Upload
electromate
View
317
Download
3
Tags:
Embed Size (px)
Citation preview
3/30/2009 1
DriveWare™ and Digiflex® Performance™Servo Drives Overview
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 2
Agenda
Digiflex Peformance OverviewDriveWare Overview
SetupConfigurationDiagnostic and Troubleshooting
DriveWare TrainingSetup
Network TypeMotor InformationFeedback InformationCommutationCommand TypeControl Mode(s)
ConfigurationGains (Current, Velocity and Position)Limits, Power-Up, BrakeEvents and ActionsInputs/Outputs (Analog and Digital)HomingUser Units
DriveWare Training Cont.Diagnostics and Troubleshooting
ScopeMultimeterDrive StatusCommand StatusInput/Output StatusPhase DetectAutocommWaveform GeneratorPVT GeneratorStatus Bar
Updates and Thank You!
*If you have Questions during the presentation…
…please type them in the question area on the GoTo Webinar toolbar.I will then answer them during the presentation. ELECTROMATE
Toll Free Phone (877) SERVO98Toll Free Fax (877) SERV099
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 3
Product Line Overview – Standard Products
Digiflex Performance – Common Firmware and Common GUIDP Series – Panel MountDZ Series – PCB Mount
SOFTWARE HARDWARE SYSTEMS
DRIVEWARE™
SERVO DRIVES POWER SUPPLIES
MOUNTING CARDS
SHUNT REGULATORS FILTER CARDS QUICKSTART
ANALOG
DIGITAL
ANALOG INPUT
PWM INPUT
SINUSOIDAL INPUT
DP
DZ
AZ
TRADITIONAL CONVENTION
DIGIFLEX® PERFORMANCE™
ADVANCED MOTION CONTROLS PRODUCT LINE
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 4
Digiflex® Performance™ Capabilities
20-80 10-80 40-190 20-80 40-190 20-80 20-80
100-240 100-240200-480
100-240200-480 200-240
12 20 15 20 25 30 40 60 1006 12 7.5 10 12.5 15 20 30 50
100-24020-80
100-240
AC - Nominal Range (Vac)
Voltage Ratings
PeakContinuous
Current Ratings (Adc)
DZ DP
DC - Nominal Range (Vdc)
Auxiliary CommunicationRS-232
DPQxxxx
Primary Communication
CANopenSynqNet
DZCxxxx-
DZRxxxxRS-485/232 DPRxxxxDPCxxxx
Command Sources+/-10 V Analog DPCxxxx, DPRxxxx
DZRxxxx DPxALxx+24V Step and Direction - DPxAHxx
Primary Feedback
PWM and DirectionOver the Network
Encoder Following+5V Step and Direction
Absolute Sin/Cos Encoder
3Programmable Digital Outputs
1 Vp-p Sin/Cos EncoderResolver
Tachometer (+/-10 Vdc)
Motors Supported
Programmable Analog Outputs -
Programmable Digital Inputs
1
Position
Brush
Linear BrushlessLinear AC Induction
Digital and Analog I/O (consult drive datasheet for specific DP I/O)
Modes SupportedCurrent
Velocity
DPxxxxADPxxxxSDPxxxxR
---
AC Induction
2
6, 8, or 104
3 or 41 or 2
0, 2 or 3
5
Programmable Analog Inputs
High Speed Captures
DPxxxxE
Agency ApprovalsUL, cUL
DPxxxxE, DPxxxxSDPxxxxE
Hall Sensors onlyIncremental Encoder only
DPCANxx, DPRxxIx
Brushless
CE Class A (LVD), CE Class A (EMC)RoHS
Auxiliary FeedbackAuxiliary Incremental Encoder
Incremental Encoder w/ Hall Sensors
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 5
Digiflex® Performance™ Capabilities – cont.
