Pacific Scientific OC950 EPROM User manual

MA950
OC950 Installation & Hardware Reference Manual
110 Fordham Road
Wilmington, MA 01887
[phone]
Fax [phone]
Part# MA950
List Price $30 U.S.
February, 1999
Rev E
HIGH PERFORMANCE MOTORS & DRIVES

This document is copyrighted by Pacific Scientific Company. It is
supplied to the user with the understanding that it will not be
reproduced, duplicated, or disclosed in whole or in part without
the express written permission of Pacific Scientific Company.
Copyright © 1996, 1997, 1998, 1999

WARRANTY AND LIMITATION OF LIABILITY
Includes software provided by Pacific Scientific
Pacific Scientific warrants its motors and controllers (“Product(s)”) to the original
purchaser (the “Customer”), and in the case of original equipment manufacturers or
distributors, to their original consumer (the “Customer”) to be free from defects in
material and workmanship and to be made in accordance with Customer’s
specifications which have been accepted in writing by Pacific Scientific. In no
event, however, shall Pacific Scientific be liable or have any responsibility under
such warranty if the Products have been improperly stored, installed, used or
maintained, or if customer has permitted any unauthorized modifications,
adjustments, and/or repairs to such Products. Pacific Scientific’s obligation
hereunder is limited solely to repairing or replacing (at its option), at its factory
any Products, or parts thereof, which prove to Pacific Scientific’s satisfaction to be
defective as a result of defective materials or workmanship, in accordance with
Pacific Scientific’s stated warranty, provided, however, that written notice of
claimed defects shall have been given to Pacific Scientific within two (2) years
after the date of the product date code that is affixed to the product, and within
thirty (30) days from the date any such defect is first discovered. The products or
parts claimed to be defective must be returned to Pacific Scientific, transportation
prepaid by Customer, with written specifications of the claimed defect. Evidence
acceptable to Pacific Scientific must be furnished that the claimed defects were not
caused by misuse, abuse, or neglect by anyone other than Pacific Scientific.
Pacific Scientific also warrants that each of the Pacific Scientific Motion Control
Software Programs (“Program(s)”) will, when delivered, conform to the
specifications therefore set forth in Pacific Scientific’s specifications manual.
Customer, however, acknowledges that these Programs are of such complexity and
that the Programs are used in such diverse equipment and operating environments
that defects unknown to Pacific Scientific may be discovered only after the
Programs have been used by Customer. Customer agrees that as Pacific
Scientific’s sole liability, and as Customer’s sole remedy, Pacific Scientific will
correct documented failures of the Programs to conform to Pacific Scientific’s
specifications manual. PACIFIC SCIENTIFIC DOES NOT SEPARATELY
WARRANT THE RESULTS OF ANY SUCH CORRECTION OR WARRANT
THAT ANY OR ALL FAILURES OR ERRORS WILL BE CORRECTED OR
WARRANT THAT THE FUNCTIONS CONTAINED IN PACIFIC
SCIENTIFIC’S PROGRAMS WILL MEET CUSTOMER’S REQUIREMENTS
OR WILL OPERATE IN THE COMBINATIONS SELECTED BY CUSTOMER.
This warranty for Programs is contingent upon proper use of the Programs and
shall not apply to defects or failure due to: (i) accident, neglect, or misuse; (ii)
failure of Customer’s equipment; (iii) the use of software or hardware not provided
by Pacific Scientific; (iv) unusual stress caused by Customer’s equipment; or (v)
any party other than Pacific Scientific who modifies, adjusts, repairs, adds to,
deletes from or services the Programs. This warranty for Programs is valid for a
period of ninety (90) days from the date Pacific Scientific first delivers the
Programs to Customer.
i

