THOMSON Omnidrive Series User manual

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Installation Manual for Models
ODM-005 and ODM-005i
ODM-010 and ODM-010i
ODM-020 and ODM-020i
OMNIDRIVE and OMNI LINK are trademarks of Thomson Industries, Inc.
Thomson Industries, Inc.
Port Washington, NY 11050
2 Channel Drive
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Product Notice
Use of OMNIDRIVEs
OMNIDRIVEs are intended for use as transistorized electronic amplifiers powering servo motors in machinery. As
such, they must be part of a controlled system that includes a controlling device. They are not intended to indepen-
dently control a motor. Instructions in the motor and control system manuals must be observed; this document does
not replace those instructions.
Unless specified otherwise, OMNIDRIVEs are intended for use in a normal industrial environment, installed in a
suitable electrical cabinet without exposure to excessive or corrosive moisture or abnormal ambient temperatures.
The exact operating conditions may be established by referring to the data for the drive. The connection and control
of drives in machinery is a skilled operation, disassembly or repair must not be attempted. In the event that a drive
fails to operate correctly, contact the place of purchase for return instructions.
Safety Notes
There are some possible hazards associated with the use of drives. The following precautions should be observed.
Specific Warnings and Cautions are listed in the Preface to the manual.
Installation and Maintenance: Installation and maintenance or replacement must be carried out by suitably qual-
ified service personnel, paying particular attention to possible electrical and mechanical hazards.
Weight: Large drives are heavy, the center of gravity may be offset and removable covers shield internal compo-
nents. When handling, take appropriate precautions and lift the equipment using permanent, fixed surfaces, such as
the base; avoid lifting the device using protective cover shields that may be loose. Beware of sharp edges; use protec-
tive gloves when handling such assemblies.
Flying Leads and Loose Cables: Ensure that flying leads or loose cables are suitably restrained, to prevent snag-
ging or entanglement, or are disconnected before carrying drives with such leads or cables.
Generation: If a motor is driven mechanically, it may generate hazardous voltages which are conducted from its
power input terminals to the drive. The power connector must be suitably guarded to prevent a possible shock hazard.
Loose Drives: When running an unmounted drive, ensure that the cooling fan is adequately guarded and sufficient
airflow is provided around the drive to ensure adequate cooling. The mounting surface of the drive is a heatsink and
its surface temperature may increase when the drive is operating. If a motor is connected to the drive, remove the key
which otherwise could fly out and restrain the motor before applying power to the drive.
Damaged Cables: Damage to cables or connectors may cause an electrical hazard. Ensure there is no damage
before energizing the system.
Supply: Drives connect to a permanent main power source; not a portable power source. Suitable fusing and circuit
protection devices are required. Consult the instructions and adhere to local and national regulations before connect-
ing and energizing the drive. Current limits must be set correctly when operating a ODM-075 using a single phase
power source.
Safety Logic Signals: Logic signals from the drive are interruptible signals; they are removed when power is
removed from the drive. Consult the manual for information on auxiliary power connections that may be employed
when these signals are used for safety purposes.
Safety Requirements: The safe incorporation of OMNIDRIVE products into a machine system is the responsibil-
ity of the machine designer, who should comply with the local safety requirements at the place where the machine is
to be used. In Europe this is likely to be the Machinery Directive, the ElectroMagnetic Compatibility Directive and
the Low Voltage Directive. In the United States this is likely to be the National Electrical Code.
Mechanical Connection: Drives must be installed inside an electrical cabinet that provides environmental con-
trols and protection. Installation information for the drive is provided in the manual and list the minimum installation
requirements for the drive are provided in the manual. Motors and controlling devices that connect to the drive should
have specifications that complement the capabilities of the drive.
Motors: Motors controlled by the drive should only connect to the drive; they should not connect directly to the AC
line. Use of custom motors requires the entering of a valid thermal time constant, otherwise the motor overload pro-
tection will not function properly.
