IRIS ORCA RM220115 User manual

ORCA™ SERIES MOTOR
RM220115
ORCA™ SERIES MOTOR
Reference Manual 220115
This document applies to the following Orca Series linear motor firmware:
●6.1.7
For more recent firmware versions, please download the latest version of this reference manual at
https://irisdynamics.com/downloads
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ORCA™ SERIES MOTOR
RM220115
CONTENTS
List of Tables....................................................................................................................................................... 4
List of Figures......................................................................................................................................................4
REVISION HISTORY........................................................................................................................................... 5
Introduction......................................................................................................................................................... 6
Powering the Motor........................................................................................................................................... 7
Fuse.................................................................................................................................................7
Ground.............................................................................................................................................7
Chassis........................................................................................................................................... 7
Communication Interfaces...............................................................................................................................8
Methods of Motor control.................................................................................................................................9
IrisControls Software..................................................................................................................... 9
Modbus RTU................................................................................................................................... 9
Orca Analog Interface.................................................................................................................... 9
Autonomous................................................................................................................................... 9
Modes of Operation.........................................................................................................................................10
Sleep Mode (1)............................................................................................................................. 10
Force Mode (2)............................................................................................................................. 10
Position Mode (3).........................................................................................................................10
Haptics Mode (4)......................................................................................................................... 10
Kinematic Mode (5)......................................................................................................................10
Getting Started with IrisControls...................................................................................................................11
Required Software..............................................................................................................................11
Required Hardware............................................................................................................................ 11
Connecting to IrisControls...........................................................................................................12
Troubleshooting Connection............................................................................................................12
Navigating the GUI....................................................................................................................... 13
Home Page................................................................................................................................... 13
Position / Kinematics Page......................................................................................................... 14
Tuning Panel........................................................................................................................................15
Kinematic Panel..................................................................................................................................16
Application Note:................................................................................................................................ 17
Force / Haptics Page................................................................................................................... 18
Application Notes:.............................................................................................................................. 19
Modbus / OAI Page......................................................................................................................21
Modbus Server Status.......................................................................................................................21
Orca Analog Interface........................................................................................................................22
IrisControls Logging.....................................................................................................................22
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ORCA™ SERIES MOTOR
RM220115
Orca Registers.................................................................................................................................................. 22
Control Registers..........................................................................................................................23
CTRL_REG_0...........................................................................................................................23
CTRL_REG_1...........................................................................................................................23
CTRL_REG_2...........................................................................................................................23
CTRL_REG_3...........................................................................................................................24
CTRL_REG_4...........................................................................................................................24
Sensors.............................................................................................................................................................. 26
Force Sensor.................................................................................................................................26
Position Sensor............................................................................................................................ 26
Power Sensor............................................................................................................................... 26
Temperature Sensors...................................................................................................................27
Controllers......................................................................................................................................................... 28
Force Controller............................................................................................................................28
Position Controller....................................................................................................................... 28
General Tuning Guide........................................................................................................................ 28