THE FOREGOING WARRANTIES ARE IN LIEU OF ALL OTHER
WARRANTIES (EXCEPT AS TO TITLE), WHETHER EXPRESSED OR
IMPLIED, INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF
MERCHANTABILITY OR OF FITNESS FOR ANY PARTICULAR PURPOSE,
AND ARE IN LIEU OF ALL OTHER OBLIGATIONS OR LIABILITIES ON
THE PART OF PACIFIC SCIENTIFIC. PACIFIC SCIENTIFIC’S MAXIMUM
LIABILITY WITH RESPECT TO THESE WARRANTIES, ARISING FROM
ANY CAUSE WHATSOEVER, INCLUDING WITHOUT LIMITATION,
BREACH OF CONTRACT, NEGLIGENCE, STRICT LIABILITY, TORT,
WARRANTY, PATENT OR COPYRIGHT INFRINGEMENT, SHALL NOT
EXCEED THE PRICE SPECIFIED OF THE PRODUCTS OR PROGRAMS
GIVING RISE TO THE CLAIM, AND IN NO EVENT SHALL PACIFIC
SCIENTIFIC BE LIABLE UNDER THESE WARRANTIES OR OTHERWISE,
EVEN IF PACIFIC SCIENTIFIC HAS BEEN ADVISED OF THE POSSIBILITY
OF SUCH DAMAGES, FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
DAMAGES, INCLUDING WITHOUT LIMITATION, DAMAGE OR LOSS
RESULTING FROM INABILITY TO USE THE PRODUCTS OR PROGRAMS,
INCREASED OPERATING COSTS RESULTING FROM A LOSS OF THE
PRODUCTS OR PROGRAMS, LOSS OF ANTICIPATED PROFITS, OR
OTHER SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
WHETHER SIMILAR OR DISSIMILAR, OF ANY NATURE ARISING OR
RESULTING FROM THE PURCHASE, INSTALLATION, REMOVAL,
REPAIR, OPERATION, USE OR BREAKDOWN OF THE PRODUCTS OR
PROGRAMS, OR ANY OTHER CAUSE WHATSOEVER, INCLUDING
NEGLIGENCE.
The foregoing shall also apply to Products, Programs, or parts for the same which
have been repaired or replaced pursuant to such warranty, and within the period of
time, in accordance with Pacific Scientific’s date of warranty.
No person, including any agent, distributor, or representative of Pacific Scientific,
is authorized to make any representation or warranty on behalf of Pacific Scientific
concerning any Products or Programs manufactured by Pacific Scientific, except to
refer purchasers to this warranty.
ii

Table of Contents
.....................................................
1 Overview of the OC950 Programmable Option Card 1-1
1.1 OC950 Definition ..............................1-1
1.2 How to Use this Manual ..........................1-2
1.3 Warranty Information ............................1-3
2 Getting Started 2-1
2.1 Setting Up the Hardware ..........................2-1
2.2 Installing 950IDE ..............................2-4
2.3 Starting 950IDE...............................2-4
2.4 Getting Around in 950IDE .........................2-5
2.5 Configuring your System ..........................2-6
2.6 Creating a New Program ..........................2-7
2.6.1 Using Wizards ............................2-8
2.7 Compiling a Program ...........................2-11
2.8 Run Program................................2-11
2.9 Working with Breakpoints.........................2-12
2.10 Using the Variables Window .......................2-13
2.11 Viewing Variables ............................2-14
2.12 Saving a Program.............................2-16
2.13 Opening a Program............................2-16
2.14 Exiting 950IDE..............................2-16
3 OC950 Interfaces and Connections 3-1
3.1 Serial Port J51................................3-1
3.2 Setting up Serial Address using Switch S1 .................3-7
3.3 OCIO (Option Card I O) J52 .......................3-14
3.4 Connecting to the Opto22 Mounting Rack ................3-19
3.5 PacLAN Cabling & Hardware Connections - J53.............3-24
MA950 Rev E

4 Servo Loop Parameters 4-1
4.1 Velocity Loop ................................4-1
4.2 Position Loop ................................4-8
4.3 Advanced Velocity Loop Tuning .....................4-10
5 Maintaining/Troubleshooting 5-1
5.1 Maintaining the SC950 Servocontroller ..................5-1
5.2 Troubleshooting the SC950 Series Servocontroller ............5-1
Appendix A Selecting Motor Control Functionality A-1
Appendix B OC950 Specifications B-1
Index
Rev E MA950

