Quick Tuner Software Manual

7/28/2019 Quick Tuner Software Manual

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Quick Tuner

Software Manual

Supports all BLu & SV series servo drives

Copyright 2009920-0022 Rev B


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Contents Getting Started .................................................................................................................................................. 4

Installing the QuickTuner Software ...............................................................................................................................5Display Settings ...............................................................................................................................................................5Connecting to your PC .....................................................................................................................................................5

Command Buttons ............................................................................................................................................. 7Upload & Download .........................................................................................................................................................7Save, Open, Print & Quit ..................................................................................................................................................7RPM or Rev/Sec ..............................................................................................................................................................7

Using Our Motor? How to Get a Quick Start .................................................................................................... 8Setup Files for the BLuDC drives .....................................................................................................................................8Setup Files for the BLuAC drives .....................................................................................................................................9Setup Files for SV7 drives ..............................................................................................................................................10

Step 1: The Motor-Encoder Panel.................................................................................................................... 11Motor Current .................................................................................................................................................................11Encoder Resolution ........................................................................................................................................................12Commutation ..................................................................................................................................................................12Current Loop ..................................................................................................................................................................12Hall Timing ....................................................................................................................................................................12

Hall Timing Wizard ......................................................................................................................................................13Step 2: Servo Tuning ........................................................................................................................................ 14

Stiffness Gain Terms .....................................................................................................................................................14P: The Proportional Term ...............................................................................................................................................14I: The Integral .................................................................................................................................................................14Damping Gain Terms .....................................................................................................................................................15D: The Derivative ............................................................................................................................................................15Vfb: Velocity Feedback ..................................................................................................................................................15Vff: The Velocity Feedforward ........................................................................................................................................15Inertia Gain Term ...........................................................................................................................................................15Aff: Acceleration Feedforward .......................................................................................................................................15Tuning BLu and SV Servo Drives ..................................................................................................................................16

Getting Ready for Tuning ............................................................................................................................................161) Entering a Sample Move .......................................................................................................................................172) Start with the KP & KD parameters ........................................................................................................................173) Lets Plot a Move ....................................................................................................................................................175) The return of KVfb and KVff parameters ................................................................................................................186) Adding in the KAff parameter .................................................................................................................................197) Finishing off with the KI parameter .........................................................................................................................208) Filter parameters ....................................................................................................................................................219) Verify the Drive Current ..........................................................................................................................................22

Step 3: Drive and Motion Control Setup .......................................................................................................... 23Feature Summary: BLuDC4-S, BLuDC9-S, BLuAC5-S, SV7-S .................................................................................24

Feature Summary: BLuDC4-Q, BLuDC9-Q, BLuAC5-Q, SV7-Q ...............................................................................24Feature Summary: BLuDC4-Si, BLuDC9-Si, BLuAC5-Si, SV7-Si .............................................................................25Operating Modes............................................................................................................................................................26

Using Analog Inputs ....................................................................................................................................................27Torque Mode ...............................................................................................................................................................28Velocity Mode..............................................................................................................................................................28Positioning mode - Analog Signal ..............................................................................................................................29Positioning mode - Digital Signal ...............................................................................................................................29Electronic Gearing ......................................................................................................................................................29Multi-axis System with SiNet Hub ...............................................................................................................................30SCL ............................................................................................................................................................................30


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SCL Address ...............................................................................................................................................................30Si Programmer Mode ..................................................................................................................................................30Q Programmer Mode ..................................................................................................................................................30CANopen Mode (SV7-C Only) ....................................................................................................................................30

Drive Parameters ...........................................................................................................................................................31

Maximum Acceleration................................................................................................................................................31Maximum Speed .........................................................................................................................................................31Positioning Error Fault .................................................................................................................................................31

Step 4: Inputs and Outputs ..............................................................................................................................33Fault Output ................................................................................................................................................................33Alarm Reset Input .......................................................................................................................................................33Brake Output ...............................................................................................................................................................33Limit Switch Inputs ..........................................................................................................................................................Motion Output ................................................................................................................................................................Servo Enable Input .........................................................................................................................................................

Tools ................................................................................................................................................................ 35Alarm History .............................................................................................................................................................35The Sampling Oscilloscope ........................................................................................................................................36Auto Trigger Mode .......................................................................................................................................................37Monitor .......................................................................................................................................................................38
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Getting Started Thank you or purchasing an Applied Motion Products servo product. We hope you will fnd that the per or-mance, price and ease o use make our products the best value or your application.

The QuickTuner so tware is used to confgure and tune all Applied Motion servo products, including the BLuand SV series drives. Programmable units must frst be confgured with the QuickTuner , then programmedwith one o the ollowing so tware packages: Si Programmer ( or single axis, stand-alone applications) - Now has built-in Tuning! SiNet Hub Programmer ( or multi-axis applications, requires SiNet Hub) SCL Setup Utility ( or host-based systems). Q Programmer (Complex programming applications).

This manual explains how to install the QuickTuner Windows application and how to set up and tune yourservo system.

For in ormation regarding your specifc hardware, such as wiring and mounting, please read the hardwaremanual that came with that product.

The QuickTuner eatures include: Flexible commutation timing: almost any motor can be confgured automatically without swapping wires. Encoder timing Wizard (again, no wire swapping is needed, and most resolutions can be used) Programmable current limiting Easy, graphical adjustment o servo control terms Built-in digital oscilloscope shows you the drives response to your parameter choices Can save set up fles to disk. Confguring uture drives is as easy as opening your fle and downloading it tothe drive. Wide selection o sample move profles Advanced trigger capability to capture response to external command signals

To set up and tune your servo drive, you must do the ollowing: Connect a motor to the drive. Re er to your drives Hardware Manual or this. Connect power to the drive. Again, see your Hardware Manual. Connect the drive to the PC using the programming cable that came with the drive. Install the QuickTuner so tware onto your PC. Have Fun!

