Elmomc SimplIQ Servo Drives Composer User Manual Uživatelský manuál Strana 1

Composer User Manual for SimplIQ Servo Drives Some changes have been made to the content in this manual and they will be incorporated into the

 The motor axes should be free to move plus or minus several electric poles.  While the Wizard can operate with noisy or fairly inaccurate encoder

F Fast tuning mode · 2-26 Filter designer · 2-16, 2-25, 2-1 Filters dialog box · 3-11 Free motion · G-2 Freewheel · G-2 Frequency · A-2 Function behav

R Record resolution · 2-17, 2-19, G-4 Resolution · 2-8, 3-5, G-2 Resonance · G-4 Response slider · 2-19, 2-26, 2-2 RS-232 communication · 2-4 S Saving

The Application Name and Communication Type dialog box will be displayed, as follows: This dialog box enables you to name your new application and to

2.3.1 Defining RS-232 Communication If you selected RS-232 as your communication type, the RS-232 Properties dialog box will be displayed, as follows

4. From the Manufacturer drop-down list, select the name of the board manufacturer. 5. From the Board Type drop-down list, select the name of the C

Composer User Manual Using the Wizard MAN-COMPUM (Ver. 1.9) 2-6 1. Check the Elmo servo drive name displayed in the ELMO Driver version text box (

4. Click Next to continue defining your motor. The Commutation Feedback Parameters dialog box will be displayed. 5. From the Current Main Commutatio

Motor Type Current Main Commutation Feedback Text Box Linear Brushless Encoder or Encoder and Digital Hall Magnetic Pitch (m) Pulses per Meter (li

• Absolute Single Turn Position Resolution–a drop down menu that represents, in terms of bits, single-turn feedback cycle. The number of counts would

N: Number of sine/cosine signals per mechanical resolution For linear motors: LNFactortionMultiplica*109≤ where: N: Period of a single analog sine\c

For Heidenhain feedback: • Serial Interface– a drop down menu with a list of the serial interfaces: Hiperface or EnDat2.1 formats. • Magnetic P

Important Notice This document is delivered subject to the following conditions and restrictions:  This manual contains proprietary information

2.6 Defining System Limits After defining your motor and commutation parameters (clicking Next in the Commutation Feedback Parameters dialog box), th

1. In the Driver Parameters block, enter the following values:  Application Continuous Current: the maximum current, in amperes, to be used with th

4. From the Select Function Behaviors and Logic Level list, select the relevant function options and the logic level at which they are activated. The

7. Click Next to continue to the tuning steps. The Custom dialog box will be displayed. If this is a first-time configuration, the Composer Wizard a

2.7 Tuning the Current Loop The Composer Wizard begins the tuning process with the current loop because the current controller must be properly tuned

2.8 Configuring Commutation For all brushless motors, you need to define the parameters for commutation between the servo drive and the motor. This p

3. In order to define the positive and negative directions for the motor, click either Yes to accept the present motor direction as positive or click

You may tune the velocity loop manually (section 2.9.1), have the Wizard perform automatic tuning (section 2.9.2) or perform advanced manual tuning

4. In the Step 3: Set Test Parameters block of the Tuning Velocity Loop dialog box, enter the Displacement and Velocity values (selecting the Velocit

2.9.2 Automatically Tuning the Velocity Loop Using the auto-tuning mode for this process provides more precise velocity loop tuning. To set the auto

Contents Chapter 1: Introduction... 1-11.1

3. Use the Response slider to select the system margin you require:  Choose a value towards Fast and Sensitive if you require a more responsive (ag

Figure 2-2: Step Response Graph - Automatic Velocity Loop Tuning 9. After the first test, check the current response at the plant input. The curren

2.9.3 Performing Advanced Manual Tuning - Velocity Loop Reviewing the two previous methods of velocity tuning: Manual tuning enables you to manually

Note: To use a gain schedule table created through auto-tuning or from a previous advanced manual tuning sessions, click Load GS Table at the bottom

d. To test the interpolated velocity values, select a row of the table that indicates the velocity to be reached during the test. Alternatively, in t

2.10 Tuning the Position Loop According to your drive type, you will now need to tune either the position loop or the dual — position/velocity — loop

You may click the Designer button in the Advanced Filter block at the right to better define the filter values. Refer to section 2.9.1 for general in

2.10.2 Automatically Tuning the Position Loop Using the auto-tuning mode provides more precise position loop tuning. This process is almost identical