Disposal: OMNIDRIVEs do not contain hazardous substances. They may be disposed of as mechanical scrap. You
may return the drive at your cost for disposal by us.
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Installation Manual for Models
ODM-005 and ODM-005i
ODM-010 and ODM-010i
ODM-020 and ODM-020i
Thomson Industries, Inc.
2 Channel Drive
Port Washington, NY 11050
516-883-8000 - main
516-883-9039 - fax
1-800-554-THOMSON - technical support
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-4
Copyright 1998 Thomson Industries, Inc. Printed in the U.S.A.
The information contained in this manual is subject to change without notice.
THOMSON is the registered in the U.S. Patent and Trademark Office and in the other countries.
OMNI LINK and OMNIDRIVE are registered trademarks of Thomson Industries, Inc.
Mathcad is a registered trademark of MathSoft, Inc.
Microsoft and MS-DOS are registered trademarks, and Windows is a trademark of Microsoft Corporation.
UL and cUL are registered trademarks of Underwriters Laboratories.
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Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i
Contents
IntroContents
Contents Intro-5
List of Figures Intro-11
List of Tables Intro-15
Preface Intro-17
WhoShouldUsethisManual................................. Intro-17
OMNIDRIVE Product Receiving
and Storage Responsibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Intro-17
ThomsonIndustriesSupport ................................. Intro-17
LocalProductSupport..................................... Intro-18
TechnicalProductAssistance................................. Intro-18
PurposeandContentsofthisManual............................. Intro-18
AdditionalInstructionsandManuals .............................. Intro-20
HostCommandsandOMNILINK.............................. Intro-20
TouchPad...........................................
Intro-20
SymbolsandConventions.................................... Intro-21
TypographicalandWordingConventions .......................... Intro-21
GraphicalSymbolsandWarningClassifications....................... Intro-22
CHAPTER 1 Safety
Installing and Using the OMNIDRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
SafetyClassifications........................................1-1
Potential Hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Your Responsibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
GeneralSafetyGuidelines.......................................1-3
CHAPTER 2 Selecting Other System Components
OMNIDRIVEOverview........................................2-1
OMNIDRIVEFeatures ........................................2-1
DrivePowerRatings ........................................2-1
HighPerformanceMicrocontrollerTechnology ..........................2-1
IPMTechnology...........................................2-1
Analog and Digital Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
EncoderControl...........................................2-2
EncoderOutput...........................................2-2
DigitalI/O..............................................2-2
AnalogI/O..............................................2-2
ACInputPower...........................................2-2
Personality Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Multiple Protection Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
SerialCommandSources......................................2-3
AnalogCommandSources.....................................2-3
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Intro-6 Contents
I/O Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
AnalogInput............................................ 2-4
AnalogOutput........................................... 2-4
DigitalInputs............................................ 2-4
ControlInputs........................................... 2-4
SelectableInputs.......................................... 2-4
DigitalOutputs............................................ 2-4
ControlOutputs .......................................... 2-4
SelectableOutputs......................................... 2-5
AuxiliaryEncoderInterface ..................................... 2-5
EncoderInputs........................................... 2-5
EncoderOutput........................................... 2-5
Autotuning..............................................
2-5
AgencyApprovals .......................................... 2-5
Interface Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
OMNILINKSoftware........................................ 2-5
Motors.................................................
2-6
EuropeanUnionRequirements.................................... 2-6
CHAPTER 3 OMNI LINK
Installation
HardwareandSoftwareRequirements................................ 3-1
Installing OMNI LINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
StartingandQuittingOMNILINK.................................. 3-2
TheOMNILINKStart-UpScreen................................. 3-3
VersionLevel ........................................... 3-3
TheReadmeFile.......................................... 3-4
MiscellaniousFiles.......................................... 3-4
FirmwareFiles........................................... 3-4
CHAPTER 4 Unpacking,
Inspecting, and
Storing
UnpackingtheDrive......................................... 4-1
InspectionProcedure......................................... 4-1
TestingtheUnit............................................ 4-2
HardwareSetUp.......................................... 4-3
DriveCheckoutTest........................................ 4-3
StoringtheUnit............................................ 4-6
CHAPTER 5 Installation
MechanicalInstallationRequirements................................ 5-1
Interface Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Wiring...............................................