Control Mode Command Source Feedbacks Supported DZCA
NTE
DZRA
LTE
DPCA
NIA
DPCA
NIE
DPCA
NIR
DPCA
NIS
DPCA
NTA
DPCA
NTE
DPCA
NTR
DPCA
NTS
DPRA
HIA
DPRA
HIE
DPRA
HIR
DPRA
HIS
DPRA
LTE
DPRA
LTR
DPRA
NIE
DPRA
NIR
DPRN
LIE
DPRN
LIR
DPQN
NIE
DPQN
NIR
Torque Analog Input+5V Step and Direction+24V Step and DirectionPWM and Direction
Analog Input+5V Step and Direction+24V Step and DirectionPWM and Direction
Hall SensorsIncremental EncoderTachometer (+/-10 Vdc)ResolverAbsolute EncoderSin/Cos Encoder
Analog Input+5V Step and Direction+24V Step and DirectionPWM and DirectionEncoder FollowingPVT
+/-10Vdc Analog PositionIncremental EncoderResolverAbsolute EncoderSin/Cos EncoderAuxiliary Encoder (Dual Loop)
Velocity
Torque
Position
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 6
Digiflex® - Customs Capabilities
ADVANCED Motion Controls has the capability to promptly develop and deliver custom servo drive solutions outside of the standard product range
Optimized Footprint Tailored Project File Private Label Software Silkscreen Branding OEM Specified Connectors Optimized Base Plate No Outer Case Increased Current Limits Increased Current Resolution Increased Voltage Range Increased Temperature Range Conformal Coating Custom Control Interface Multi-Axis Configurations Integrated System I/O Reduced Profile Size and Weight
Examples of Customized Products
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 7
DriveWare™ Overview
DriveWare is a GUI used primarily for:
Setup and Configuration of servo systemDiagnostics and Troubleshooting of servo system and/or machine
DriveWare InformationManualHelp File
Setup (describe the system around the drive)
Network TypeCommand TypeMotor InformationFeedback InformationCommutationControl Mode(s)
Configuration (set the levels or the parameters in the drive)
GainsLimits, Power-Up, BrakeEvents and ActionsInputs/Outputs (Analog and Digital)HomingUser Units
Diagnostics and TroubleshootingScopeMultimeterDrive StatusCommand StatusInput/Output StatusAutoCommutationWaveform GeneratorPVT GeneratorStatus Bar
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 8
DriveWare – Where to get it?
DriveWare SoftwareDownload at: http://www.a-m-c.com/content/prods/descriptions/drives/digitaldp.htmlDocumentation
ReadMe – System RequirementsRelease Notes – Incremental Changes Between ReleasesHelp File
DriveWare ManualDownload At: http://www.a-m-c.com/content/prods/descriptions/drives/digitaldp.htmlContent of Manual and Help File are identical.
DriveWare PresentationDownload At: http://www.a-m-c.com/amcrep
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 9
Workspace Overview
The Tool Bar is used for quick access to commonly used functions and tools
The Status Bardisplays the drive communication status, current Hot Key setting, and bridge status.
The Block Diagramapplication window is used to navigate to the Setup and Configuration Windows.
The Command Tool Bar is used to control the bridge state and to stop motion.
The Menu Bar is used to navigate to the Setup and Configuration Windows as well as perform software functions.
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 10
Block Diagram
The Block Diagram window provides access to tools, functions, and drive status to help configure the drive
Control Loops Configuration SettingsDrive Status
Primary use is for Navigating through software to get access to drive parameters
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 11
Toolbars
The Toolbars provides shortcuts to setup and configuration windows, DriveWare settings, and general software functions
Standard ToolbarOpenSaveConnect/Connection SettingsDisconnectStore to NVMWizardUser UnitsOscilloscopeMultimeterPVT GeneratorContext Help
Command ToolbarEnable/DisableStart/Stop Motion
Command Toolbar
Standard Toolbar
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 12
Menu Bar
The Menu Bar provides shortcuts to Setup and Configuration windows as well as general software functions.