1 Overview of the OC950
Programmable Option Card
Introduction This chapter introduces the OC950 Programmable Option Card.
Topics covered are:
•OC950 Overview
•How to Use this Manual
•Warranty Information
1.1 OC950 Programmable Option Card Definition
OC950 overview The OC950 is an option card that is installed in the option card
slot of a Pacific Scientific SC900 Series Servo Drive. Combined,
the SC900 and OC950 create the SC950. It provides stand-alone,
single-axis programmable positioning capability to a high
performance, digital servo drive.
The SC950 inherits all the advanced, high-performance
functionality as well as the small package size of the SC900
platform. The SC950 also inherits all the hardware resources of
that platform, including 6 points of bi-directional discrete I/O,
two analog outputs, one analog input, one encoder input port and
one encoder output port. The SC900 platform also provides two
high speed registration inputs.
Resources provided on all varieties the OC950 include
twenty-one points of bi-directional discrete I/O and an
RS-232/RS-485 serial communications port.
The OC950 provides for direct connection to Opto22 Industrial
I/O mounting racks and industrial I/O modules with the use of the
CA950-IO adapter module.
MA950 1-1

OC950 Hardware
Varieties
Two optional memory (NVRAM: nonvolatile random access
memory) configurations are available, 32kx8 or 128kx8. NVRAM
is battery backed, with a ten year life, and unlimited amount of
write cycles. The memory provides storage for the user programs.
A PacLANNetwork interface is offered as an OC950 option.
PacLAN supports 2.5 Mb/sec communications between a cluster
of SC950 drives. The port will be compatible with standard
ArcNET products using 93 Ωcoax cable in a bus configuration.
Standard
version
Combinations of the two memory offerings and the PacLAN
option results in four standard versions of the OC950:
OC950-501-01 Base 950 Option Card 32kx8 NVRAM
OC950-502-01 Base 950 Option Card 128kx8 NVRAM
OC950-503-01 Base 950 Option Card 32kx8 NVRAM + PacLAN
OC950-504-01 Base 950 Option Card 128kx8 NVRAM + PacLAN
Enhanced
Version
In addition, there is an Enhanced version of the OC950 which
supports additional features, including MODBUS and camming.
OC950-601-01 Enhanced 950 Option Card 32kx8 NVRAM
OC950-602-01 Enhanced 950 Option Card 128kx8 NVRAM
OC950-603-01 Enhanced 950 Option Card 32kx8 NVRAM + PacLAN
OC950-604-01 Enhanced 950 Option Card 128kx8 NVRAM + PacLAN
1-2 MA950

1.2 How to use this manual
Chapter 2, “Getting Started”, is a step-by-step guide allowing you
to configure an SC950 and run your motor within a few minutes.
It is strongly recommended that you go through Chapter 2 first.
This will give you a feel for using the SC950 and lay the
framework for reading the other chapters. Chapters 3 through 5
should be read thoroughly to gain the most from the OC950.
1.3 Warranty
The Pacific Scientific OC950 has a two year warranty against
defects in material and assembly. Products that have been
modified by the customer, physically mishandled, or otherwise
abused through miswiring, and so on, are exempt from the
warranty plan.
Warning
If the continuous current rating of the drive is greater than the
continuous current rating of the motor that it is being used
with, then it is possible to cause significant damage to the
motor. Pacific Scientific may not honor the warranty of the
motor if it is run under these conditions.
MA950 1-3

2 Getting Started
Introduction This chapter provides a step-by-step introduction to creating a
new program. This procedure uses the minimum possible
equipment to run an unloaded motor and sets motor speed from a
PC’s serial port. It is strongly recommended that all first time
users go through this procedure to become familiar with the
OC950 and the 950IDE PC interface software before installing
the servo system in a machine.
2.1 Setting Up the Hardware
What you will
need
To go through this product introduction procedure you will need
the following items.
•SC900 Base Servo Drive
•OC950 Programmable Option Card
•Appropriate Brushless Motor with nothing attached to the
shaft
•PC Running Windows 3.1 or Windows95/NT
•950IDE Floppy Disk
•Motor Power and Feedback Cables (J2, J3)
•RS-232 Communications Cable (J51)
•DB-25 Connector Mate (J4)
•AC Power Line (J1)
MA950 2-1