5-4
Electromagnetic Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
ACLineFilters........................................... 5-6
CHAPTER 6 Interfaces
J1–Controller ............................................
6-1
DigitalI/OPower ......................................... 6-3
DigitalInputs............................................ 6-3
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Contents Intro-7
Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i
Input Interface Circuit Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
DigitalOutputs ...........................................6-8
AnalogInputs........................................... 6-13
AnalogOutputs ......................................... 6-15
MotorEncoderOutputSignals.................................. 6-16
IOUTSignalGeneration....................................... 6-17
Auxiliary Encoder Inputs Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
Interface Cable Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
J1TerminalStrip/BreakoutBoard ................................ 6-24
J2–Encoder ............................................ 6-25
J2TerminalStrip/BreakoutBoard ................................ 6-27
J5–SerialPort ........................................... 6-27
SerialCommunicationsOverview ................................ 6-28
RS-232Connections........................................ 6-28
FourWireRS-485Connections.................................. 6-30
CHAPTER 7 Power Connections
MotorPowerCabling........................................7-2
ShieldTerminationofPowerCables ...............................7-2
MotorOverloadProtection.....................................7-3
PowerSupplyProtection......................................7-3
EmergencyStopWiring.......................................7-4
ACPowerCabling .........................................7-5
DCBus ...............................................7-6
CHAPTER 8 Application and Configuration Examples
AnalogControl.............................................8-1
HardwareSetUp ..........................................8-1
ConnectionDiagram ........................................8-1
Configuration............................................
8-1
Tuning ...............................................8-3
Operation..............................................
8-4
PresetController............................................8-5
HardwareSetUp ..........................................8-5
ConnectionDiagram ........................................8-6
Configuration............................................
8-6
Tuning ...............................................8-8
Operation..............................................
8-8
PositionFollower(MasterEncoder)..................................8-9
HardwareSetUp ..........................................8-9
ConnectionDiagram ....................................... 8-10
Configuration...........................................
8-10
Tuning ..............................................
8-12
Operation.............................................
8-12
PositionFollower(Step/Direction) ................................. 8-13
HardwareSetUp ......................................... 8-13
ConnectionDiagram ....................................... 8-14
Configuration...........................................
8-14
Tuning ..............................................
8-16
Operation.............................................
8-16
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Intro-8 Contents
PositionFollower(StepUp/StepDown)...............................8-17
HardwareSetUp..........................................8-17
ConnectionDiagram .......................................8-18
Configuration............................................
8-18
Tuning...............................................
8-20
Operation..............................................
8-20
IncrementalIndexing.........................................8-21
HardwareSetUp..........................................8-22
ConnectionDiagram........................................8-22
Configuration............................................
8-22
Tuning...............................................
8-24
Operation..............................................
8-24
RegistrationIndexing ........................................8-26
HardwareSetUp..........................................8-26
ConnectionDiagram .......................................8-27
Configuration............................................
8-27
Tuning...............................................8-29
Operation..............................................
8-30
AbsoluteIndexing ..........................................8-31
HardwareSetUp..........................................8-31
ConnectionDiagram .......................................8-32
Configuration............................................
8-32
Tuning...............................................
8-34
Operation..............................................
8-34
ModifyingUserUnits.........................................8-35
ChangingtheDisplayUnitsSettings................................8-35
CHAPTER 9 Tuning
TuningGuidelines .......................................... 9-1
GeneralTuningRules....................................... 9-1
HighInertiaLoads......................................... 9-1
MechanicalResonance....................................... 9-1
Backlash..............................................
