter to 0 Note: This command applies only if the encoder has found the index at least once. Otherwise a controller error no, 15 will result. The error can be ignored! and the next command entered, 7. SxWT400 Time to 400 Define a dwell between moves (in, msec),WORKING WITH THE CONTROL UNIT _5-55 Command mnemonic Meaning Effect of command 6 TO Tell To find out the status of the motor(s), use Tell © command. EX To stop the motor, send an End command 5.4.5. Manual Control Using a Joystick Attach a invetick to the analee innit.5-56 WORKING WITH THE CONTROL UNIT In order to prevent axis movement around the stationary point ofthe joystick, a dead band can be defined via the Lower Threshold (LT) and Upper Threshold (UT) parameters. For more information about these parameters, see Chapter 6. “Reference” in the ACS Software Guide. 5.5. Program Mode Further information More detailed information about ACSPL programming is contained in the ACS Software Guide.WORKING WITH THE CONTROL UNIT AAG) Sal Fm5-58 WORKING WITH THE CONTROL UNITWORKING WITH THE CONTROL UNIT _5-595-60 WORKING WITH THE CONTROL UNIT Command mnemonic Meaning Effect of command 7. disp " moving OK. Display Display message in Program messages window. 8.__end End if... do End of if-do block 9. else do Else... do the Not moving disp “Something is wrong. “llowing Display prompt in disp " press TiT2 to Program messagesWORKING WITH THE CONTROL UNIT _ 5-615-62 WORKING WITH THE CONTROL UNIT RP = sot) BERK dee ARP = S00 TEMOVE do 2p" mow OK, ea SewWORKING WITH THE CONTROL UNIT _5-63 AA @) Yel cl 22) 2h idl isp " press TiTAer to find the reason” end esl * 5 Move a LM 1a Gisp “Motion completed successruiiy" aiep "lew location = *, CP5-64 WORKING WITH THE CONTROL UNITWORKING WITH THE CONTROL UNIT _5-65 Action Effect of action 2. Click the Rum program button #J. The program execution can be seen in the Program ‘window and the program status in the Trace window (FIGURE 5-60). ESA Do Yow EOL Stray ‘pial Seta) sles» (2) Ot) .5-66 WORKING WITH THE CONTROL UNIT Command Meaning Effect of command mnemonic 3. let XL Let X axis Linear Set the velocity Velocity be 01 4. exec BX Execute BeginX Begin moving, axis movement Assign variable VO Dummy reading of the index to the value of the X clear the buffer. axis indexWORKING WITH THE CONTROL UNIT 5-67 5.6. Saving and Loading Control Unit Memory ACS Saver saves a control unit's memory contents (including the adjustment values, programming, program results, ete.) to a PC file, ACS Loader loads that file to another control ‘unit, ensuring that the two control mnits operate identically. ACS Saver/Loader greatly simplifies the task of maintaining unifonnity between control units, Controller 1 Save entire contents of Controller 1 memory5-68 WORKING WITH THE CONTROL UNIT 5.6.1. Saving Control Unit Memory ContentsWORKING WITH THE CONTROL UNIT _5-69 5.6.2. Loading Control Unit MemoryTUNING THE CONTROL LOOPS __ 6-1 6. TUNING THE CONTROL LOOPS6-2___ TUNING THE CONTROL Loops Block diagrams of the control loops are followed by descriptions and fine tuning instructions. Slip constant optimization and polishing are also covered. 6.1. About D And K Arrays ‘Some of the control unit parameters are assigned mnemonics, for example, GA (Gain) and GF (Gain Factor). The unit also has arrays (D and K) that are used for communication between the main CPU and the Servo Processor(s). The D array holds some of the control parameters, for example, D4 is the current loop gain and DB is the velocity loop gain.TUNING THE CONTROL LOOPS _ 6-3 Element Function KS Programmable parameter: KS = 0: Sets the velocity loop output to DA. Enables open loop operation: When Ga is set to zero (which zeroes the position error (PE)), the DA parameter is used to command the motor. kK KS KS = 1: Default, = 2: Used only by ACS Adjuster during the commutation setup. 