Proportional Action............................................................................................................................ 28
Integral Action.....................................................................................................................................29
Derivative Action.................................................................................................................................29
Saturation Level.................................................................................................................................. 29
Kinematic Controller.................................................................................................................... 30
Software Triggering........................................................................................................................... 30
Hardware Triggering.......................................................................................................................... 30
Configuring a Motion......................................................................................................................... 31
Haptic Controller.......................................................................................................................... 32
Effects...................................................................................................................................................32
Configuring Effects............................................................................................................................ 33
User Configurations.........................................................................................................................................34
Maximum Temperature.................................................................................................................... 34
Maximum Force..................................................................................................................................34
Maximum Power................................................................................................................................ 34
Communication Timeout..................................................................................................................34
Errors.................................................................................................................................................................. 35
Active and Latched Error Registers.............................................................................................35
Configuration Errors...........................................................................................................................35
Force Clipping..................................................................................................................................... 35
Temperature Exceeded..................................................................................................................... 36
Force Exceeded.................................................................................................................................. 36
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ORCA™ SERIES MOTOR
RM220115
Power Exceeded................................................................................................................................. 36
Shaft Image Failed............................................................................................................................. 36
Voltage Invalid.....................................................................................................................................36
Communications Timeout................................................................................................................36
APPENDIX : Orca Memory Map.....................................................................................................................37
LIST OF TABLES
Table 1:RJ45 Pinout 7
Table 2: Communication Interfaces 8
Table 3: Sensors 24
Table 4: Kinematic Motion Configuration Registers 29
Table 5: Haptic Effect Configuration Registers 31
Table 6: User Configuration Registers 32
Table 7: Errors and their Impact 33
LIST OF FIGURES
Figure 1: Block Diagram 6
Figure 2: Initial Orca Series Motor Setup 6
Figure 3: IrisControls Software without an Orca Series motor connected 11
Figure 4: Orca Series Linear Motor 11
Figure 5: RS485 to USB cable 11
Figure 6: RJ45 Splitter 11
Figure 7: IrisControls Connection Information 12
Figure 8: IrisControls Settings Dialog 12
Figure 9: Orca GUI with Home Page Open 13
Figure 10: IrisControls Position Page 14
Figure 11: IrisControls Tuning Panel 15
Figure 12: IrisControls Kinematic Panel 16
Figure 13: IrisControls Force Page 18
Figure 14: IrisControls Modbus Panel 21
Figure 15: IrisControls Orca Analog Interface Panel 22
Figure 16: Changing logging period through console 22
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ORCA™ SERIES MOTOR
RM220115
REVISION HISTORY
Version
Date
Author
Reason
0.0
January, 2022
kh
Initial Draft
1.0
April, 2022
sj
Include GUI and Kinematic sections
1.2
August, 2022
kh
Review and update
1.3
September, 2022
sj
Update for 6.x.5 changes.
1.4
February, 2023
Sj
Update for 6.1.6 changes.
1.5
April, 2023
rm
Formatting, memory map update
1.6
May, 2023
rm, ab,
sj
Update GUI, add Haptics section, change section order
1.7
Aug, 2023
kh, sj
Expand on control register
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ORCA™ SERIES MOTOR
RM220115
INTRODUCTION
This document describes the functions and operation of Orca™ Series linear motors having
integrated drivers and an integrated sensor suite.
Figure 1: Block Diagram
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ORCA™ SERIES MOTOR
RM220115
Figure 2: Initial Orca Series Motor Setup
POWERING THE MOTOR
Orca Series motors are powered by DC voltage. The Orca Series variant name specifies the
voltage at which the motor is most efficient, however all Orca Series motors can be powered by
12 – 60 VDC.
Flying lead power connections are provided for each motor. Orca Series motors are configured to
be able to draw significant currents and proper attachment of the power lines to a suitable power
source is important.
Suitable power sources for Orca Series motors are AC-to-DC converters, batteries of various
chemistry, capacitor banks, or other sources of DC voltages. Engineering support from Iris
Dynamics on the selection of a suitable power source is available.
Fuse
A 30-amp fast-blow fuse must be installed between the power supply and the motor. This fuse
will be destroyed if negative voltage is applied to the motor.
Ground
In all cases, the black power lead is “Ground” and should be connected to the negative terminal of
the power supply or battery.
It is important that the power supply Ground, and the Ground of any electronics attached to the
device’s communication cable is kept at the same level. Usually this is done by making sure the
power supplies of the motor and external controller (if different) are connected to Earth at both
their chassis and negative output terminal.
Chassis
As an important safety measure, the chassis of the motor must be securely connected to Earth.
Proper grounding of the chassis is also important for proper operation of the motor.
The motor enclosure and cable shields are connected but these are not connected to the Ground
circuit of the on-board electronics. Therefore, a separate connection from the Chassis to Earth
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ORCA™ SERIES MOTOR
RM220115
must be made which can be accommodated by threading a conductive bolt into any of the
provided thread patterns on the enclosure.
COMMUNICATION INTERFACES
Communication cables are typically terminated with an RJ45 connector. The 5V and GND lines on
the connector can be used to power the motor’s logic so that communications and diagnosis can
continue when the motor’s power source is switched off or disconnected.
Table 1:RJ45 Pinout
Pin
Signal
Notes
1
RX2+
Modbus
2
RX2-
3
TX2+
4
RX/TX1+
IrisControls™
5
RX/TX1-
6
TX2-
Modbus
7
+5V
Can be used to power logic,
or indicate logic power
status
8
GND
Must be connected to the
communication hub
ground.