9-2
AutoTuneMode........................................... 9-3
AutoTuning............................................ 9-4
ManualTuneMode.......................................... 9-5
Gains................................................ 9-5
Filters................................................
9-6
ManualTuning........................................... 9-7
VelocityLoopTuningExamples ................................. 9-9
CHAPTER 10 Status Display
StatusIndicator............................................10-1
ErrorMessages............................................10-1
Run-TimeErrorCodes.......................................10-1
Power-UpErrorCodes.......................................10-2
CHAPTER 11 Maintenance and Troubleshooting
Maintenance .............................................
11-1
PeriodicMaintenance .......................................11-1
FirmwareUpgrading.........................................11-2
FirmwareUpgradeProcedureusingOMNILINK.........................11-2
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Contents Intro-9
Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i
Troubleshooting...........................................
11-3
ErrorCodes............................................ 11-3
RS-232CommunicationTest................................... 11-6
TestingDigitalOutputs...................................... 11-7
TestingDigitalInputs....................................... 11-8
TestingAnalogOutput ...................................... 11-8
TestingAnalogInput....................................... 11-9
TestingEncoderInputs...................................... 11-9
APPENDIX A TouchPad Instructions
InstallationandOperation.......................................A-1
TouchPadCommands.........................................A-3
SupplementalInstructions.......................................A-6
MotorSelection...........................................A-6
AnalogOutputScaling .......................................A-6
Displays...............................................
A-6
TouchPadOptions...........................................A-8
TouchPadLists.............................................A-9
APPENDIX B Creating Custom Motor Files
DriveandMotorFileConfigurationwithOMNILINK........................B-2
MotorParameterSet.........................................B-2
GeneralParameters.........................................B-4
FeedbackParameters........................................B-7
ElectricalParameters........................................B-9
RatingParameters..........................................B-9
ExampleofCustomMotorFileCreation.............................. B-12
Manufacturer'sData........................................ B-12
ParameterConversions...................................... B-13
CustomMotorFile ........................................ B-14
TroubleshootingCustomMotorFiles................................ B-14
APPENDIX C Electromagnetic Compatibility Guidelines for Machine Design
Introduction ..............................................
C-1
Filtering ................................................
C-2
ACLineFilterSelection ......................................C-2
Grounding...............................................
C-4
ShieldingandSegregation.......................................C-5
APPENDIX D Dynamic Braking Resistor Selection
Introduction ..............................................
D-1
DynamicBrakingEquations......................................D-1
SampleCalculations.........................................D-3
APPENDIX E Specifications
Power..................................................
E-3
PowerDissipation...........................................E-4
Index of Topics Help-1
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Intro-10 Contents
Our Warranty Help-7
DefectiveEquipment.......................................Help-7
ReturnProcedure.........................................Help-7
Product Support Help-9
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Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i
List of Figures
IntroList of Figures
CHAPTER 1 Safety
CHAPTER 2 Selecting Other System Components
CHAPTER 3 OMNI LINK
Installation
CHAPTER 4 Unpacking,
Inspecting, and
Storing
ConnectionDiagram....................................... 4-4
CHAPTER 5 Installation
ODM-005 and ODM-005i Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . 5-2
ODM-010, -010i, -020 and -020i Mounting Dimensions . . . . . . . . . . . . . . . . . . . . 5-3
MIF Single Phase AC Line Filter Mounting Diagram . . . . . . . . . . . . . . . . . . . . . . 5-6
PowerWiringDiagram...................................... 5-8
CHAPTER 6 Interfaces
DigitalInputCircuit ....................................... 6-3