If your OC950 is not already installed in your SC900, then use
the following instructions to install it.
CAUTION
NEVER insert or remove an Option Card with the Control
AC Power (J1-5,6) active. Damage to the base SC900 or the
Option Card could occur.
Procedure 1. Remove Control AC Power from the SC900. The system
status LED should be blank.
2. Loosen the two locking screws counterclockwise on the
existing face plate or existing Option Card and remove.
3. Position the new Option Card so that the silk screen reads the
same as the base SC900.
4. Insert the Option Card by sliding it in all the way until it is
flush with the base SC900.
5. Tighten the two locking screws by turning clockwise.
Wiring
connections
Connect the motor, feedback, and AC Power cables as shown in
the following Connection Diagram but do not apply the AC
Power at this time. It is recommended that Pacific Scientific
motor and feedback cables be used during setup since improper
cabling is the number one cause of start up problems.
The RS-232 cable made by Pacific Scientific (order number
CS-232-750) can be used to connect the 9 pin serial port socket
on the OC950 to the PC. If this cable is unavailable, a simple 3
wire cable can be made using the wiring diagram shown on page
3-11.
The last connection needed is to provide the hardware enable to
the SC900 via J4-6 and I/O RTN on J4-5. Preferably connect a
toggle switch between J4-6 and J4-5. If a toggle switch is not
available a clip lead that can connect or not connect J4-6 to J4-5
will do.
2-2 MA950

Connection
diagram
MA950 2-3
1
2
3
4
5
6
7
8
9
ANALOG CMD +
ANALOG CMD -
COMMAND I/O
I/O RTN
SYSTEM
STATUS
MONITORING
ENABLE
LIMIT SWITCH
EXAMPLE
I/O RTN SC950
J4
BDIO 1 (FAULT RESET)
BDIO 6 (FAULT)
CHASSIS
GROUND
STUD
J1
AC POWER
1
2
3
4
5
6FROM OTHER
ELECTRONICS
CTRL VAC
CTRL VAC
(26)
(TB ADAPTER I/O RTN)
+5 VDC 25
24
23
22
20
CH Z OUT
CH Z OUT
I/O RTN/+5 VDC RTN
INCREMENTAL
SHAFT POSITION
OUTPUT
INCREMENTAL
POSITION
COMMAND
DAC MONITOR 1 (TRQ CUR)
DAC MONITOR 2 (VelFB)
BDIO 2 (CWINH)
BDIO 3 (CCWINH)
240 VAC
240/120 VAC
240/120 VAC
CH A OUT
CH A OUT
CH B OUT
CH B OUT
CH A IN/STEP +/STEP UP +
CH A IN/STEP -/STEP UP -
CHBIN/DIR+/STEPDOWN+
CHBIN/DIR-/STEPDOWN-
12
21
11
13
19
18
17
16
15
14
10
BDIO 4 (PROBE 1)
BDIO 5 (BRAKE/PROBE 2)
47 - 63 Hz
240/120 VAC
3
2
1
REGEN
J5
REGEN R
+BUS
-BUS
SC9x2/3/4
RESOLVER
D
A
E
F
G
H
PTC
PTC RTN
1
2
3
4
5
6
7
8
9
B
C
J3
J2
POWER
MOTOR
1
2
3
4A
B
C
D
PHASE R
PHASE S
PHASE T
CASE GND MOTOR
RESOLVER
R1 EXCIT
R2 EXCIT RTN
S1 SIN+
S3 SIN-
S2 COS+
S4 COS-
PACIFIC SCIENTIFIC
BRUSHLESS MOTOR
PTC
2
1-BUS
3
4
SC9x5
INT REGEN R
INT/EXT REGEN R
+BUS/EXTR
OPTION CARD
1POSITIONING
OC950-50X
9
PORT
SERIAL
J51
1J52
DIGITAL
I/O
25
J53LAN +
LAN - C
S
LAN
PACLAN
2.5 MBAUD (-503 & -504)
DIGITAL I/O
OPTO RACK)
(OR TO OPT
SERIAL COM
OCIO0-OCIO20
I/O RTN +5 VDC
I/O RTN +5 VDC
RS-232 RS-485