File MenuOpen/Save FilesWizardExit
Drive MenuEnable/DisableConnect/DisconnectStore to Drive/Restore from DriveFirmware Download
ToolsScope/TuningMultimeterPVT Generator
SettingsUser UnitsHot Key SettingsDrive NameCANopen Settings
ViewDrive StatusEvent Logs
Critical Event ActivityEvent Counters
ToolbarsStandardCommand
WindowCascade/Tile Windows
HelpDriveWare Help File What’s This? Context HelpAbout the Drive/DriveWare
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 13
Status Bar
The Status Bar displays the drive operation status
Bridge StateConnection StateInterface Access State
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 14
Setup – Project Files
Setup of the Drive can be started by:
Opening Existing Project (.adf)Connecting to Drive with Default Project FileConnecting to Drive and Use Setup Wizard
Default Project FileFile (.adf) with Default Factory Parameters
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 15
Setup – Network Type
This is the window used to setup how DriveWare is going to connect to the Drive
The setup information can used to help configure the host
Communication TypesRS232RS485SynqNetEthernet (Future)USB (Future)
Aux. Comm. Only
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 16
Setup – Motor
This window is used to enter motor information or select motor from User database
Motor TypesBrushBrushlessAC InductionLinear BrushlessLinear AC Induction
UnitsThe units entered are independent of User Units
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 17
Setup – Feedback
This window is used to enter in feedback information or select feedback from User database
Feedback TypesEncoder OnlyHalls OnlyEncoder with HallsAbsolute
HiperfaceEnDat 2.1 (requires 1Vpp signals)
SIN/COSSIN/COS with HallsResolver
UnitsThe units entered are independent of User Units ELECTROMATE
Toll Free Phone (877) SERVO98Toll Free Fax (877) SERV099
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 18
Setup – Commutation
There are two primary methods for commutation
Phase DetectAutoCommutation
Phase DetectThis method is used when no commutation signals (i.e. Halls) are availableMust be done after every power-up
AutoCommutationOnly needs to be done one time during setup.Information is stored in project file (.adf)
Brush MotorsJust select which two Motor Phases are used for external commutation
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 19
Setup – Command Type
This window is used to select the Command Source
Command Source TypesNo CommandAnalog InputStep & DirectionPWM & DirectionEncoder FollowingPVTInterface InputCommunication Channel
Command LimiterControls the rate of change of the input command signal as seen by the drive
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 20
Setup – Control Mode(s)
A control mode describes the loop closure, command input and feedback
Torque ModesAnalog InputStep and DirectionPWM Direction
Velocity ModesAnalog InputStep and DirectionPWM DirectionFeedbacks Supported
Motor Feedback*HallsAnalog Input
Position ModesAnalog InputStep and DirectionPWM DirectionEncoder FollowingPVTFeedbacks Supported
Motor Feedback*Analog InputAux. Encoder (Dual Loop)
*Motor Feedbacks can be Encoder, Absolute or SIN/COS
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 21
Configuration – Current Loop
This window is used to adjust the Current Loop gains
Gains SupportedProportionalIntegral
Calculate GainsUse this feature to determine the Current Loop gains based on entered motor parametersProvides a starting point for gains adjustments
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 22
Configuration – Velocity Loop
This window is used to adjust the Velocity Loop gains
Gains SupportedProportional GainIntegral GainDerivative GainFeedforward Gain
Additional FeaturesFeedback Filter Cut Off Frequency
Reduces velocity rippleLow Speed Smoothing
Stabilizes the velocity loop during low-speed movementReduces jitter when the Position Loop is tuned around the Velocity Loop
Integrator DecayPrevents a high current command in high stiction applications
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 23
Configuration – Position Loop
This window is used to adjust the Position Loop gains
Gains SupportedProportional GainIntegral GainDerivative GainVelocity Feedforward GainAcceleration Feedforward Gain
Additional FeaturesIntegrator Decay
Prevents a high current command in high stiction applications
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 24
Configuration – Limits and Options
This window is used for configuration of Drive and System Limits to prevent damage to components or machine
Drive Current Limits*Voltage LimitsVelocity LimitsPosition LimitsTemperature Limits
*Drive Current limits will automatically be limited by the values entered in the Motor and Feedback window to prevent system damage ELECTROMATE
Toll Free Phone (877) SERVO98Toll Free Fax (877) SERV099
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 25
Configuration – Power-Up Control
The Power-up Control tab configures drive actions upon power-up
Power-up ActionSelects what target position to load as the home position
Bridge State On Power-upProvides user control over whether the power bridge will be automatically enabled or disabled upon power-up
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 26
Configuration – Braking/Stop
The Braking/Stop tab allows configuration of external brake actions and deceleration limts
External BrakingSet time delays between braking and enabling/disabling the drive.