DriveInputConnectedtoaSwitch/RelayContact........................ 6-6
DriveInputConnectedtoanOpto-Isolator............................ 6-6
DriveInputConnectedtoanActiveHighSourcingTransistor ................. 6-6
Drive Input Connected to Active Low Output using a Switch/Relay . . . . . . . . . . . . . . 6-6
Drive Input Connected to Active Low Output using an Opto-Isolator . . . . . . . . . . . . . 6-7
DriveInputConnectedtoSourcingOutput............................ 6-7
READYandBRAKE/DRIVEENABLEDCircuits....................... 6-8
DigitalOutputCircuit....................................... 6-9
BRAKE/DRIVEENABLEApplicationExamples........................ 6-9
DriveOutputConnectedtoanOpto-Isolator........................... 6-11
DriveOutputConnectedtoanLEDIndicator.......................... 6-11
DriveOutputConnectedtoaResistiveLoad........................... 6-11
DriveOutputConnectedtoaSwitch/Relay ........................... 6-11
Drive Output Connected to Active Low Input using a Switch/Relay . . . . . . . . . . . . . . 6-12
Drive Output Connected to Active Low Input using an Opto-Isolator . . . . . . . . . . . . . 6-12
DriveOutputConnectedtoActiveHigh(Sinking)Input .................... 6-12
ExternalCurrentLimitCircuit.................................. 6-13
Analog COMMAND Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
ANALOG 1 Output Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
Output Encoder Interface Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
J2BreakoutBoardAssembly-EuropeanUnionEMCCompliance............... 6-17
AuxiliaryEncoderInput..................................... 6-18
AuxiliaryEncoderInputCircuit................................. 6-18
External Encoder Interface via TTL Differential Line Drivers. . . . . . . . . . . . . . . . . . 6-20
Complementary Encoder Interface via 7406 Line Drivers with Pull-up Resistors. . . . . . . . 6-20
Complementary Encoder Interface via Standard TTL Logic. . . . . . . . . . . . . . . . . . . 6-21
Single-Ended Encoder Interface via Open Collector Transistor without Pull-up
(notrecommended) ...................................... 6-21
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Intro-12 List of Figures
Single-Ended Encoder Interface via Standard TTL Signals (not recommended) . . . . . . . 6-21
Single-Ended Encoder Interface via Open Collector Transistor with 5 VDC to 12 VDC Pull-up
(notrecommended)...................................... 6-22
Single-Ended Encoder Interface via Open Collector Transistor with 24 VDC Pull-up
(notrecommended)...................................... 6-22
External Step/Direction Interface via TTL Differential Line Drivers. . . . . . . . . . . . . . 6-23
External Step/Direction Interface via Single-Ended TTL Line Drivers
(notrecommended)...................................... 6-23
External CW/CCW (Step Up/Step Down) Interface via TTL Differential Line Drivers . . . . 6-24
External CW/CCW (Step Up/Step Down) Interface via Single-Ended Line Drivers
(notrecommended)...................................... 6-24
Motor Encoder Interface Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25
HallEffectSensorCircuit.................................... 6-25
OMNIDRIVEMotorEncoderConnections........................... 6-26
RS-232/485 Interface Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
RS-232ConnectionDiagrams.................................. 6-29
RS-485/RS-422 Communication Comparison . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
FourWireRS-485DaisyChainConnectionDiagram ..................... 6-32
CHAPTER 7 Power Connections
MotorPowerEMCShieldConnection............................. 7-2
EmergencyStopContactorWiring............................... 7-4
CHAPTER 8 Application and Configuration Examples
AnalogControllerConnectionDiagram ............................ 8-2
PresetControllerConnectionDiagram............................. 8-6
PositionFollower(MasterEncoder)ConnectionDiagram................... 8-10
Step/DirectionControllerConnectionDiagram......................... 8-14
StepUp/StepDownControllerConnectionDiagram...................... 8-18
IncrementalIndexingExamples................................. 8-21
IncrementalIndexingConnectionDiagram........................... 8-22
RegistrationIndexingExamples................................. 8-26
RegistrationIndexingConnectionDiagram........................... 8-27
AbsoluteIndexingExamples.................................. 8-31
AbsoluteIndexingConnectionDiagram ............................ 8-32
PCDisplayUnits–DefaultDialog............................... 8-35
CHAPTER 9 Tuning
VelocityLoopStructure..................................... 9-2
TorqueCurrentConditioningStructure............................. 9-3