4. In the middle of the dialog box, the Wizard displays the default test parameters. To manually define these values, click Custom Test and enter the

2.10.3 Performing Advanced Manual Tuning - Position Loop As explained in section 2.9.3, the advanced manual tuning procedure can be used to manually

3.2.1 Motion Monitor Recorder ... 3-43.2.2 Motion Monitor Indicators .

d. Enter the relevant gain coefficients for that velocity. e. In the Step 3: Set Test Parameters and Step 4: Set Record Parameters blocks, be sure t

Remember:  You can remove bookmarks using the Clear All Bookmarks option from the right-click shortcut menu.  You can also automatically accept

Composer User Manual MAN-COMPUM (Ver. 1.9) 2-1 2.11.1 Manually Tuning the Dual Loop 1. From the Step 1: Select the Tuning Type drop-down list, be s

2.11.2 Automatically Tuning the Dual Loop Using the auto-tuning mode provides more precise position loop tuning. This process is almost identical with

5. Click Run Auto Tuning to start the auto-tuning process. Review the resulting graph and revise your values as needed until your results are satisfac

a. Be sure that the Gain Scheduling ON check box (in the middle) is not selected and that the Advanced Filter Designer is OFF. b. Select an existing

Remember:  You can remove bookmarks using the Clear All Bookmarks option from the right-click shortcut menu.  You can also automatically accept

Note: Clicking Cancel at any stage of this final process will restore all the parameters that were modified in this Wizard session and will complete

This dialog box can list two types of database files:  Access-type files with .mdb file formats. These types of files may contain multiple applicati

2.13.2 Opening Communication Directly You may activate the communication network directly to either define a new application or to use an existing one

Chapter 1: Introduction The Composer is a sophisticated suite of Windows-based software designed by Elmo to enable you to quickly and easily set up an

2.13.3 Loading the Network This option enables you to configure the Composer to communicate with several drives simultaneously regardless of communica

Elmo Composer User Manual MAN-COMPUM (Ver. 1.9) 3-1 Chapter 3: Using the Composer Once you have completed the initial setup of your Elmo servo driv

Button/List Function Access the Scope (Graph Editor). Display Composer version information. Get context-sensitive help. Select an active communica

Menu Option Description Table Editor Access the Table Editor for downloading a table into the driver. Select Table Editor - Table Browser to open a

3.1.3 Getting Help The Composer application provides two kinds of help:  Detailed online help, which you access by selecting Help from the menu bar

To determine the graph parameters, you can select the signals to record for each graph (a total of eight selections). You do this from the rows of Dis

4. In the Trigger block, select the trigger parameters — if any — that will initiate the recording:  Mode: type of trigger. Single enables all tr

3.2.2 Motion Monitor Indicators This section enables you to enter parameters for displaying the current status of the drive. You use the two drop-dow

3.3 The Smart Terminal The Smart Terminal is an interactive mechanism that provides online communication with the servo drive. It enables you to send

3.3.2.1 Profile Dialog Box In velocity, position and dual loop modes, this dialog box is used to define the acceleration (AC command), deceleration (

 A networking option, which provides direct communication with multiple servo drives. You may set up as many as eight drives to communicate with the

When you click Go to start the test, the values you enter are sent to the drive and displayed in the command list at the left. If needed, the motor is

3.3.2.2 Noise Filter Dialog Box This dialog box is used to define the filters for the main and auxiliary encoders, and the digital input filters. I

 Motor Stuck tab:  Current exceeded x% of continuous current: CL[2] Defines “motor stuck” as the tested torque level being a percentage of contin

 Peak current duration: PL[2] Maximum peak duration, in seconds.  Velocity tab:  Command - Low: VL[2] Minimum limit for speed command.  Comma

3.3.2.5 Digital Filters Dialog Box This dialog box is used to define the digital input filters for current, velocity and position modes. For each mod

2. Select the String # (command) that you wish to overwrite and in the String Name text box, enter a name for the command (button). 3. In the adjac

 Analog Current (Peak): Translates analog input (volts) to a current command (in amperes) in order to compute the gain.  Analog Velocity: Translat

3.3.2.9 Output Logic Dialog Box This dialog box is used to define the actions that should occur when the various mechanical limit switches are activa

Figure 3-8: The Scope Window 3.5.1 The Scope Toolbar The Scope toolbar provides direct access to the main menu functions, enabling you to change yo