Stop Deceleration LimitSets the Position and Velocity Modes deceleration limits for all stop actions
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 27
Configuration – Event Manager
The Event Manager feature allows the user to configure how the drive will react to certain system events
Drive ProtectionDrive SystemSystem ProtectionBrake Option
Event Manager – Basic OptionsDrive can be latched in a disabled state to avoid damaging hardware
Requires ResetEvent reporting can be turned off for certain drive system events ELECTROMATE
Toll Free Phone (877) SERVO98Toll Free Fax (877) SERV099
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 28
Configuration – Event Manager
Event Manager – Advanced options
Provides more comprehensive settings for event responses
Response TimeEvent ActionRecovery TimeTime-OutMaximum RecoveriesUnlimitedAutomatic CANopen Fault Recovery
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 29
Configuration – Inputs/Outputs
This window is used to assign Events and Monitoring to Programmable Digital and Analog I/O
Analog InputsAnalog OutputsDigital InputsDigital OutputsCapture Inputs
High Speed
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 30
Configuration – Homing
The Homing window is used to set homing parameters and configure the homing method
Search Home buttonSpeed During SearchHoming AccelerationHoming Methods
35 different home routines based on CANopen DSP402Home to an IndexSelect Homing Method by configuring homing response to Home Switch, Limit Switch, and Direction of travel
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 31
Configuration – User Units
This window allows user configuration of parameters in units of the load
Select from a variety of unit types for each measurement parameter to set the general units used in the softwareUser can select unit assignments that are different from the motor and feedback units
Custom Labels – user can define labels specific to their application ELECTROMATE
Toll Free Phone (877) SERVO98Toll Free Fax (877) SERV099
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 32
Diagnostics – Scope / Tuning
The Scope / Tuning feature provides an all-in-one window for loop tuning, system troubleshooting, and machine simulation
Waveform GeneratorCommand LimiterLimits and OptionsEvent Manager
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 33
Diagnostics – Scope / Tuning
The Digital Oscilloscope is used for Current, Velocity, and Position Loop Tuning
Scope PresetsCurrentVelocityPosition
Waveform Generator simulates a target commandGains Adjustments available within the Scope/Tuning window
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 34
Diagnostics – Scope / Tuning
The Digital Oscilloscope provides assistance during drive troubleshooting
Access to internal drive signalsDisplay of up to 8 channels at any time depending on the bandwidth used for each channelBasic and Advanced signal menus offer a comprehensive selection of available drive signals
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 35
Diagnostics – Multimeter
The Digital Multimeter is used to monitor a variety of drive signal types, including positions, velocities, torques, and voltages
Minimum and Maximum countersAuto ScalingCan be used at the same time as the Digital Oscilloscope, or as a stand-alone feature
Multimeter window can always be open on top of other windows
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 36
Diagnostics – Drive Status
The Drive Status window provides a real-time drive diagnostic display
Shows Drive Protection, System Protection, and System Status EventsActive, Inactive, Action, and History Event DesignationLinks to Critical Event Activity and Event Counters
The Drive Status window can always be open on top of other windows
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 37
Diagnostics – Command Status
The Status section of the Command Source tab provides real-time integrated status information
Measured ValueCommanded value
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 38
Diagnostics – Input/Output Status
The I/O Configuration window displays real-time integrated values and status for all I/O types
Analog Inputs/OutputsMeasured Value
Digital Inputs/Outputs“On/Off” Status
Capture InputsMeasured Captured Value ELECTROMATE
Toll Free Phone (877) SERVO98Toll Free Fax (877) SERV099
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 39
Diagnostics – AutoCommutation/Phase Detect
The AutoCommutationroutine can be used to detect errors
Motor hardware issuesFaulty Feedback DeviceIncorrect information entered into the Motor and Feedback window
If the AutoCommutationroutine fails to complete, DriveWare provides information on how to correct the issue
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 40
Diagnostics – Waveform Generator
The WaveForm Generator is accessible from the Scope / Tuning window, and provides an internal signal from the drive useful for loop tuning and configuration
Waveform TypeDCSquareTriangleSinusoidal
Waveform Into The:Current LoopVelocity LoopPosition Loop
Waveform AttributesFrequencyAmplitudeOffsetSymmetry
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
3/30/2009 ADVANCED Motion Controls 41
Diagnostics – PVT Generator
The PVT Generator allows the user to specify position, velocity, and time data when operating in PVT mode
Allows entry of up to 16 separate PVT pointsUser can also upload an external PVT file
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By: