Parker Compumotor AX User manual

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Compumotor Division
Parker HannifinCorporation
pin
88-006938-03 E
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CONTENTS I
Table of Contents
...............................................................................................
CONTENTS I
.............................................................................................................
Table of Contents i
..................................................................................................................
List Of Figures iv
...................................................................................................................
List Of Tables v
...................................................................................................
HowTo Use This Manual vi
........................................................................................................
Assumptions vi
........................................................................................
Contents of This Manual vi
............................................................................................
InstallationProcessOverview vii
.................................................................................
Developing Your Application vii ...
................................................................................
Installation Recommendation VIII ...
........................................................................................................................
Key Terms VIII
.................................................................................................................... Conventions x
...................................................................................................
Highlighted Text x
Warnings (PersonalInjury)
& Cautions(SystemDamage) ......................................... xi
..................................................................................................................
Levels xi
.........................................................................................................
Related Publications xi
......................................................................... Chapter 1 . INTRODUCTION 1
............................................................................................................. Chapter Objective 1
Product Description .......................................................................................................... 1
Product Features .............................................................................................................. 2
Theory of Operation .......................................................................................................... 3
Chapter 2 . GETTING STARTED .................................................................... 5
Chapter Objectives ........................................................................................................... 5
What You ShouldHave ..................................................................................................... 5
Ship Kit Table ....................................................................................................... 5
Basic System Configuration ............................................................................................... 6
InstallationLabel ................................................................................................... 6
Setting Drive Functions ......................................................................................... 6
BascSystemWiring Diagram ................................................................................. 8
TransformerConnections (Optional) ...................................................................... 9
Motor Connections ............................................................................................... 10
Power Connections .............................................................................................. 10
EstablishCommunications .................................................................................... 11
Poweringup the System ....................................................................................... 12
DeactivateLimit Inputs .......................................................................................... 12
Testing the System ............................................................................................... 13
Chapter 3 .
INSTALLATION .......................................................................... 15
Chapter Objectives ........................................................................................................... 15
Complete SystemConfiguration ........................................................................................ 15
Setting Drive Output Current ................................................................................. 16
Setting IndexerAddress ...................................................................................... 16
Environmental Considerations ........................................................................................... 17
.............................................................................................................
System Mounting 17
Motor Mounting .................................................................................................... 17
Drive Mounting ..................................................................................................... 18
Encoder Mounting ................................................................................................ 20
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I i AX DRIVE USER GUIDE
........................................................................................................
System Connections 21
................................................................................
.........
Wiring Guidelines ... 21
System Pinouts
.................................................................................................... 23
........................................................................................
Extending Motor Cables 24
......................................................................
TransformerConnections (Optional) 24
Power Connections
.............................................................................................. 24
..................................................................................................
Fan Connections 24
...........................................................................................
Encoder Connections 25
..........................................................................................
RS-232C Connections 26
.....................................................................................
Daisy-ChainConnections -26
..................................................................................................
I10 Connections 27
VerifyingProper Installation ............................................................................................... 31
Verifying RS-232 Link
........................................................................................... 31
...............................................................................................
Open-Loop Moves 32
Closed-Loop Moves
............................................................................................. 35
Inputs
& Outputs .................................................................................................. 39
Couplingthe Load
................................................................................................ 41
Chapter 4. APPLICATION DESIGN ................................................................ 43
Chapter Objectives ........................................................................................................... 43
Motion Control Concepts
.................................................................................................. 43
Move Profiles
....................................................................................................... 43
Move Times
.......................................................................................................... 45
Incrementalvs
. Absolute Positioning Modes .......................................................... 46
PositionalAccuracy vs
. Repeatability ...................................................................... 48
Application Considerations
................................................................................................ 49
Mechanical Resonance
......................................................................................... 49
Ringing or Overshoot
............................................................................................ 49
Modes
of Operation .......................................................................................................... 50
Open Loop Operation
........................................................................................... 50
Closed Loop Operation
......................................................................................... 54
ProgramControl
............................................................................................................... 61
Triggers
............................................................................................................... 61
Delays
.................................................................................................................. 61
Loops .................................................................................................................. 62
POBs (ProgrammableOutput Bits)
......................................................................... 63
MoveCompletionSignal
....................................................................................... 63
Sequences
.......................................................................................................... 64
Stand-alone Operation
.......................................................................................... 66
Host Computer Operation
..................................................................................... 68
PLC Operation
..................................................................................................... 74
Model 72 (Thumbwheel) Operation
........................................................................ 76
Tuning Procedure
............................................................................................................. 76
Chapter 5 . SOFTWARE REFERENCE ............................................................ 81
Chapter Objectives ........................................................................................................... 81
Command Descriptions
....... :. ........................................................................................... 81
Command Listing
.............................................................................................................. 84
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CONTENTS
..........................................................
Chapter 6 . HARDWARE REFERENCE 65
...........................................................................................................
Chapter Objectives 165
EnvironmentalSpecifications............................................................................................165
System Specifications
....................................................................................................... 166
AX Drive Specifications ......................................................................................... 166
Motor Specifications (Compumotor-Supplied)
........................................................ 167
Inputs and Outputs
............................................................................................... 168
Non-Compurnotor Motor Connections...............................................................................174
DeterminingThe 4-Lead Wiring Configuration
........................................................ 174
DeterminingThe 6-LeadWiring Configuration
........................................................174
DeterminingThe 8-Lead Wiring Configuration
........................................................ 175
Terminal Connections
........................................................................................... 176
Factory Default
DIP SwitchSettings ................................................................................... 177
Current Settings
................................................................................................... 177
Address Settings
.................................................................................................. 178
DimensionalDrawings
....................................................................................................... 179
AX Driveand FanDimensions ................................................................................ 179
Motor Dimensions
................................................................................................. 180
Torque/Speed Curves...................................................................................................... 185
Special MotorWiring
......................................................................................................... 187
Wiring The 106-205 Motor
.....................................................................................187
Wiring The 106-178 Motor
..................................................................................... 188
Chapter 7 . MAINTENANCE
& TROUBLESHOOTING .......................................... 189
Chapter Objectives
........................................................................................................... 189
Maintenance
.................................................................................................................... 189
Spare Parts Table
................................................................................................. 189
Motor Maintenance
............................................................................................... 190
Drive Maintenance................................................................................................190
Troubleshooting
............................................................................................................... 190
Reducing Electrical Noise
...................................................................................... 194
RS-232CCommunicationsTroubleshooting
.......................................................... 199
ReturningThe System......................................................................................................200
APPENDICES
............................................................................................ 201
Command Listing..............................................................................................................201
ASCII Table
...................................................................................................................... 203
Glossary
........................................................................................................................... 205
Index ..............................................................................................................................
209
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iv AX DRIVE USER GUIDE
List Of Figures
Figure 1.1 .
AX DriveSystem FunctionalBlock Diagram ................................................................ 3
Figure2.1
. DIPSwitchLocation.................................................................................................6
.............................................................................................
Figure2.2 . System Wiring Diagram 8
Figure2.3
. Transformer Connections(Optional) ......................................................................... 9
Figure2.4 . RS-232C InterfaceConnections
............................................................................... 12
Figure3.1 .
Figure3.2 .
Figure3.3 .
Figure3.4 .
Figure3.5 .
Figure3.6 .
Figure3.7 .
Figure3.8 .
Figure3.9 .
Figure 3-10.
Figure 3-11 .
Figure3-12.
Figure3.13 .
.................................................................................................
DIPSwitch Location 15
..........................................................................................
PanelLayout Guidelines 19
....................................................................................
Minimum-Wih PanelMount 19
...................................................................................
Minimum-DepthPanel Mount 20
..........................................................................
Mountingthe Encoder to the Motor 21
AX Drive Pinouts
...................................................................................................... 23
...................................................................................
Encoder Connection Diagram 25
...............................................................................................
Encoder Input Circuit 26
.........................................................................................
Daisy-ChainingAX Drives 26
....................................................................................................
I10 Wiring Diagram 27
....................................................................................................
Typical I10 Circuits 27
..............................................................................................
Current Boost Circuits 30
..............................................................................................
Output Connections ..30
Figure4-1
.
Triangular Profile ...................................................................................................... 44
Figure4.2 . TrapezoidalProfile................................................................................................... 44
Figure4.3
.
S-Curve Profile ........................................................................................................ 45
Figure 4.4
. PLC Connections....................................................................................................74
Figure 4.5 . AX DIP Switch and Tuning Pot Locations................................................................... 79
Figure5.1
. Command Example .................................................................................................. 81
Figure6-1.
AX Drive PinoutsandConnectors ............................................................................. 168
Figure6-2
.
OpticalIsolationCircuit ............................................................................................. 171
Figure6-3. VO Wiring Diagram(TestingOnly)
.............................................................................. 172
Figure6-4. Encoder I10Wiring Diagram
...................................................................................... 172
Figure
6-5 .
AX Encoder ConnectorI10Circuit Diagram ................................................................ 173
Figure6-6
. Motor Wiring Diagram (Non-CompumotorMotors)
................................................... 176
Figure6-7
. AX Dimensional Drawing
........................................................................................... 179
Figure6-8
.
NEMA Size 23 MotorDimensions ............................................................................. 180
Figure6-9
.
NEMA Size34 Motor Dimensions ............................................................................. 181
Figure 6.10 . NEMA Size 42 (AX 106-120) Motor Dimensions
......................................................... 182
Figure 6-11
. NEMA Size 42 (AX 106-178) Motor Dimensions ......................................................... 183
Figure 6-12
. NEMA Size 42 (AX 106-205) Motor Dimensions ................................................... 184
Figure 6-13
. Wiring Diagram, 106-205 Motor ................................................................................. 187
Figure 6-14
. Wiring Diagram, 106-178 Motor .................................................................................. 188
Figure7.1 . Noise Suppression Devices
..................................................................................... 194
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CONTENTS v
List Of Tables
Table 2-1
Table 2-2
Table 2-3
Ship Kit
........................................................................................................................ 5
......................................................................................
Cornpumotor-SuppliedMotors 5
Motor Current Settings for Compumotor-SuppliedMotors
............................................... 7
Table 3.1
. DIP Switch Functions ............................................................................................. 16
I .
.
I
Table 3-2
Table 3-3
Table 3-4
Table
3-5
Table 4-1
Table 4-2
Table 4-3
Table 6.1 .
Table 6.2 .
Table 6.3 .
............................................................................................
ValidAX Address Settings 16
EnvironmentalSpecifications
........................................................................................ 17
................................................................................................
ExtendedMotor Cables 24
.......................................................................................
MotorWire ResistanceValues 24
...............................................................................................
Motor-to-encoderRatios 54
...............................................................................................
SequenceSelect Inputs 66
..................................................................................................
AX WaveformSettings 80
...................................................................................
AX EnvironmentalSpecifications 165
.................................................................................................
AX Drive S~ecifications 166
..................................................................
Compumotor-SuppliedMotor Specifications 167
............................................................................................................
Table 6.4 . Encoder Pinout 169
.....................................................................................
Table 6.5 . Interfaceand I10 Specifications 170
Table 6.6 . Encoder It0Specifications
............................................................................................ 170
...........................................................................................
Table 6.7 . Sequence SelectionTable 171
Table 6.8 . DipSwitch Functions
.................................................................................................... 177
.......................................................
Table 6.9 . Current Settingsfor Compumotor-SuppliedMotors 177
Table 6-10
. Motor Current Settings (Full Range)
........................................................................... 178
............................................................................................
Table 6-11 . Device Address Settings 178
............................................................................................
Table 6- 12. AX 106-205Motor Wiring 187
............................................................................................
Table 6-13. AX 106-178 Motor Wiring 188
Table 7.1 . RecommendedSpare Parts for the AX System
............................................................... 189
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VI AX DRIVE USER GUIDE
How To Use This
Manual
Assumptions
Contents of This
Manual
CHAPTER 1 :
INTRODUCTION
CHAPTER
2:
GETTING STARTED
CHAPTER
3:
INSTALLATION
CHAPTER
4:
APPLICATION
DESIGN
CHAPTER
5:
SOFTWARE
REFERENCE
CHAPTER
6:
HARDWARE
REFERENCE
Thismanual is designed to help you install, develop, and
maintain your system. Each chapter beginswith a list of
specific objectivesthat should be met afteryou have read the
chapter. This sectionis intended to helpyou find and use the
information
in this manual.
Thisuser guide assumesthat you have the skillsor
fundamental understanding of the following information:
IBM (orIBM-compatible)computer experience
Basic electronicsconcepts (voltage,switches, current, etc.)
Basic motion control concepts (torque.velocity, distance,
etc.)
Basic serial communication concepts (specifically RS-
232C)
With this basic level of understanding, you will be able to
effectively use this manual to install. develop, and maintain
your system.
This user guide contains the following information.
This chapter provides a descriptionof the product and a brief
account of its specificfeatures.
This chapter contains a detailed list of itemsyou should
receive with your
AX Drive shipment. It will help you to
become familiarwith the system and ensure that each
component functions properly. You will learn how to
configure the system properly in this chapter.
This chapter provides instructions for you to properly mount
the system and make all electrical and non-electrical
connections. Upon completionof this chapter, your system
should be completely installed and ready to perform basic
operations.
This chapter will help you customize the systemto meet your
application's needs. Important application considerations
are discussed. Sampleapplicationsare provided.
This chapter explains Compumotor'sX-Series programming
language
in detail. It describescommand syntax and system
parameters that affect command usage.
An alphabetical
listing of all commands, including individual command
descriptions.
Is included.
This chapter contains information on system specif'ications
(dimensionsand performance). This chapter may be used as
a
quick-referencetool for proper switch settings and 1/0
connections.
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CONTENTS vii
CHAPTER 7:
This chapter describes Compumotor'srecommended system
MAINTENANCE &
maintenance procedures. It alsoprovides methods for
TRoUBLEsHooT'Na
isolating and resolving hardware and software problems.
1 nstal!at jon Process
TOensure trouble-free operation,you should pay special
Overview
attention to the following:
The environment in which the AX Drive system will
operate
The system layout and mounting
The wiring and groundingpractices used
These recommendationsare intended to help you easilyand
safely integrate
AX Drive equipment into your manufacturing
facility. Industrial environments often contain conditions
that may adverselyaffect solid state equipment. Electrical
noise and atmospheric contamination may also affect the
AX
Drive System.
Developing Your Before you attempt to develop and implementyour
Application
application,there are several issues that you should consider
and address.
1. Recognize and clarify the requirements of your
application. Clearly definewhat you expect the systemto
do.
2. Assessyour resources and limitations. Thiswill help you
find the most efficient and effective means of developing
and implementing your application.
3. Follow the guidelinesand instructions outlined in this
userguide.
Do not skip any step <m procedures. Prr,per
installation and implementationcan only be ensured
if
all proceduresare completed in the proper sequence.
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viii AX DRIVE USER GUIDE
/nsta//ation
Beforeyou attempt to installthis product.you should
Recommendafion complete the following steps:
1. Review this entire manual. Become familiarwith the
manual's contents sothat you can quickly
find the
informationyou need.
2. Develop a basic understanding of all systemcomponents,
their functions. and interrelationships.
3. Complete the basic system configuration and wiring
instructionsprovided
in Chapter 2. GettingStarted.
NOTE: This is a preliminary con&uration not a
permanent installa
tion, usually performed in a bench-top
environment.
4. Perform asmany basic moves and functions asyou can
with the preliminary configuration. You can perform this
task only
if you have reviewed the entire manual. You
should
try to simulate the taskls)that you expect to
perform when you permanently install your system.
However, do not attacha load at this time. This will give
you a realisticpreview of what to expect from the complete
configuration.
5. After you have tested all of the system'sfunctionsand used
or become familiar with all of the system's features,
carefully read Chapter
3, Installation.
6. Afteryou have read Chapter 3 and clearlyunderstand
what must be done to properly installthe system,you
should begin the installation process. Do not deviate from
the sequence or installation methods provided.
7. Beforeyou begin to customizeyour system, checkall of the
systemfunctionsand features to ensurethat you have
completed the installation process correctly.
The successful completion of these steps
will prevent
subsequent performance problems and allow you to isolate
and resolve any potential system difficultiesbefore they
affect your system's operation.
Key Terms
You should read and understand these terms and definitions
before reading Chapter 1. Additional terms used in this user
guide
are defined in the Glossary.
BCD
Binary coded decimal. A system of representing decimal
numbers with binary numbers.
Bipolar
The Drive current is bi-directionalthrough each motor phase.
There
are two motor phases: Phase A (A+/A-) and Phase B
(B+/B-1.
Brownout
Low-linevoltage at which the device no longer functions
properly.
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