Motion EZ Start EZServo EZSV17 User manual



EZSV17

EZSV23
You will need:
 Your EZServo
®
Controller/Driver, servo motor, and encoder.
A motor 2" (SV17) or 3" (SV23) or smaller rated at about 1/2
of supply voltage is best. Also see Encoder Note.
 RS232 to RS485 Converter or USB to RS485 Converter, with
cables supplied
 PC with port to match cable supplied, with USB driver
installed if USB to RS485 Converter is being used.
 Power supply, 12 to 40V. For first-time EZServo users we
recommend a current-limited power supply set to 20V, 1A to
protect against miswiring.
 HyperTerminal application (For Windows 98, download
HyperTerminal Private Edition 4.0+ from www.hilgraeve.com .
This corrects echo problem in Windows 98 version.)
 Crimp tool (recommended): Digikey part H9924-ND.
Otherwise, soldering equipment.
 Small Philips screwdriver for operating address switch
 If troubleshooting is required: ohmmeter, oscilloscope
Precautions
 Observe all electrostatic discharge precautions to avoid
damaging circuit boards.
 Allow at least 0.1" air gap when bolting EZServo to motor,
for cooling (larger version of the board).
 Use 4-40 round standoffs to bolt EZServo to motor,
NOT hex (Hex standoffs will touch components).
 DO NOT disconnect motor wires while power is on, to
avoid damage to circuit board.
 DO NOT place EZServo board or RS485 Converter
on metal surface when powered (to prevent shorts).
 DO NOT run Palm Pilot Hotsync on the computer. It
will take over the comm port.
 Avoid bundling encoder or IO wires with motor power
wires, as this may cause noise pickup from motor
wires. If bundling is necessary, put motor wires in a
separate shielded twisted-pair cable.
-For 10' or longer, shield each IO line individually.
-If using ribbon cable, add grounds between signal
wires and motor wires.
Start with power supply OFF.
A quick guide to the EZServo
®
starter kit
This guide applies when using the RS232-to-RS485 Converter, or the USB-to-RS485 Converter after USB driver is installed.
Encoder Note
An encoder of 400-1000
lines/channel, giving 1600-
4000 quadrature encoder
counts per revolution, is
recommended. (Other line
counts could require
changing PID coefficients.)
1. Connect power supply to RS485 Converter.
 Important! On SV23 model, install J3 if power is less than 15V.
 Turn power ON. Confirm current is less than 100mA.Turn power OFF.
2. Connect EZServo to RS485 converter.
 If using EZ Start kit, use cable provided. If not using kit, wire mating 4-
pin connectors pin-to-pin per the markings on the connector. (See
Wiring Note below.)
 Turn power ON. Ensure current is less than 0.25A, and green Life LED
blinks. If not, look for bad power connection. Turn power OFF .
3. Set address switch firmly to number 1 with Philips screwdriver.
Turn power ON.
4. Connect RS485 Converter to the pc.
5. Start HyperTerminal or the EZCommander™ application (see
last page for HyperTerminal setup).
6. Issue the command /1P1000R <CR> and observe result. This
command tells motor to turn 1000 encoder counts and stop.
7. Turn power OFF.
Procedure continued next page.
Revision C1
Wiring Note
Always wire to the mating connectors supplied on
circuit board. Use crimp tool if you have it, or else
solder. (DO NOT solder to circuit board; damage is
likely. Also, DO NOT press in with a screwdriver,
because this makes unreliable connections.)
1 2 3 4
RS232 to RS485
Converter shown.
AB
2
8
12-40V
Power Supply +
Typical board
shown. Yours
may vary.
Life LED
+BA
EZServo
RS485 Converter
10
11
13
4
Computer
Comm Port
Jumper J3
Servo
Motor
DB9 or USB cable
supplied
Encoder
3
EZ Start
E Z S t a r t
All Motion www.allmotion.com 5501 Del Oro Court, San Jose, CA 95124 Telephone [phone] Email [email protected]
For these products
Starting up



(continued)
8. Connect EZServo to motor.
 BLDC Motors: Connect servo motor
and Hall sensors to the eight pins of
the motor connector as shown in
diagram: (See Wiring Note on
preceding page and Hall sensor
phasing instructions on this page.)
On SV23 models, use 3-pin screw
terminal for high-current motors.
 Brush motor connections: Connect brush servo motor to the eight
pins of the motor connector as shown in diagram:
(See Wiring Note on preceding page.)
9. Ensure power is ON.
10. Test velocity function:
 Issue command /1N0R to tell the board there is no encoder.
 Issue command /1P0R or /1D0R endless move; then confirm response.
 Issue command such as /1V10R to change speed; then confirm
response. (Hall sensors provide feedback for velocity control.)
11. If only velocity control is required, skip this step. If position
control is required, turn power OFF.
Then connect encoder to 5-pin connector
as shown in diagram:
(See Wiring Note on preceding page.)
12. Turn power ON.
13. Issue command /1P1000. The motor will move 1000 steps in
the positive direction.
If motor spins without stopping, reverse the CHA and CHB
connections.
You're on your way! For other commands and hookups,
see the full command set and wiring diagram on our website.
MOTOR -
MOTOR +
GROUND
CHAN B
+5V ENCODER
POWER
CHAN A
INDEX
CAUTION!
Always turn off power before
connecting or disconnecting
motor to avoid damaging
circuit board.
NOTE: If you send your
motor to us, we will be
happy to work out the
correct Hall sensor
phasing for you.
CAUTION!
Always turn off power before
connecting or disconnecting
motor to avoid damaging
circuit board.
NOTE
On SV17, Hall Sensor
power is +15V. If +5V is
needed, obtain from
encoder connector pin 4.
Motor Tuning (BLDC motors)
If motor behavior is oscillatory:
 Increase the value of the differential gain constant, for
example /1y3000R.
 If oscillatory behavior continues, motor is noisy, and
encoder ticks can be heard, reduce both the proportional
and the differential constants until satisfactory
performance is obtained. For example, /1w250y500R
works well, especially with high (4000) line-count
encoders.
(The larger the line count, the smaller the w, x, and y
values.)
11
22
33
Hall Sensor Phasing (BLDC motors)
This is a trial-and-error method for finding the correct
hookup for your Hall sensor. (The correct hookup for
many Hall sensors can be found in the EZSV17 or
EZSV23 wiring diagram on our Web site.)
NOTE: For Hall sensor phasing by trial
and error, you MUST use a current-limited
lab supply set to the lesser value of 1/2A or
1/4 of the maximum current rating of the motor.
1. With power OFF and the encoder disconnected,
wire Hall sensors to pins 1, 2, and 3 in any order.
2. Set the current limit low by issuing command
/1m30R.
3. Do the following as you try each of the 6 possible
wiring combinations (123,132, 213, 231, 312,
321): ALWAYS DISCONNECT POWER BEFORE
CHANGING WIRES
 Issue command /1A1000R. The motor
should spin smoothly in one direction for
about 5 seconds and stop
.
 While the motor spins, hold its shaft lightly
and observe any "dead spots" that you feel.
DO THIS ONLY IF YOU CAN DO IT SAFELY!
 Four combinations will produce dead spots or
positions at which the rotor locks.
 One combination will produce dead spots or
positions at which the rotor locks that are less
obvious.
 One combination will produce very smooth motion
with no dead spots or rotor locking points.This is
the correct wiring combination for your Hall
sensors.
NOTE: Don't switch power wires to the motor;
only switch Hall sensor wires.
All Motion www.allmotion.com 5501 Del Oro Court, San Jose, CA 95124 Telephone [phone] Email [email protected]
E Z S t a r t
Hall
Sensors
1
2
3
4
5
6
7
8Motor
Use for
motors 3A
or higher
on SV23
HALL C
HALL SENSOR POWER
HALL SENSOR GROUND
PHASE A DRIVER
HALL A
HALL B
PHASE C DRIVER
PHASE B DRIVER
PHASE A DRIVER
PHASE C DRIVER
PHASE B DRIVER
Starting up



2Open HyperTerminal by following this (typical) path:
Start/All Programs/Accessories/ Communications/ HyperTerminal/ HyperTerminal
The path shown is for Windows XP.
1Make sure no other programs are using the comm port you
will be connecting to with HyperTerminal.
4Select connection. Click OK. Note
that USB uses higher port number. 5Make the port settings shown above. Click Apply, then click OK.
7Click the ASCII Setup button on the
Settings tab.
8Make selections shown above. Click
OK, then click OK again.
Commands and responses will be
displayed as separate pairs.
3Name the new connection and
select an icon. Click OK.
 Make sure address switch is detented exactly on position number 1.
(After resetting, power must be cycled to establish new address).
 Turn off Palm Pilot Hotsync or other applications that use the comm port.
 Re-check that correct com port is selected.
 Issue "reconnect" command from HyperTerminal.
 Confirm good ground between PC and power pupply. First measure
resistance with power off; then check for voltage drop with power on.
Repair poor ground connections.
 Issue command /1<CR> and verify that the response " " is received. If
ok, motor connection may be miswired or loose. If not, continue to next item.
 Check continuity of communication data to EZServo board at point 1 in
diagram below. If not present, check at other points shown. Suspect
failed component or faulty wiring/connector between point where signal
is present and last point where signal is absent.
If motor does not
respond to commands:
AB
RS485 Converter
EZ Bus cable
Serial cable
2
3
End of cable
(DB9 male)
4
Computer port
(if DB9) Pins A & B
23
At the A & B pins , see
pulses same width as at
DB9, but 3V P-P and
centered on +2.5V.
NOTE: Signal presence at point 1
suggests problem in motor, EZServo
board, or wiring to motor.
RS232-to-RS485 Converter
shown.
NOTE: Points 3 and 4 do not
apply when using USB-to-485
Converter.
If motor gives up partway through a move:
Query by issuing command /1Q. Overload error will be returned (upper or
lower-case i). Motor cannot keep up with the trajectory specified in the
command. Try the following:
 Increase maximum move current with the "m" command to allow the motor
to move faster. For example /1m100R allows 100% current.
 Reduce the velocity (V) and/or acceleration (L).
If motor cannot reach specified speed:
 Increase supply voltage.
 Increase maximum move current with the "m" command to allow the motor
to move faster. For example /1m100R allows 100% current.
You can also use the EZCommander™ Windows application to control your servomotor. To obtain the application, visit the part of our website for your product.
At DB9 connectors
pins 3 and 2, see 12V
P-P pulses 100 µsec
wide (@9600 baud)
9Click File/Save to store
this connection. Now you're
ready to send commands.
You can open this connection
later by choosing File/Open
from the HyperTerminal menu.
To change connection properties
later, first click the
Call/Disconnect
icon to terminate
the connection.
6In HyperTerminal, choose
File/Properties.
1
Pins A & B
EZ Servo
+BA
E Z S t a r t
All Motion www.allmotion.com 5501 Del Oro Court, San Jose, CA 95124 Telephone [phone] Email [email protected]
010906
Starting HyperTerminal
Troubleshooting