There are two serial communication interfaces available which enable a Windows-based GUI (via
IrisControls), firmware updates, and a Modbus RTU communication stream.
Table 2: Communication Interfaces
Splitter Port
Signalin
g
Protocols
1
RS485
Half
Duplex
IrisControls (GUI)
IrisBootloader
2
RS422
Full
Duplex*
Modbus RTU
* See UG230323 – Orca Series Modbus over Half-Duplex RS485 for information on setting up a
half-duplex connection on this port.
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ORCA™ SERIES MOTOR
RM220115
METHODS OF MOTOR CONTROL
IrisControls Software
The Orca Series motors can be commanded and configured through an integrated graphical user
interface (GUI). See the Getting Started With IrisControls section of this document for full details.
Modbus RTU
The Orca Series motors are Modbus RTU servers, with additional functionality to support a
high-speed stream of commands and feedback. See the UG210912 – Orca Series Modbus user
guide for further details.
All configurations and control options are available through registers on the Orca Series motors.
See the Orca Memory Map for a list of register addresses.
A PLC, PC, or other Modbus client can be used to command the motor. Third party programs with
built in Modbus libraries such as Labview, or Matlab can also be used. There is an IrisSDK for
Windows available with libraries that abstract the Modbus communications for use in custom
software solutions.
UG230503 – Orca Series Modbus RTU PLC document provides further an example of
communicating with a motor using a PLC.
Orca Analog Interface
The Orca Analog Interface allows for control of Orca Series motors in force, position, and
kinematic modes through simple digital and analog inputs. Real-time force and position data is
also fed back from the Orca to the Orca Analog Interface and provided as analog outputs.
For details on configuring the Orca Analog Interface of this manual. For further details on the Orca
Analog Interface itself see UG230424 – Orca Analog Interface user guide.
Autonomous
Orca Series motors can be configured to continuously cycle motions on power up or to move
through a set of motion profiles by connecting the Orca data cable to a hardware button.
See the autonomous looping sequence application note section for details on setting up this
option.
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ORCA™ SERIES MOTOR
RM220115
MODES OF OPERATION
The motor operates in five main modes of operation: Sleep Mode, Force Mode, Position Mode,
Kinematic Mode, and Haptic Mode. Force Mode and Position Mode are meant to be used with a
Modbus communication stream and cannot be entered directly through the IrisControls GUI.
Sleep Mode (1)
In this mode, power drivers are not active and windings in the stator are all shorted (producing a
braking effect). Force and position commands are ignored.
When Sleep Mode is commanded (even when sleep mode is currently active), any active errors
will be re-evaluated and cleared where appropriate.
Force Mode (2)
The force controller will control the power delivered to the motor to achieve the forces written to
the FORCE_CMD register. Note: this register is double-wide (32 bits).
Once in Force Mode, communications must be made regularly over the Modbus interface to avoid
a timeout error. In the event of communications failure or other motor errors, the motor will cease
all power draw and put the windings into a passive braking effect.
Position Mode (3)
The position controller will calculate forces for and command the force controller according to the
configured PID tuning, the setpoint, and the current shaft position.
Before entering Position Mode, the user should make sure the shaft has been zeroed to a known
position.
Once in Position Mode, communications must be made regularly over the Modbus interface to
avoid a timeout error. In the event of communications failure or other motor errors, the motor will
cease all power draw and put the windings into a passive braking effect.
Haptics Mode (4)
The force controller works similarly to Force Mode, however, force commands will be dictated by
the haptic controller rather than a Modbus stream.
The haptic controller comprises several haptic force effects that can be configured and enabled.
The sum of forces resulting from all enabled haptic effects is used as the force target.
Kinematic Mode (5)
The position controller works similarly to when in Position Mode, however, position commands
will be dictated by the kinematic controller rather than a Modbus stream.
The kinematic controller outputs motion profiles to move to a shaft position over a specified time,
while respecting the chosen kinematic constraints.
In Kinematic Mode, the motions can be triggered by MODBUS messages, or by hardware edge
detection. If hardware triggering is enabled, the Orca will boot up in Kinematic Mode, but MODBUS
communication will be disabled.
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