3: Used only by ACS Adjuster inthe current loop setup for data collection.6-4 TUNING THE CONTROL Loops Mnemonic — Meaning Effect Comment 3. SKQP## Set, forthe X axis, the Restores the protection, For the number (##) use value of the QDSPL. the value displayed in step parameter to the 1 (QP's original value). number ff Restoring the protection prevents unintentional changes to sensitive control parameters held by the arral ‘Manually removing and restoring protection is not required when using ACS AdjusterTUNING THE CONTROL LOOPS _ 6-5 Note ‘The diagrams in this section are for general description purposes only.6-6 __ TUNING THE CONTROL LOOPS = Netistaa ald oed S Laplace sare ine dma 22 eo cing tore) Sos ke Ba ager ‘Syne sd omel prance a intone Cure font Fores (OP) sed 222 os fox] Vee Ts foe = ito eon oar ey Caen ‘ae LD. over angle svomaadTUNING THE CONTROL LOOPS 61 ‘J+ =Total rte motor + rested loa) fg.) CG) Tape eontce (eadsee) Moor velacisy (ales) ‘Mor position (oad) CH —— & ) a6-8 __ TUNING THE CONTROL LOOPS Commutation stage | Amplifier stage em Motor t Eure fer terminal * Dae be Lb og [ Pots wid 7 mies uobulsion ae +e pg |Sumentiilter| | Pune win LZTUNING THE CONTROL LOOPS 6-9 command (Seefaomiaa amplifier cures) Back EMF 4 ox vous | + 1 pee ers ba command6-10 __ TUNING THE CONTROL LooPS LI Dar {DA 2996 of the maxima veloc roqued for command the application a \ Valoaity feed forward eo Piitoto™ SURE TESEaGTE DsTUNING THE CONTROLLOOPS 6-11 6.3. Current Loop The current control algorithm consists of a proportional-integral (P1) filter. set by the following parameters: 20.000. D3__ Integral gain (1), Maximum value is 12,000. The integrator bandwidth is equal to 13/20 [7] D4 Proportional gain (P). Maximum value is6-12 TUNING THE CONTROL LOOPS = Application Adyst View Database ACSPL Settings Window Ziaalaal 2) ie t2)0) sa 2) EAAxis X adjustment > Her [current loop adjust... |) vj /Z/m/= | el! 11) Ps Gono fo | Se I IntegatorGain(03) FY) SOCPctection | Ofx]TUNING THE CONTROL LOOPS _ 6-13 B|x ‘Application Adust View Database ACSPL Settings Window enfeales| celalaal 2 Sele iZ1c sa 2) Eaxis X adjustment > HH AcScope ie] wy) Biz) tft COvershoot raw snp =) se _| igtacano3) [6-14 TUNING THE CONTROL LOOPS 6. Generally, the Current (% of max) can be left at 10%, When the amplifier is relatively oversized for the motor, the Current (% of max) can be set lower than 10%. Altemately. if the amplifier is undersized, the Current (% of max) can be set higher than 10%, But the value should not be set higher than 30%. Click OK to complete the Current loop adjustment step. 6.4. Commutation The Commutation adjustment step identifies the correct phasing of the motor in relation to the position feedback reading. It also provides comprehensive testing and verification to ensureTUNING THE CONTROL LOOPS 6-15 The number of poles is incorrect. + L Open the current position display either by opening step 4, Feedback ‘verification or by opening the View mem and clicking Current Position, Turn the motor ‘manually until the Hall reading (HA) is 0. Manually rotate the motor slowly one complete turn, while monitoring the Hall reading value. 3 For each pair of poles, the Hall should count one complete eyele (0,1,2.3.4.5). For example, for 3 complete Hall cycles. the mmber of poles is 6 (NP=6). for 2 complete eyeles, NP=4, ete ‘When the motor is enabled after power up or after a HWRES command, it jumps. Rotating6-16 TUNING THE CONTROL LOOPS A= +14" Og" T+ (QD, TY 23 =(@.T.) * (2"/A) 24 = (140.79, * T.)