SignalNomenclature ...................................... 9-9
UnderdampedSignal ...................................... 9-9
OverdampedSignal....................................... 9-10
CriticallyDampedSignal(IdealTuning)............................ 9-10
CHAPTER 10 Status Display
CHAPTER 11 Maintenance and Troubleshooting
APPENDIX A TouchPad Instructions
TouchPadConnectionandPinouts................................ A-1
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List of Figures Intro-13
Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i
TouchPadVersionNumberDisplay............................... A-2
TouchPad Command Tree (sheet 1 of 2) ............................ A-4
APPENDIX B Creating Custom Motor Files
ThomsonIndustriesMotorNamingConvention ........................ B-3
RequiredBack-EMFandHallSignalPhasingforClockwiseRotation............. B-3
PhasingoftheEncoderSignalsforClockwiseRotation..................... B-4
IndexOffsets........................................... B-7
HallOffsets ........................................... B-8
MotorThermalProtectionSoftwareMethod .......................... B-10
Back-EMFandHallSignals,ClockwiseRotation........................ B-12
APPENDIX C Electromagnetic Compatibility Guidelines for Machine Design
EMISource-VictimModel ................................... C-1
ACLineFilterInstallation.................................... C-3
SinglePointGroundTypes.................................... C-4
APPENDIX D Dynamic Braking Resistor Selection
APPENDIX E Specifications
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Intro-14 List of Figures
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Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i
List of Tables
IntroList of Tables
CHAPTER 1 Safety
CHAPTER 2 Selecting Other System Components
CHAPTER 3 OMNI LINK
Installation
CHAPTER 4 Unpacking,
Inspecting, and
Storing
CHAPTER 5 Installation
ODM-005 and -005i Mounting Dimensions................................5-2
ODM-010, -010i, -020 and -020i Mounting Dimensions .........................5-3
AC Line Filters for OMNIDRIVES.....................................5-5
MIF Single Phase AC Line Filter Engineering Specifications ......................5-6
CHAPTER 6 Interfaces
J1 Controller Pin-Outs ............................................6-2
General and Dedicated Inputs ........................................6-4
INPUT1, INPUT2, INPUT3 and FAULT RESET Functions ......................6-4
Operation and Override Mode Combinations ...............................6-5
Digital Input Specifications .........................................6-5
READY and BRAKE/DRIVE ENABLED Output Specifications ....................6-8
Selectable Output Circuits ........................................6-10
OUTPUT1 and OUTPUT2 Functions .................................6-10
Transistor Output Specifications .....................................6-10
Analog Inputs (I LIMIT)..........................................6-13
External Current Limit Imput Specification ...............................6-13
Analog Command Input ..........................................6-14
Analog Command Input Specifications..................................6-14
Analog Outputs: ANALOG 1 .......................................6-15
Analog Output Specifications .......................................6-15
Motor Encoder Output Signal .......................................6-16
Motor Encoder Output Specifications ..................................6-16
Motor Encoder Output Signal .......................................6-18
Quadrature Interface Specifications ................................... 6-19
Step/Direction and CW/CCW (Step Up/Step Down) Interface Specifications ...........6-23
J2- Motor Encoder Connector Pin-Outs .................................6-26
J5 – Serial Port Connector Pin-Outs ................................... 6-28
CHAPTER 7 Power Connections
TB1 – DC Bus and AC Power Terminal Block Connections .......................7-1
Motor Power Terminals ...........................................7-2
Motor Power Contact and Wire Size Recommendations .........................7-3
TB1 - AC Power Terminals .........................................7-5
AC Input Power Sizing Requirements ...................................7-5
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Intro-16 List of Tables
CHAPTER 8 Application and Configuration Examples
Preset Binary Inputs .............................................8-5
CHAPTER 9 Tuning
Velocity Loop Gains .............................................9-5
Position Loop Gains .............................................9-6
CHAPTER 10 Status Display
Run-Time Error Codes ...........................................10-1
Power-Up Error Codes ...........................................10-2
CHAPTER 11 Maintenance and Troubleshooting
Troubleshooting Guide ...........................................11-3
APPENDIX A TouchPad Instructions
TouchPad Fault/Error/Warning Displays .................................A-8
Option Selections for the TouchPad ....................................A-8
Drive Communications Parameter List for the TouchPad ........................A-9
Baud Rate Parameter List for TouchPad .................................A-9
Encoder Output Parameter List for TouchPad .............................. A-9
IO Mode Parameter List for TouchPad ..................................A-9
Index Pointer Parameter List for TouchPad ...............................A-9
Index Termination Parameter List for TouchPad .............................A-10
Home Type Parameter List for TouchPad ................................A-10
Homing Auto-Start Parameter List for TouchPad ............................A-10
Reverse Enable for Homing ........................................A-10
Digital Input Parameter List for TouchPad ................................A-10
Digital Output Parameter List for TouchPad ...............................A-11
Analog Output Parameter List for TouchPad ...............................A-11
Drive Status List for TouchPad ......................................A-11
Input Flags Parameter List for TouchPad .................................A-12
Output Flags Parameter List for TouchPad ................................A-12
APPENDIX B Creating Custom Motor Files
APPENDIX C Electromagnetic Compatibility Guidelines for Machine Design
APPENDIX D Dynamic Braking Resistor Selection
Dynamic Braking Resistor Parameters ..................................D-1
APPENDIX E Specifications
OMNIDRIVE Power Ratings .......................................E-3
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Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i
Preface
IntroPreface
Read this preface to familiarize yourself with the rest of the manual. This preface covers the following
topics:
• who should use this manual
• the purpose and contents of this manual
• storing the product
• related documentation
• conventions used in this manual
• safety precautions
Who Should Use this Manual
Use this manual if you are responsible for designing, installing, programming, or troubleshooting the
OMNIDRIVE family of products.
If you do not have a basic understanding of the OMNIDRIVE, contact your local Thomson representative
for information available on this product.
OMNIDRIVE Product Receiving
and Storage Responsibility
You, the customer, are responsible for thoroughly inspecting the equipment before accepting the shipment
from the freight company. Check the item(s) you receive against your purchase order. If any items are
obviously damaged, it is your responsibility to refuse delivery until the freight agent has noted the damage
on the freight bill. Should you discover any concealed damage during unpacking, you are responsible for
notifying the freight agent. Leave the shipping container intact and request that the freight agent make a
visual inspection of the equipment.
Leave the drive in its shipping container prior to installation. If you are not going to use the equipment
for a period of time, store it:
• in a clean, dry location
• within an ambient temperature range of -40 to 70°C (-40 to 158° F)
• within a relative humidity range of 5% to 95%, non-condensing
• in an area where it cannot be exposed to a corrosive atmosphere
• in a non-construction area
The “Drive Checkout Test” on page 4-3 is useful to verify that the unit is operating correctly after delivery.
Thomson Industries Support
Thomson Industries offers support services worldwide.
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Intro-18 Preface
Local Product Support
Contact your local Thomson representative for:
• sales and order support
• product technical training
• warranty support
• support service agreements
Technical Product Assistance
If you need to contact Thomson Industries for technical assistance, please review the information in the
Appendix , “Maintenance and Troubleshooting” first. Then call your local Thomson distributor. For the
quickest possible response, we recommend that you have the part and model numbers and/or software
revision level of your products available when you call. The Thomson Industries Technical Support
telephone number is listed on the back cover of this manual.
Purpose and Contents of this Manual
This manual is a user guide for the OMNIDRIVE. It gives you an overview of the OMNIDRIVE family
and describes the procedures you use to install, setup, use, and troubleshoot the OMNIDRIVE.