Zoom out. Zoom to full size. Undo last zoom. Move left. Move right. Display information about Scope version. Display on-line help. Table 3

1.3.2 Downloading from the Web To install the Composer by downloading it from the Elmo website: 1. Using your Internet browser, go to the Elmo websi

3.5.2.2 Window Menu In addition to standard options — such as Cascade, Tile and Arrange Icons — the following options are included in this menu:  N

3.5.2.3 Zoom Menu Standard means of zooming into items on the graph include:  Zoom To Markers: increases or decreases the zoom to the marked segmen

 Under zero line: defines a new vector by calculating the maximum value of the selected vectors, at each vector index.  Average: defines a new vec

 Statistics: displays the properties of the selected value, including average RMS and Tolerance values (in percentage).  Step Analysis: performs

Elmo Composer User Manual Using the Composer MAN-COMPUM (Ver. 1.9) 3-24 3.6 The Application Editor The Application Editor enables you to view all t

Note: This option is active only when CAN communication has been established. 3.7.1 Creating a PVT or PT Data File You create a PVT or PT data file

The Table Editor dialog box contains the following elements:  The PT or PVT table, with columns for node ID, and relevant parameters.  Repetitive

3. Click Download. The motor will begin moving in PVT or PT motion mode according to the parameters in the downloaded table. To download a table for

3.9 Advanced Manual Tuning The Tools - Advanced Manual Tuning option provides direct access to performing advanced manual tuning of the velocity, pos

3.10 Downloading Firmware To download a new firmware version 1. Select Tools – Firmware Download. The Firmware Download dialog box will be displayed

1.4 How to Use this Manual This Composer user manual explains how to install the application, tune your Elmo servo drive and use the Composer softwar

Elmo Composer User Manual MAN-COMPUM (Ver. 1.9) 4-1 Chapter 4: Using the Elmo Studio The Elmo Studio is a program editing application that includes

4.1 The Elmo Studio Desktop Upon accessing the Elmo Studio, you will see a set of open windows that can be opened and closed, and manipulated as need

Button/List Function Create a new program. Open an existing program. Upload a program from connected drive. Save the currently open program. Cut

The Communication “toolbar” is actually the drop-down list — — that displays the names of every currently open application. 4.1.3 The Menu Bar The

Menu Option Sub-option Description Step Out Complete the current function and then step out to the location immediately following the line on w

4.1.4 Customizing the Elmo Studio The Tools menu contains two options for customizing your Elmo Studio application to your mode of work: the Customiz

4.1.4.2 The Options Dialog Boxes The following tabbed dialog boxes are available:  Debug Enables you to select a command code for automatic debugg

4.1.4.3 Convert to New Format You can use the Tools - Convert to New Format option to save a program, coded in earlier Elmo .ell format, in Elmo .ehl

4.2.2 Editing a Program File To open an existing program file that resides on your computer, click or select File - Open. A program window will be

When error messages occur during program execution and the program source needs to be fixed, you can double-click on the error message to locate the e

Chapter 2: Using the Wizard After connecting your Elmo servo drive to the motor and to the PC, you need to define its setup parameters in order to cus

Figure 4-2: Debugging Process The following debugging tools are available for enabling you to manually debug your program in conjunction with the El

Elmo Composer User Manual MAN-COMPUM (Ver. 1.9) A-1 Appendix: Using the Advanced Filter Designer The Advanced Filter Designer is a tool that enable

This block may be used to damp a single resonance of the system. Set the f value to equal the resonance frequency you wish to damp (in Hz) and change

Glossary Acceleration The rate at which speed increases, in counts/sec2. Advanced controller A controller with a more complex structure than a simple

Continuous stall current The maximum continuous current, in amperes, allowed for the motor. This value is defined by the motor manufacturer. Counts Th

Maximum mechanical speed The maximum motor speed defined by the manufacturer, specified in m/sec for linear motors and RPM for rotating motors. Notch

Record resolution The amount of time between consecutive sampling points. This value is calculated in conjunction with maximum recording time. With th

Step response The time required by a system for an output to pass through a specified percentage of a process. For example, a feedback system has a cl

Transfer function A mathematical expression or a graph that expresses the relationship between the outgoing and the incoming signals of a process or c

Index A Acceleration · 2-17, 2-19, 3-9, G-1 Advanced controller · G-1 Advanced filter designer · 2-16, 2-25, 2-1, A-1 Advanced manual tuning Dual loop