°2A A p25 = 23.14" Fy Example: For F, =637Hz:TUNING THE CONTROL LOOPS 6-17 20 log (amplitude) (B)6-18 TUNING THE CONTROL LOOPS Action Change D9 (Integrator Limit), until the overshoot is about 10%. A good velocity loop response is shown in FIGURE 6-11 8._ Click OK to complete the Velocity loop adjustment step Note The Velocity loop adjustment step is also affected by the values of the D5, D6, and DLO parameters. The parameters are accessible later, in ‘the Position lnnn adaretment ete.TUNING THE CONTROL LOOPS 6-19 6.6. Position Loop The position filter is a pure proportional gain. It is set with the parameters GA and GF The gain value is GAx2"* . (GF ranges from 0 to 8.) The bandwidth of the position loop is: 2000 xG4x2 D22x2x3.14 Note It is recommended that the bandwidth of the position loop (f,.) be6-20 __ TUNING THE CONTROL LOOPS Action 4. Click the start burton in the Scope toolbar and the Go button 584 in the Position loop adjustment dialog box. 5. Set Dead Zone Min (DS), Dead Zone Max (D6). ancl Zero FF Zone (D10) to 0. (These parameters are used only with piezoelectric motors.) 6. Set FN to zero. For a high friction load, increase FN (range 0 to 255) to overcome friction 7, Select Velocity (Scope CHI)TUNING THE CONTROL LOOPS 6-21 CE S|) eh | ht 16-22 TUNING THE CONTROL LOOPS 200 Valet (counts) Erorfeeuns) > agg Velocity oo SK=100, to low ” eee)(ocean feeders iPrace (rere) Heme FPovion ore] Git Poston evar] TUNING THE CONTROL LOOPS orm Femme) || ome my | % = 6-236-24 TUNING THE CONTROL LOOPS 6.8.2. Optimizing Torque At High Speed - Phase Advance For DC brushless (AC servo/AC synchronous) motor only. The phase advance feature improves the torque-velocity characteristics at high speed. At high speed, the actual current lags behind the command. As a result, the motor either needs more current to produce the required torque, or cannot produce the required torque at all. (FIGURE 6- 18) Action 1. Set the velocity to 90% of the maximum velocity that is needed.TUNING THE CONTROL LOOPS _ 6-25 Ina dual loop application two encoders are used, one mounted on the motor axis and the other on. the load. (The load encoder can be linear for a linear stage application or rotary for a rotary load application). Examples of applications that benefit from dual loop control: Linear stage drive with a screw. © Printer drum drive with a flexible belt, © A high-inertia antenna driven by a high-ratio gear motor Inall these examples, the use of dual loop control will improve the performance of the system, The dual loop control block diagram is shown in FIGURE 6-19.6:26 _ TUNING THE CONTROL Loops oA CURRENT er Vecomiano | Ks Hervety Phercuret ave Veer ityTUNING THE CONTROL LOOPS _ 6-27 6.9.1. | Dual Loop Control - Implementation Encoder 1 (ENC1), which is mounted on the motor axis, is used to close the velocity loop (and also, in the case of a brushless motor. for software commutation), Encoder 2 (ENC2), which is mounted on the load (the position that is being controlled) is used to closed the position loop. The parameter SCU (S stands for the axis, ie.,"X.""y." ete,), which. defines the type of commutation feedback device, is also used as the switch for dual loop control. Bit 2 of SCU must bo always be set to 1 when dual loop control is used ECL valine [deacimal) Eaacdhack devicale) and tune of cantral6-28 TUNING THE CONTROL LOOPS Fe (position) = = GAx2™ x 20000 6.9.2. Adjusting the Dual Loop o1 Start to adjust the system with SCU = 2 or $Cu=3 in single loop, *2 Set SCU bit 2 to 1 SCU adjustment or SCU =7) and go directly to position loop 3 Start with very low position gain factor (GF) and gain (GA): such that Fe (position) ~= 1 Hz.HARDWARE INTERFACE PARAMETERS 7-1 7. HARDWARE INTERFACE PARAMETERS7-2___ HARDWARE INTERFACE PARAMETERS. 7.1, Serial Communications 7.1.1, Changing the RS-232/422/485 Communication Baud Rate TABLE 7-2 Changing the baud rate Mnemonic Meaning Result SBRS7600 _ Set the baud rate to $7600. Changes the baud rate to $ SAVE Save the change. Saves the change.HARDWARE INTERFACE PARAMETERS 7-3 Note ‘Shielding connections wil vary according to the saat Tao 7 ae SF fr CONTROL CONTROL |T-A__ HARDWARE INTERFACE PARAMETERS 7.1.3. Multiple Drop Configuration for RS-422/485 The tiple op confusion for RS-22488 comets snr tht fr RS.2°2, Comet te following pins in pale + GND eas + RX eReHARDWARE INTERFACE PARAMETERS 7-5 7.2. CAN Communications Note ee 7.2.1. CAN Rotary Switch7-6___ HARDWARE INTERFACE PARAMETERS. TABLE 7-3 CAN rotary switch positions and associated modes Pos. Mode Description The intemal CAN interface attempts to establish, communication with the controller. This process can take several seconds. Ifit succeeds, the CAN LED tums green. From this point on, the controller can communicate with the extemal CAN bus. The values of the CB and NI parameters are read from the controller's intemal EEPROM (nonvolatile memory). Set CAN parameters via 3/422.HARDWARE INTERFACE PARAMETERS Description Program CAN fimware via Rs Procedure: ol Power off the unit (Wait until the MP_ON LED goes off) 232/422, Set the CAN rotary switch to position 2 03 Connect an RS-232 cable between the control module and the PC serial port. o4 Power on the unit (wait until the 117-8___ HARDWARE INTERFACE PARAMETERS. Pos. Mode Description c® CAN Same as position 0, except that parameter NI is read. from EEPROM and parameter CR is set to SOk. D® CAN Same as position 0, except that parameter NI is read from EEPROM and parameter CR is set to 20k. EW) CAN Same as position 0, except that parameter NI is read from EEPROM and parameter CR is set t0 10k, RS. RS. 2/422/485 communication, CAN is disabledHARDWARE INTERFACE PARAMETERS 7-9 Examples: Set CAN Node ID to 60: SNT60 Report CAN Node ID: RNE displays result: Can Node ID 60 7.3. Encoder 1 and Encoder 2 Warning @ Facilities for overspeed protection are not provided in the control7-10 __ HARDWARE INTERFACE PARAMETERS Further information This section covers the programming interface for /O. For the electrical interface for the /O, refer to Section 4.4. Connector.” 7.5.1. Digital Inputs The unit includes cight general-purpose inputs (in addition to safety inputs). Input 6 can serve as a registration input. When the registration input changes its state, the location of the axis is latched into the registration mark position parameter (SMI), If AUTO_MIX automatic routine exists, it is invoked and executedHARDWARE INTERFACE PARAMETERS 7-11 The limit inputs reduce the motor current to zero in order to avoid axis over-travel by preventing finther motion in the inhibited direction. The emergency stop input stops and deactivates the ‘motor instantaneously. The SI (System Input Port) parameter holds the status of the safery inputs. The polarity of the safety inputs can be altered with the IL (Input Logic) parameter. 7.5.2. Digital Outputs The eight outputs can be used as general purpose outputs or they can be assigned predefined fimetions to signal the following motion states:7-12 __ HARDWARE INTERFACE PARAMETERS TABLE 7-5 Outputs commands Mnemonic Meaning Result SOM3 — Set output mask to Enables outputs 1 an 2 for dedicated function 3 (© 00000011 binary ROPccr> Report output port staus. Displays stats ofthe outpnt ports 7.5.3. Analog Inputs The analog input - AIN1 accept a voltage signal in the range of +/-10V. A 12-bit A to D convertsHARDWARE INTERFACE PARAMETERS 7-13 TABLE 7-7 DC @ata Collection) parameter bit assignment 1-15 10 9 8 7 6 5 4 3 2140 Parameter DsP 10 0 0 Acchamnel> MP D2 DODIPE CP LV For more information about the DC parameter. refer to the ACS Software Guide. The MF (Monitor Factor) is available for scalit analog outputs DAC for scaling the internal digital source fed to the Analog output signal (internal al source) x 2MF x (1O[volts]/512)7-14 HARDWARE INTERFACE PARAMETERS MF ——_VPE [volts/count] 0.00976 0.0195 039 078 0.136 0312 7.5.4.4. Monitoring Current Position Monitoring the eurrent position (CP) is a useful tool for measuring settling time. Usually the value of CP is large. While moving. the monitor signal will overflow. Ignore it. Just examine theVECTOR CONTROL AND MOTORS 8-1 8. VECTOR CONTROL AND MOTORS8-2 __ VECTOR CONTROL AND MOTORS as Velocity an aeeeraton fed forwards 22 uae : Amplifier 4 FL -[P —-| Coordinate 2Phase Postion [veesiy le le BA * — Heyes Changer 3 Phase bY : 4 TTVECTOR CONTROL AND MOTORS 8-3 8.1.1. What is Vector Control? In any electrical motor. to generate torque requires a magnetic field and a current that is perpendicular to it FIGURE 8-2). The generated torque is related to the vector multiplication of these two vectors, Toraue a xi Ye \8.4 VECTOR CONTROL AND MOTORS In_ synchronously Inverter rotating frame & Control = Ky lgslds T,- Torque K,— ConstantVECTOR CONTROL AND MOTORS 8-5 If. high performance servo system is required, but not the high dynamic characteristics of a DC brushless (AC servo/AC synchronous) motor, When the inertia of the load is much higher than the inertia of the motor (and it may be difficult to match the inertia of the load to the inertia of the motor) In such cases, a significant cost reduction can be realized by using an AC induction motor. ‘When high accuracy, low velocity control is required. The high inertia of the AC induetion ‘motor and the ability to eliminate most of the magnetic field cogging, will help in overcoming low frequeney disturbances, thus achieving a better velocity regulation. Better than an DC brushless (AC servo/AC synchronous) motor based servo! ‘When motor without brushes is required and there is no budget for a DC brushless (AC servo/AC synchronous) motor. It is surprising what smooth performance and how much torque ee eee aWARRANTY _9-4 9. WARRANTYINDEX 4 INDEX1-2 INDEX analog output Encoder 2, 4-21 ACSPL, 7-12 HSSIPEG, 4 test point, 4-31 UO = Safety, 4-21 8 Motor, 4-8 power, 45 BIE motion state, 7-11 brush motors, 4-9 RS-232422, 411 brushless motors, 49, 5-1 constant velocity, S-S4 control © dual loop, 6-24INDEX 13 DIP Switch COM SD, 429 PROG. 4-29 DIP switches, 4-29 irect mode, 5-51 display 7-seument, 4-29 seven-segment, 4-29 drive F feedback encoder, 4-14 Hall sensors, 4-16 resolver, 4-18 Field Current FC parameter, 8-4 filter Tow pass, 6-15 proportional-integral,1-4 INDEX input analog, 4-26 port, 4-21 inputs ‘analog, 7-12 digital, 7-10 iitel, 4-24 safety, 7-10 connector, 4-8 motor temperature sensor, 4-20 motors, 8 AC induction, 4-9, 8-1 AC servo, 4-9, 841 AC synchronous, 4-9 brash, 4-9 Interpolation motion state, 7-11 brushless, 4-9TL,$29 0,529 PEG, 427 Peg Mask (PM) parameter, 7-11 phase advance, 6-24 DC brushless motor, 6-24 Phase R, 4-8 phase § test point, INDEX 15 ssultiple drop configuration, 7-2 RS.232/422 connector, 411 RSa22 ACSPL, 7-2 RSA2D/ASS, 72 multiple drop configuration, 7-4 RS-A85 ACSPL, 7-216 INDEX control, 47 drive, 46 encoder, 4-16 Hill, 416 r Temperature, 3-4, 4-1 ‘Temperature sensor, motor, 4-14 test points, 4-30 three-phase motors, 4-9, 8-1 torque optimization phase advance, 6-24 troubleshooting CAN, 414 commutation, 6-14 TUNING, 6-1 r y_SUPPLY, 1/0, 4-24, ‘vector control, 8-1ERRATA Page CommentsAttisan Sd Petr Sea ety See au) Sees tracy Et Seung poary Sey Pease Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS. 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