2.2 Installing 950IDE
Procedure To install 950IDE, perform the following:
1. Insert the 950IDE diskette in your disk drive (A: or B:).
Start Windows and choose Run from the File Menu of
Program Manager. At the Command Line, type
A:\ setup950 (or B:\ setup950) and press the
enter key (↵)or click on OK.
2. Windows will then ask you which drive (default is C) and
directory (default is \950Win) you want 950IDE installed in.
3. Windows will then ask you to select a Program Manager
Group (default is Pacific Scientific) that you would like the
icons placed in.
Note: When finished, the 950IDE disk should be removed from
the drive and stored in a safe place.
2.3 Starting 950IDE
Procedure To begin using 950IDE, perform the following:
1. If not already open, open the Pacific Scientific Group in
Program Manager. Double click on the 950 icon.
2-4 MA950

2.4 Getting Around in 950IDE
950IDE
main menu
Once you double-click on the 950 icon, the following window
will appear:
Movement keys 950IDE is a standard Windows application and the normal cursor
movement keys operate the same way as in all windows
applications.
•<F1> gives context sensitive on-line help
MA950 2-5

2.5 Configuring Your System
Applying AC
Power
Carefully check all wiring connections and ensure that J4-6 is not
connected to J4-5. Apply AC power to your controller. The
drive status display LED should be alternately flashing UC(for
unconfigured) after the power up message.
Serial Port To specify the PC serial port that is connected to the OC950:
1. Select Communications from the Options Menu and the
following dialogue box will appear:
2. Specify the serial port that you want to use.
3. Specify the baud rate that you want to use and click on OK.
4. Select Variables from the Compile Menu. Type BaudRate
in the Variable/expression box and press ↵.
5. If the current value is incorrect, <Tab> to the New Value box
and enter the desired baud rate.
2-6 MA950

2.6 Creating a New Program
Procedure Select New from the File menu and the following dialog box will
appear:
•Select the appropriate Motor Part Number from the
dropdown menu.
•Select the Drive you’re using (Example: SC953 )
•Select Medium
•Select an inertia ratio and click on OK.
•Select a filename (with a *.BAS extension) for your new
program, click on OK, and the following window will
appear:
MA950 2-7

You may now begin typing in your program. To create a simple
jog move, type in the following lines:
Note: The drive status display should now show a steady 0for
configured and not enabled.
The current loop has been properly compensated for the selected
motor, and the servo parameters have been set to a medium
response (approximately 75 Hz velocity loop bandwidth) for the
unloaded motor. Additional default settings have also been
implemented.
Note: For additional tuning, click on the on-line tuning
button in the toolbar and follow the on-line help.
2.6.1 Using Wizards
Introduction The following wizards have been added to the 950IDE to
facilitate creating programs:
•Select Case
•Modbus and A-B DF1 Map
•Interrupt Handler
•Move Command
•Cam Setup
2-8 MA950

Procedure To use a template to create a jog move, perform the following:
1. Select Move Command from the Wizards Menu and the
following window will appear:
2. Select the Velocity Move tab and enter the appropriate
parameters.
3. Click on OK.
MA950 2-9

The text will be inserted in the main program, below the cursor.
Enabling Drive The controller can be enabled at this time by closing the switch
between the Enable input (J4-6) and I/O RTN (J4-5). The
commanded motor speed will be the power up default, set to 0
during configuration.
WARNING
Before proceeding, the motor may need temporarily clamped
down to prevent inertial forces from displacing the motor.
2-10 MA950

2.7 Compiling a Program
The SC950 requires a compiled program to be downloaded via
serial communications. To compile a program:
Procedure 1. Select Compile from the Compile menu, press
<Ctrl - F5> or click on the Run icon.
Any error detected during compilation will abort further
compilation (after the error is encountered), display the
compilation status, and return to the program highlighting the
program line containing the error.
2. Make necessary corrections until program is compiled
successfully, and the Compiler Status indicates zero errors.
2.8 Run Program
To run the current program:
Procedure 1. Select Run from the Compile Menu, press <F5> or click on
the Compile icon.
MA950 2-11