This manual provides instructions on how to setup and connect the OMNIDRIVE to a controlling device
and a motor. A OMNIDRIVE can operate in one of several different functional modes. The hardware
connections necessary to run the drive are detailed in this manual and basic software instructions are
provided for common setup procedures. For detailed explanation of software instructions, refer to the
comprehensive online instructions available in the OMNI LINK software.
The instructions in this manual detail how to install your OMNIDRIVE using OMNI LINK software with
a personal computer. If you are using a TouchPad device, abbreviated command titles are displayed but
the setup steps remain the same. If you are using the serial Host Command Language to control the drive,
comprehensive instructions are accessible through the Host Command Reference icon displayed in the
OMNI LINK window.
This manual is organized into numbered chapters and alphabetical appendices. The topics covered in each
chapter and section are briefly described. Typographical conventions, warning and cautions specific to
the drive, and complementary manuals are also described.
Title Description
Safety Lists general safety requirements that must be followed
when installing or servicing the drive.
Selecting Other System Components Identifies motors and signal types that are compatible
with OMNIDRIVEs.
OMNI LINK Installation Provides snapshot instructions for installing, accessing
and exiting OMNI LINK.
Unpacking, Inspecting and Storing Lists what should be included with your OMNIDRIVE
and instructs you on how to perform a basic functional
test before installing or storing the drive.
Installation Instructs you on how to physically install your OMNID-
RIVE.
Interfaces Each signal or set of signals is identified by:
• Power requirements for driving the signal.
• Functions performed by the signal.
• Specifications, including ON and OFF states.
• Schematic depictions of the circuit design for each sig-
nal type.
The signals are grouped by the connector on which they
are present.
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Preface Intro-19
Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i
• J1 - Controller Connector Diagrams depict the cable connections necessary for
common controller interfaces.
• J2 - Encoder Provides comprehensive information about the encoder
signals, Hall Effect switches and thermostat connections
available through this connector.
• J5 - Serial Port Diagrams and instructions detail how to communicate
with a drive using serial communications.
Power Connections Provides information on making motor power, DC bus
and AC Power connections.
Application and Configuration Examples Describes the hardware and software set up necessary
to install the drive as one of the following types operating
in a specific mode:
• Analog Control • Velocity or torque mode
• Preset Controller • Velocity or torque mode
• Position Follower (Master Encoder) • Velocity mode
• Position Follower (Step/Direction) • Velocity mode
• Position Follower (Step Up/Step Down) • Velocity mode
• Incremental Indexing • Velocity mode
• Registration Indexing • Velocity mode
• Absolute Indexing • Velocity mode
Tuning Provides instructions on how to tune a drive and motor
combination using the autotuning or manual tuning fea-
tures in OMNI LINK.
Status Display Discusses the Status LED indicator on the front panel.
Operating or Error Messages accessible through the
TouchPad or a PC are explained.
Maintenance and Troubleshooting Describes the minimal maintenance necessary with the
OMNIDRIVEs and provides a comprehensive trouble-
shooting chart of potential problems and their solutions.
Touchpad Instructions Describes how to program an OMNIDRIVE using the
optional TouchPad device. Tables reference the various
motor types that are programmed to work with the
OMNIDRIVE. A copy of the TouchPad Command
Tree card for the current firmware version is bound into
the manual.
Creating Custom Motor Files Describes how to create a custom motor file for use with
an OMNIDRIVE.
Electromagnetic Compatibility Guidelines Describes common electrical noise problems and sug-
gests methods to ensure ElectroMagnetic Compatibility.
Dynamic Braking Resistor Selection Provides equations to assist in sizing resistors for
dynamic braking.
Specifications Details the design and operational specifications for the
OMNIDRIVEs in a tabular format.
Warranty Provides a synopsis of the warranty coverage and how
to obtain warranty assistance.
Product Describes the product assistance available, and lists
telephone numbers for product assistance and addi-
tional on-line information.
Title Description
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