Remember, i you have trouble getting your drive or this so tware to meet your expectations, or i you want tosuggest improvements to the product or this manual, give us a call at (800) 525-1609. Or, you can ax us at

(831) 761-6544. I you are not calling rom North America, dial (831) 761-6555. You can also email us at [email protected].


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Installing the QuickTuner Software

The QuickTuner so tware comes on a CD. Be ore you can use the so tware, you must install it on your hard

drive.To run the QuickTuner so tware, you must have a computer with the ollowing requirements:

Microsoft Windows 98, 2000, ME, NT, XP or Vista 10 MB available hard drive space CD or DVD drive A nine pin serial port must be available, preferably COM1. ( if your computer does not have a serial

port ,you will need to purchase a USB to Serial adaptor).

The so tware installation is highly automated, like most Windows programs, so the process is simple: Put in the CD. Wait. In about ten seconds, the Applied Motion CD browser will appear. If it does not, then the autorun

eature o your PC may have been disabled. I so, double click on the My Computer icon near the upper,le t corner o the screen. A new window will open, showing all o your disk drives. Locate the icon or yourCD ROM drive (it should appear as a small CD with the letters Si in ront o it.) Double click on this icon,and the browser will appear.

Click on the button that says Install Software.

Display Settings

The QuickTuner works well with any display resolution. At 640 x 480, the QuickTuner will exactly fll yourscreen. At higher resolutions, like 800 x 600 or 1024 x 768, there will be room le t over on the screen orthe tool windows like the Monitor or Advanced tuning. When using the oscilloscope unction making the

application ull screen will give you a better view o what is going on. 16 bit or higher color setting is recom-mended (65,535 colors, sometimes called High Color).

Please use the Small Fonts setting when running the QuickTuner so tware. I you choose Large Fonts,our so tware may not appear correctly on your screen.

The display settings are ound under Start...settings.....Control Panel.

Connecting to your PC Locate your computer within 8 feet of the servo drive.

Your drive was shipped with a 10 foot serial programming cable. Plug the larger end into your PC serial portor USB Serial Adapter, and the other end into the PC/MMI jack on your drive.

When connecting to the BLuAC5 servo drive make sure the drive and the PC are connected to a commonEarth ground.


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Never connect the drive to a telephone circuit. It uses the same connectors and cords as telephones and modems, but the voltages are not compatible.

You may also need to set the COM port in the QuickTuner so tware. When the so twareis loaded, it looks or the frst available COM port, but doesnt always fnd the one youveconnected to the drive.

Select the port yoursel rom the drop down list under the word Port. I the port existsand is not already in use, the so tware will use it to communicate with the drive.

Programming Note: Always apply power to drive a ter the Quick Tuner so tware is running on your PC, and a ter you have selected the proper Com port.


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Command Buttons

Upload & Download Upload lets you copy the set up and tuning parameters rom yourservo drive into your PC. This is use ul i you want to make changes to a system that has already been tuned.BLu and SV drives have an option automatically upload at power up. This will do exactly this and upload thesettings rom the drive into QuickTuner when you apply power to the drive.

The Download command is used to copy settings rom the QuickTuner so tware to your drive. Use this iyou make a change to a drive setting and want to trans er the in ormation back to the drive.

Sometimes it is use ul to exactly duplicate a setup. For example, you may be building a large number oidentical machines. In this case, once you have completed development and have the motion control work-ing exactly the way you like it, save your setup to a fle. Then, when you build the next machine, open your

set up and download it to the next drive.

One o the advantages o programmable, digital control is that you can easily duplicate the settings o a sys-tem.

Save, Open, Print & Quit In addition to exchanging settings with your drive, the QuickTuner so tware can also save & load settingsusing your hard drive, and can print hard copies using your printer.

The Save button lets you save a set up to the hard drive. A fle dialog box will ask you to pick a name or theprogram. You can use long fle names just as you would with many other 32 bit Windows programs, suchas Microso t Word and Excel.

The Open button provides you with a dialog box showing all the QuickTuner fles on your drive. Click toselect one, then click OK to load it.

Print lets you make a hard copy o your program on any printer thats connected to your computer and in-stalled in Windows. Print uses the standard Windows printer dialog, allowing you to speci y which printer touse i you have more than one.

I you call or help, we may ask you to print your settings and ax them to us. I you have a ax modem thatacts as a printer, you can use it to ax the program directly to us rom the programming so tware. Youll haveto enter our ax number at some point, which is (831) 761-6544.

The Quit button exits the QuickTuner and returns you to Windows. I you are using a CANopen drive, exit-ing QuickTuner automatically enables CANopen communication, which is suspended while QuickTuner isin operation.

RPM or Rev/Sec A small section o the main screen allows you to choose the units you are going to work with, select betweenRPM (revolutions per minute) or rev/sec (RPS).


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Using Our Motor? How to Get a Quick Start Now that you know how to load a servo set up rom your hard disk, its time to learn a little shortcut. You maynot realize it, but when you installed the QuickTuner so tware, you also installed sample set up fles or all othe recommended Applied Motion servo motors.

The settings contained in these fles will automatically confgure that motor current, encoder direction and halltiming or your motor. Opening the fle will also set the optimal PID parameters or inertial loads o 1:1 and5:1 and in some cases 10:1. In many cases, all you need to do is open the fle or your motor and load anddownload it to the drive. You may then skip Step 1 (the motor-encoder setup) and Step 2 (servo tuning) andproceed to Step 3, where you will confgure your drive or the type o motion control your application requires.

I your load has high inertia or riction, you will probably want to custom tune it, but the fle will give you agood starting point.

Setup Files for the BLuDC drives These fles can be ound in the BLu older.Using 24 V motors

Motor Load Inertia File NameA0030-103-2-001 1:1 (9.8 g-cm2) A030V24X1A0030-103-2-001 5:1 (49 g-cm2) A030V24X5A0050-103-3-000 1:1 (22.5 g-cm2) A050V24X1A0050-103-3-000 5:1 (113 g-cm2) A050V24X5A0050-103-3-000 10:1 (226 g-cm2) A050V24X10A0100-103-3-000 1:1 (41 g-cm2) A100V24X1A0100-103-3-000 5:1 (206 g-cm2) A100V24X5

Using 48 V motors

Motor Load Inertia File NameA0050-104-3-000 1:1 (23 g-cm2) A050V48X1A0050-104-3-000 1:10 (226 g-cm2) A050V48X10A0100-104-3-000 1:1 (41 g-cm2) A100V48X1A0100-104-3-000 5:1 (205 g-cm2) A100V48X5A0200-104-4-000 1:1 (200 g-cm2) A200V48X1A0200-104-4-000 5:1 (1000 g-cm2) A200V48X5

A0200-104-4-000 10:1 (2000 g-cm2) A200V48X10


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Setup Files for the BLuAC drives These fles can be ound in the BLu older.

A0400-101-4-X0

A0400-101-4-X1A0400-101-4-X5A0400-101-4-X10A0800-102-5-X0A0800-102-5-X10A0950-102-5-X0A0950-102-5-X8

M0100-101-3-X0 N0100-101-3-X0M0100-101-3-X1 N0100-101-3-X1M0100-101-3-X7 N0100-101-3-X7M0100-101-4-X0 N0100-101-4-X0

M0100-101-4-X1 N0100-101-4-X1M0100-101-4-X3 N0100-101-4-X3 M0200-101-4-X0 N0200-101-4-X0M0200-101-4-X1 N0200-101-4-X1M0200-101-4-X5 N0200-101-4-X5M0200-101-4-X10 N0200-101-4-X10M0200-101-5-X0 N0200-101-5-X0M0200-101-5-X1 N0200-101-5-X1M0200-101-5-X5 N0200-101-5-X5M0200-101-5-X10 N0200-101-5-X10 M0400-101-4-X0 N0400-101-4-X0M0400-101-4-X1 N0400-101-4-X1M0400-101-4-X5 N0400-101-4-X5M0400-101-4-X10 N0400-101-4-X10M0400-102-5-X0 N0400-102-5-X0M0400-102-5-X2 N0400-102-5-X2M0400-102-5-X10 N0400-102-5-X10 M0600-102-5-X0 N0600-102-5-X0M0600-102-5-X1 N0600-102-5-X1M0600-102-5-X5 N0600-102-5-X5M0600-102-5-X10 N0600-102-5-X10 M0750-102-5-X0 N0750-102-5-X0M0750-102-5-X1 N0750-102-5-X1M0750-102-5-X5 N0750-102-5-X5M0750-102-5-X10 N0750-102-5-X10


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Setup Files for SV7 drives These fles can be ound in the SV7 older.

Using 48 VDC

Motor Load Inertia File NameV0050-214-B 1:0 (no load) V0050 48V 0XV0050-214-B 1:1 (42 g-cm2) V0050 48V 1XV0050-214-B 1:5 (210 g-cm2) V0050 48V 5XV0050-214-B 1:12 (480 g-cm2) V0050 48V 12X

V0100-214-B 1:0 (no load) V0100 48V 0XV0100-214-B 1:1 (100 g-cm2) V0100 48V 1XV0100-214-B 1:4.7 (480 g-cm2) V0100 48V 4.7XV0100-214-B 1:7.2 (744 g-cm2) V0100 48V 7.2X

V0200-214-B 1:0 (no load) V0200 48V 0XV0200-214-B 1:2.5 (480 g-cm2) V0200 48V 2.5XV0200-214-B 1:2.5 (744 g-cm2) V0200 48V 3.9XV0200-214-B 1:2.5 (1950 g-cm2) V0200 48V 10X

V0250-214-B 1:0 (no load) V0250 48V 0XV0250-214-B 1:1.8 (480 g-cm2) V0250 48V 1.8XV0250-214-B 1:2.8 (744 g-cm2) V0250 48V 2.8XV0250-214-B 1:6.2 (1680 g-cm2) V0250 48V 6.2XV0250-214-B 1:7.2 (1950 g-cm2) V0250 48V 7.2X


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Step 1: The Motor-Encoder Panel This panel is or setting the Hall timing, motor current, encoder resolution and other details. For some drives,you can also speci y the motor type.

Motor Current The drive current must be set to match the motor. First, determine therated current or the motor. I you are using an Applied Motion motorrecommended or your drive, then the current rating is listed in the Rec-ommended Motors section o your drives Hardware Manual. You canautomatically load the appropriate current or your motor, along with allother settings, rom a fle.

I you are manually setting the current, type the value into the MaximumCurrent text box.

The BLu and SV drives can provide a peak current momentarily. This will provide greater acceleration ratesthan would otherwise be possible. To assure reliable motor operation, the drive will automatically ramp thecurrent down a ter one second so that the average current does not exceed the motors rating. Never continuously operate a servo motor above its rated current.

The peak current available varies rom model to model, so check your product specifcations be ore setting avalue.


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Encoder Resolution Servo drives rely on eedback rom the motor or ac-curate operation. There ore, you must use a motorwith an incremental encoder, and you must describethe encoder to the drive.

The Applied Motion A, N and M series motors allhave 8000 count (2000 lines) encoders. V series motors have 8192 counts/turn. I you are using someoneelses motor, then the motor or encoder manu acturer will have to provide this in ormation.

At this point you may be asking yoursel whats the di erence between lines and counts? The short answeris a actor o 4. Want the long answer? Okay. Most encoders are constructed rom a glass disk which hastiny, precise lines etched into it. There are two photo sensors, spaced slightly apart. Each sensor emits alow signal when the line passes by, and a high signal when between lines. The precision o these posi-tion signals depends on the number o lines that are on the disk. Each time a line passes by the two sensors,each sensor emits a rising edge (when the signal goes rom low to high) and a alling edge (when the signalreturns to low.) Thats our edges. Our electronics count each edge, so the number o counts is always our

times the number o lines. This is called quadrature decoding and it provides higher resolution (and moreprecise per ormance) than counting lines.

Commutation With Sinusoidal servo motors, you have the choice o selecting US or Japanese timing patterns. These arevery similar, but choosing the correct option will give the best per ormance rom your motor.

Select Trapezoidal or motors that have true trapezoidal windings and you do not want to Sine commutatethe motor.

The BLu and SV series can also drive Brushed DC servo motors. I you want to use this type o motor pleasecontact Applied Motion or advice and technical in ormation.

Current Loop The BLu series provides the option o adjusting the current loop settings or the drive. This should not beattempted without advice rom technical sta at Applied Motion. In nearly all cases when using AMP motorsetup fles with AMP motors user adjustment o these values is not required.

Hall Timing Three phase brushless DC motors provide three signals that tell the drive when to switch rom one phasecombination to another. These are called commutation or Hall signals. The relationship o the commutationsignals to the motor phases (called Hall timing) is not the same or all manu acturers. Thats okay, becausethe Applied Motion drives can accept motors with nearly any hall timing.

The one type o motor you cannot use drives is one with 60 degree timing. You must have a motor with 120 degree timing. This means the commutation timing must be equally spaced.

A ew motors have unequally spaced Hall signals. These are sometimes called 60 motors. (Evenly spacedhall wave orms are 120 apart.) I you have a 60 motor and its Hall outputs are di erential, you can still useit. Just connect the - output o Hall 2 to the drive, and the + outputs o Halls 1 and 3. That will change thespacing to 120. I you have a 60 motor with single ended Hall outputs, you cannot use that motor with theBLu and SV series drives.

To set the hall timing, you must frst wire your system. That includes connecting the motor to the drive and thedrive to a power source. Re er to the hardware manual or your drive when making these connections.


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Once you have connected the motor to the drive,you can confgure the timing using the Timing Wizard . I you are using an Applied MotionProducts A, N or M motor, the de ault drive set-

tings are correct or this type o motor.

I you are using a motor rom another manu ac-turer, try the Hall Timing Wizard frst. In mostcases, it can automatically detect your motor tim-ing pattern and confgure the drive settings or it.The only other way to confgure the Hall timing isby trial and error rewiring.

Hall Timing WizardHall timing varies among motor manu acturers. The timing diagrams supplied with motors (when they aresupplied) di er in their ormat, too, complicating the task o confguring a motor or the frst time. To ease this

burden, the QuickTuner includes a Hall Timing Wizard that automatically detects the necessary confgura-tion or your motor. To use the Hall Timing Wizard, you must do the ollowing:

Note: When using BLu or SV servo drives the Encoder Resolution and the number o poles must be entered be ore the ollowing procedure is attempted. A, N, and M series motors have 8 poles and V series motors have 4 poles.

1. Connect the motor to the drive. Wire the phases, hall and encoder signals straight across as detailed inyour drives Hardware Manual.

2. Do not connect any load to the motor. It is important that the motor be unloaded and completely ree tomove during the operation o the Hall Timing Wizard.

3. Connect the programming cable to your PC. 4. Launch the QuickTuner so tware.

5. Connect and apply power to the drive.

6. Click Download.

7. For BLu drives, you must cycle power i the counts/rev or poles has been changed. SV drives do not re-quire a power cycle or these changes to take e ect.

6. In the motor-encoder-drive panel, click on the Timing Wizard button.

7. The Wizard will remind you to disconnect the motor rom any load.

8. The Wizard will ask you to rotate the motor sha t about one turn in the clockwise direction. Because thedrive has no absolute rame o re erence, you must provide one by turning it clockwise. Turn the motor untilthe Wizard tells you to stop.

9. Click OK and the Wizard will do the rest. I success ul, the Wizard will determine hall timing and the en-coder direction and apply those settings to the servo drive set up. You still must enter the exact encodercounts/turn manually. You also will need to tune the drive - we dont have a wizard or that.


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Step 2: Servo Tuning Like most modern servo drives, ours employ sophisticated algorithms and electronics or controlling thetorque, velocity and position o the motor and load.

Sensors are used to tell the drive what the motor is doing. That way, the drive can continuously alter the volt-age and current applied to the motor until the motor does what you want. This is called closed loop control.

One o the loops controls the amount o current in the motor. This circuit requires no adjustment other thanspeci ying the maximum current the motor can handle without overheating.

The PID loop compares the intended motor position to the actual motor position as reported by the encoder.The di erence is called error, and the PID loop acts on this error in three ways: the Proportional term, the Inte-gral term and the Derivative.

The BLu and SV series drives add a number o extra gain terms to enable greater system control. Thesegain terms are Velocity Feedback and Feed orward and Accel eedback and Feed orward. They have been

grouped together to create three gain types; Sti ness, Damping and Inertia.

Stiffness Gain Terms

P: The Proportional Term The simplest part o the PID loop is the proportional, or P, term. The drive applies current to the motor in di-rect proportion to the error. Heres an example: i the motor were standing still, and you suddenly turned thesha t by hand, youd want the drive to increase the motor current so that it goes back into position. The ar-ther you disturb the motor rom its target position, the more the torque will increase. The P term (also calledP gain) governs how much torque you get or a given amount o error U n. In general, i you have more loadinertia, youll need more torque and there ore a higher P gain.

The torque provided by the P term is T = K PUn.

I: The Integral I you think about the previous example or a moment, you may realize that P alone will not give you per ectposition. I you applied one ounce-inch o torque to the motor, it would move out o position. The P term willincrease the motor torque until it is producing as much torque as you are. Then the motor stops moving. Butthere is still error. The I term adds up all the error that the drive has seen and produces a torque that is addedto the torque command rom the P term:

T = K PUn + K IS (U).

In our example, the P term allowed the motor to reach equilibrium at a position where the applied torque romyour hand equaled the torque o the P term. Thus, the error was not zero. But the I term will keep adding upthat error and continue to increase the torque until the motor truly returns to the target position.


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Damping Gain Terms

D: The Derivative So ar, weve just talked about a motor that is disturbed when standing still. But the objective o motion control

is to get that motor moving on its own. The problem with electric motors is that they tend to be very springy,a condition known as underdamped. I you tried to run a motor with a pure PI controller the motor wouldoverreact to small errors, creating ever larger errors, ultimately becoming unstable. I you knew what the mo-tor was going to do be ore it did it, you could prevent this. For those o you who studied calculus, you mayrecall that you can predict what something is going to do by its rate o change, or derivative.

I you are driving your car into your garage, do you wait until you are in ully in the garage be ore hitting thebrakes? That would be a bad idea or you, your car, and the back wall o the garage. Instead, most peopleslow down as they see the distance between them and their objective get smaller.

A motor drive can control a motor better i it examines the rate o change o the position error and includesthat in its torque calculation. For example, i the motor has error, but the error is decreasing, back o on thetorque. Thats what the D term does.

T = K T [KPUn + K IS (U) + K D(Un - U n-1)]

whereUn is the error in encoder countsUn-1 is the error o the previous sampleKT is the torque constant o the motor.

This calculation is per ormed 4000 times per second.

Vfb: Velocity Feedback As motor power per size has gone up so has the size o the loads. As more per ormance is asked o the servomotor we may need to add more damping. Velocity eedback has been added to the BLu servo drive to pro-vide greater damping or the larger loads.

This term adds in the motor actual Velocity as negative eedback and usually works in conjunction with theVelocity Feed orward term (See below). I the velocity o the motor matches what is expected no eedbackvalue is generated. I however the velocitys do not match the negative eedback helps to damp the di er-ences in velocity. Typically both terms are set to the same value.

Vff: The Velocity Feedforward The Velocity Feed orward term works with the Velocity eedback term to add more damping capability to theservo algorithm. The eed orward value is generated by the Trajectory Calculation algorithm. I the servomotor is operating well the Calculated Velocity o the motor will match the actual Velocity value.

Inertia Gain Term

Aff: Acceleration Feedforward With larger loads typically comes larger load Inertia. These larger inertias can be more easily accelerated ordecelerated by anticipating the control system needs. The Acceleration Feed orward term does this by add-ing an acceleration value to the control value. The Acceleration value is derived rom the Trajectory Calcula-tion during the acceleration and deceleration phase.


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Tuning BLu and SV Servo Drives As motor power per unit size has increased so has the load requirements or servo motors. The basic PID isgreat or loads that are not greater then 5:1 inertial mismatch (the di erence in inertia o the motor and theload). But, to handle the increased demand 3 more control parameters are added to enhance control o highinertial loads. The three new parameters are Velocity Feedback (KV b), Velocity Feed orward (KV ) and Ac-celeration Feed orward (KA ). You could say we now have a PIDVFA servo control algorithm.

The frst thing you may think is Oh no not more things to adjust and I have no idea what they are. Well itsnot really that bad. In QuickTuner we have grouped these parameters together in three main unctions:

1. Sti ness - KP & KI; These parameters work primarily to keep the servo position with minimal error through-out the move profle.

2. Damping - KD, KV b & KV ; These work to minimize oscillations and overshoot in the motion profle. The KDworks mainly on the higher requency oscillations while the other two work at lower requencies especially withhigh inertia loads.

3. Inertia - KA ; This parameter is specifcally used to counter the a ects o large inertial loads during accel-eration and deceleration.

4. Filters - PID Output and Derivative terms. These low pass flters aid in stabilizing the motor control by help-ing to eliminate high requency oscillations.

We have made it so that you can adjust the servo parameters in groups or with the Advanced button indi-vidually. When tuning the servos we can actually get pretty good control with just the KP and KD terms.

We have provided Files that contain a good starting point or tuning the Servo drive with our motors. Wehave expanded the range o inertias and now have fles or each motor that cover several load to motor iner-tia mismatch ratios.

Getting Ready or TuningBe ore you begin its good to do some homework on the load the motor is intended to drive. The two primaryload issues to consider are the Frictional and Inertial torque requirements. In a servo system FrictionalTorque is the easiest to deal with so primarily it is important to know (or estimate) the Inertial Torque. Knowingthe Inertial Torque requirement will aid later in know how much gain will be needed in some o the tuning pa-rameters. When calculating or estimating the inertial load you will come up with a number that is in units suchas g-cm 2 or oz-in-sec 2. These are good units to use because AMP Servo motors are rated using them. ForAMP Servo motors specifcations re er to the product catalog or visit our Web-site.

With a good estimate o the Inertial load and knowing the inertia o the motor you are using you can nowselect a fle rom a list generated at the actory that best represents your load. You will need to do a little moremath to come up with an Inertia mismatch ratio. The fle names list the motor frst then the load. The fles areavailable typically in 1:1, 1:5 and 1:10 ratios. Select the nearest one and open it. QuickTuner will now beloaded with parameters that will give you a start at tuning the servo system.

We need to give QuickTuner a little more in ormation be ore we test the servo system. The seemingly obvi-ous things to know are the Max Speed, Acceleration and Distance requirements o the sample move. Butwhat is not so obvious is the profle shape required to operate the load properly. The motor may be able toaccelerate the load very quickly but may induce signifcant Ring in the motion profle. It might be better toaccelerate slower and go to a higher Velocity to minimize the ringing. Deciding the best profle or a givenmove is sometimes more Art then hard calculation.

With all this said, you will have to make a good frst guess at the motion parameters to begin the tuning pro-cess. QuickTuner has a sampling Oscilloscope that will allow us to execute a move and display a variety o


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measurements.

1) Entering a Sample MoveEnter move profle values in the Sample Move section o the Tuning - Sampling tab. For this example, wewill try a move distance o 8 revolutions. We need to choose speeds and acceleration rates that represent theactual application. For this exercise try 30 rps and 200 rev/s/s.

2) Start with the KP & KD parametersBe ore we try a move lets only start with the Proportional (KP) & Derivative (KD) gain parameters. Recordthe values o the other parameter settings and Zero out their values. Do this in the Advance Control Loopscreen by clicking the Advanced button. The Accel Feed orward can only be set as low as 1.

Starting with only these two terms is a good sa e way to begin. They are the minimum required in a servosystem.

Note: I things go wrong (they usually do, e.g. the motor becomes unstable or the motor speed runs away) there is a Play/Pause button in the upper right corner o the QuickTuner Window under the label Servo. Clicking the Pause will disable the servo, clicking Play will enable the servo.Be ready to click the Pause i things dont go well.

3) Lets Plot a MoveStart by selecting Actual Speed and Position Error or the Plot selections. Make sure the

direction is set correctly, in some cases you may want to select Alternate to avoid running themechanism into a hard stop. For now select the Sample Once button.

Click the Start button and observe the results. It may not look very good as shown in the next fgure.

Other problems may have occurred during the move depending on how things were set up. I a Fault oc-curred you will have been asked to clear it, but the drive will be le t disabled until the Play button is clicked.

4) Now we will adjust the motion parameters to get the desired move profle. You can repeat the move byclicking the Start button. I the drive continues to ault you may be exceeding Current limit or the PositionLimit. These can be set in the Motor -Encoder and Drive tabs.

To see what current is being required o the drive select Current in one o the Plot lists and click Startagain to observe a move. This will show the current profle during the move and may give a clue as to why a

NOTE: Clicking the Pause button then the Play button clears a ault and enables the drive.


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Fault is occurring.A ter a success ul move is accomplished you can begin to do a little tuning. Adjust the KP and KD parame-ters and observe the results. Be care ul with the KD parameter: too little gain and the system will oscillate. Toomuch gain may cause the system to squeal rom a high requency oscillation.

In some cases where a very springy coupler is used between the motor and load, the KD parameter mayneed to be reduced until the system is stable.

At this point dont worry to much about the larger Position Error. We will take care o that later.

5) The return o KV b and KV parametersNow add back in the Velocity Feedback (KV b) and Velocity Feed orward (KV ) parameters that were zeroedin step 2. For large inertial loads these values can be also be large.

The goal with these terms is to minimize the Overshoot and get rid o the Ringing when accelerating anddecelerating. In the plot on page 38 the red trace shows overshoot when the maximum speed is reached, andagain when the motor reaches zero speed. There is no ringing in this plot, so we are almost damped enough.

We dont need to eliminate all the Overshoot at this point because we have another term that will help.

Typically the KV b and KV are kept the same. I we want to adjust all the Damping values together at thesame time use the Damping slider on the main QuickTuner Window. This control keeps the damping val-ues ratioed to each other when adjusting the gains.


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To much gain on the Velocity parameters may cause an oscillation, usually apparent when running at theMax Speed or when Stopped. Reduce the gain until the oscillation is acceptable.

As a general guideline the Velocity Gains values are typically 2X the Derivative Gain value.

6) Adding in the KA parameterThe Acceleration Feed orward (KA ) is a di erent kind o term rom what we have just been working with.This term is used to deal with the inertia o a system. It will request more current during the acceleration anddeceleration phases o the move profle.

Start by adding in 1/2 o the recorded value rom the fle.

In order to visually see the e ect this will have on Position Error make sure the Autoscale Check Box at thebottom o the window is cleared. Now click the Start button and observe the results.

You should notice a reduction in the Position Error (the peak values). The KA term has a somewhat propor-tional a ect on the Position error. I the error was reduced to hal by setting KA to 3500, then doubling it to7000 should eliminate the rest o the error. I not you can estimate the next setting. Divide the previous errorby the di erence in error value then multiply this times the KA value.


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KA = previous error/delta error * KAKA = 220/90 * 3500New KA = 8555

Remember this is an estimation. I a ter doing this the Position Error goes negative during acceleration, wewent too ar. Adjust the value in smaller amounts to get as near zero error as possible. At any time you canclick the Now button near the Auto Scale to zoom in on the new Position Error value.

You may have also noticed that the overshoot o the Max Speed and Stopping is now reduced. This is be-cause the servo control is having to do less work to maintain good control.

7) Finishing o with the KI parameter

The fnal value to set is the Integral Gain (KI). The KI value works to minimize steady state position error. Thisis most o ten needed to insure very exact positioning when at the new position a ter the move. It can also helpminimize position error during the move.

Again start with a small value and work up.

The KI value a ects how ast the position error is acted on; larger values provide aster response times. As thevalue gets larger you may notice an oscillation in the position error. Adjust the KI value to give the best resultswithout causing an oscillation in the system

KA = 3500 KA = 8555


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KI = 4000 KI = 20000

8) Filter parameters

BLuAC5, BLuDC and SV7 servo drives have controlloop flters or special situations. (Note: these flters are not present on BLuDC drives with frmware prior to 1.52). The most commonly used is thePID Output Filter. I your system is subject to me-chanical resonance, you can set this low pass flterbelow the natural requency o your system so that

the PID output does not excite the resonance.I you have a large inertial load, youll probablyfnd that you need to set the gain parameters high,especially P and I, to get good response. Then youwill want to increase the damping to prevent ring-ing. Now the system is likely to be so tight that iyou have a springy, all metal coupling it may buzzor squawk. Reducing the requency o the deriva-tive flter can remove this objectionable sound.


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9) Veri y the Drive CurrentThis can be done at any time during the tuning process to make sure the current supplied to the motor is notbeing limited by the drive. You might also want to see how much current is being required and make changesto the move profle.

Acceleration = 200 rev/s/s Acceleration = 600 rev/s/s


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Step 3: Drive and Motion Control Setup The BLu and SV drives are highly confgurable, with options or command inputs and programming modes.The unctionality depends on the drive model and the Command option chosen. The ollowing pages give asummary o the BLu drives and the options available.

This is an example o the main Drive tab or a BLuAC5-Q. This screen will change according to the drivemodel and operating mode. Features and unctions not available are not displayed.

A Summary o the Command modes and I/O or each drive model can be ound below. Re er to the next sec-tion or details.


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Feature Summary: BLuDC4-S, BLuDC9-S, BLuAC5-S, SV7-S

Command Mode

Drive Parameters Inputs Outputs

Address ElectronicGearing Max Accel Max SpeedPositionError AlarmReset LimitSwitches

ServoEnable

4Fault Brake Mo

Analog Torque

Analog Velocity

Analog Positioning

Digital Positioning by Pulse/ Direction or Quad. Encoder

1

Multi-axis with Sinet Hub 2

Serial Command Language(RS-232/4853)

2

1: In case of pulse interruption or limit2: In case of limit or commanded quick stop3: RS-485 is optional on SV74: When connected to Quick Tuner, theServo Enable input is overridden by Quick Tuner

Feature Summary: BLuDC4-Q, BLuDC9-Q, BLuAC5-Q, SV7-Q

Command ModeDrive Parameters Inputs Outputs

Address ElectronicGearing

Max Accel Max Speed PositionError

AlarmReset

LimitSwitches

ServoEnable

Fault Brake Mo

Analog Torque

Analog Velocity

Analog Positioning


1



2

Q Programming Language 2

1: In case of pulse interruption or limit2: In case of limit or commanded quick stop3: RS-485 is optional on SV7


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Feature Summary: BLuDC4-Si, BLuDC9-Si, BLuAC5-Si, SV7-Si

Command ModeDrive Parameters Inputs Outputs

Address ElectronicGearing

Max Accel Max Speed PositionError

AlarmReset

LimitSwitches

ServoEnable

Fault Brake Motion

Analog Torque

Analog Velocity

Analog Positioning


1



2

Q Programming Language 2 4 4 4 4 4 4

Si Programming 2 5 4 5 4 4 41: In case of pulse interruption or limit2: In case of limit or commanded quick stop3: RS-485 is optional on SV74: These inputs and outputs can also be used as general purpose programmable5: By program only - no dedicated input for this function


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Operating Modes Some drives allow the user to select rom a number o di erent operating modes. This may be either selectingrom a type o command signal or selecting between di erent programming modes.

The particular modes available will depend on the drive model. I you have your drives connected and ithas been detected by QuickTuner , only the options available on your drive will be shown. Alternatively byselecting your model type rom the drop down list at the top o the screen the options screen or your drive willbe displayed.

The mode you have selected will be available once you have performed a download, in the case of the XDrive and Si TM programmer you will need to start your programming so tware and cycle the power to the drive,in the case o command signals the drive will respond to your command signal as soon as you have down-loaded the parameter changes to the drive.


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Using Analog Inputs

The BLu Servo drive analog inputs can be used to control the three di erent modes o operation Torque, Ve-locity and Position. Confguring the Analog Command Input has settings that are generic to all three. One othe settings labeled Current, Velocity and Position is a gain value that is customized or each mode.

There are fve settings that are required or getting the analog inputs to control the desired mode output:

1. Analog Signal Type Di erential or Single EndedThere are two analog inputs that can be used or Di erential mode or one input can be used orSingle Ended. Di erential provides common mode noise rejection that may enhance the per ormancein high electrical noise environments.

2. Range There are 4 di erent ranges 10V, 0 10V, 5V,0 to 5V.The range settings are not done in hardware but are a

calculation that makes using di erent input ranges easier.When the Signal Type is Di erential and 10V the e ec-tive ADC resolution is 13 bits, 0 to 10V is 12 bits, 5V 12bits, 0 to 5V is 11 bits. I Single Ended type is used 1 bit islost at each range.

3. Current or Velocity or Position Establishes a gain value that scales the output to the input. Forexample in Current Mode, i the Range is set to 10V and the Current is set to 2, a 10 volt input willapply 2 amps to the motor. A 10 volt input will apply 2 amps to the motor.

4. O set Sets an o set value to the input that

can null out a voltage bias or it can shi t the inputvoltage value as needed. O ten in analog systemsit is very di fcult to get a true 0 value. Using theo set eature allows adjusting out any unwantedo sets that disturb the desire or a true 0 volt inputrom an external controller. The Auto O set unc-tion can automatically detect and correct voltagebiases on the input.

5. Deadband Inserts a voltage region where the input is seen as 0. Because o the sometimeimprecise nature o analog signals and inputs there may be a need to create a Dead zone where theanalog input has no e ect on the output. This is normally needed around the 0 input. For example,when using a Joystick to operate the motor the user may not want any torque output when the Joystickis at its Null position. Most Joysticks are not that precise and may still output a small voltage, addingthe deadband can eliminate the e ect o the small voltage.


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Torque ModeWhen the drive is set up or Torque mode, it allows you to defne the current that will be delivered and thus thetorque generated by the motor and the direction it will rotate. In this mode the speed that the motor runs at willdepend on the load applied to the motor.

WARNING - If the motor is not connected to the load or has no load applied, downloading this modewith a command signal may cause the motor to accelerate to high speed.

Analog Input - CurrentThe Current box allows you to defne the current that will be applied to the motor with a the given analog set-tings. For example, i the analog input range is set to 10V and the Current is set to 1 amp a positive currentwill be applied to the motor when the input is +10V. A negative current will be applied when the input is -10V.

Velocity Mode

Velocity mode means that the drive uses the command input signal to set the speed that the motor will run at.

The box labeled Speed enables you to defne the speed that the motor will reach with a the given analogsettings. For example, i the analog input range is set to 10V and the speed is set to 16.667 rev/sec themotor will spin in the Clockwise (CW) direction at 1000 RPM when the input is +10V. It will spin Counter Clock-wise at 1000 RPM when the input is -10V.

By setting the Speed to the maximum or your application, and not the maximum speed o the motor, you willachieve higher resolution on the command input and better control.

The speed value can be entered as a negative value. This will allow you to select which direction the motorwill run with a positive command signal voltage.

Using the O set

With all analog controllers , there is the possibility that when the controller delivers the command or zerospeed, this command may not be exactly 0 volts, as the drive requires. Here you can enter a value or ano set to tell the controller what actual voltage represents zero speed.

To get a value or the o set, give your controller a command signal to orce it to demand zero speed rom theMotor/Drive. Then using a voltmeter measure the actual voltage being generated rom the command output.This is the value that should be entered in the O set box.

The Auto O set button causes an internal unction to fnd an o set value that will Zero Out whatever input ispresent during the execution o the unction.


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Positioning mode - Analog SignalPositioning mode using an analog input causes the servo drive to position the motor relative to the analoginput value.

Analog positioning allows you to move the motor a relative distance according to the value o an analog input.For example the above confguration would move the motor +/-8000 counts rom its current position accord-ing to the voltage applied, e.g. a signal o +5 volts would move the motor 4000 counts clockwise.

This option can be confgured to accept a variety o analog scales. There is also an option or an o set volt-age and a deadband. The o set can be used to o set the position in case the 0 volt signal rom your analogcommand does not represent zero position on your application.

TUNING NOTE: Turning o the KD (di erential gain) term will minimize analog noise a ects. The higher thePosition gain setting the more analog noise will cause dithering.

Positioning mode - Digital SignalPulse Input Mode is or systems in which the position o the motor is determined by a digital input signal in theorm o pulses.

The three modes available are :

Pulse and Direction. Accepts a signal such as that generated by a stepper motor controller. With this modethe requency o the pulses ed into one input determines the speed, the direction o rotation is determined bya signal ed into another input. You can confgure whether an ON or OFF signal represents clockwise motion.

CW and CCW Pulse. The motor will move CW or CCW depending on which input the pulse is ed into. Thedrive has two inputs allocated to this eature, pulses ed into one input will generate CW motion, pulses edinto the other input will generate CCW motion.

A & B Quadrature. Sometimes called Slave Mode. The motor will move according to signals that are ed tothe drive rom a master encoder. This encoder can be mounted on a sha t on the machine or it can be anothermotor in the system.For all the Pulse Input modes you will need to determine a value to enter into the Electronic Gearing Box. Anexplanation on how to do this is given in the next section.

Electronic GearingAllows you to adjust the way that the drive responds to incoming step pulses. This is very use ul i you arereplacing a step motor drive with a servo system, because you can make the drive have the same number


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o steps/revolution as the stepper. For example, you may have a 8000 count encoder, but want the drive tooperate at 200 steps/rev, like a ull step drive. Or perhaps the system is working in degrees, so you want tooperate the drive at 36,000 steps/rev so that there are an even number o steps (100) per degree.

Simply enter the number o steps/rev you want in the Electronic Gearing text box.

Multi-axis System with SiNet HubSelect this option i you will be using one o AMPs hubs to create a multi-axis system, this will set the drive tothe correct power up mode or use with the hubs. A Hub can be programmed to act as a stand-alone multiaxis system or can act as a router or SCL commands rom a host system.

Re er to the manual or SiNet Hub Programmer and SCL programming manual or more in ormation.

SCLThis sets the power up mode or the drive to the correct setting or use with SCL applications.

SCL is Applied Motions host command language or applications that require the drives to be sent instruc-tions by a host controller. With SCL, the drives can be operated in both RS-232 and RS-485 mode, the RS-485 option allows you to have multi-axis multi-drop applications with the drives daisy chained on one seriallink. When this option is selected you will need to set an address or each drive you are working with. Re er tothe next section.

SCL AddressI you plan to use the SCL mode with RS-485 communications you will need to set the address or each drivein your system. Simply select the address character and per orm a download, in this way up to 32 drives canbe connected together on a single serial link. Re er to the SCL manual or more in ormation on how to sendcommands to drives on a multi-axis serial link.

Si Programmer ModeSi TM is Applied Motions simple indexer so tware that allows users to program the drive to per orm a complexsequence o moves within an intuitive graphical programming environment.

Selecting this option puts the drive into the correct power up mode or Si TM .The Si Programmer so tware includes built-in servo tuning and confguration acilites, so you can do every-

thing with one so tware package and store your servo tuning along with your Si program in a single fle.

Q Programmer ModeQ versions o the drive have the ability to store and run sequences o Host commands. They also have amuch larger command set with extra commands or executing programs and manipulating parameters.

CANopen Mode (SV7-C Only)CANopen is a communication feldbus standardized by the CAN in Automation Group (CiA). Applied MotionProducts drives are compliant to CiA DS301 and DSP402 and use the CAN 2.0b passive physical layer. De-tailed in ormation on the Applied Motion CANopen implementation can be ound on our website.


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Drive Parameters Auto SyncThe Drive tab shows and option or Auto Sync at power up. I this option is checked, QuickTuner willupload the parameters stored in the drive when power is applied. Care should be taken as this will overwriteall the parameters currently set on the screen.

Analog Input flterThe analog input flter sets the requency in Hertz o the roll o point o a single pole low pass flter. When us-ing any o the Analog Input modes this flter can be used to reduce the e ects o analog noise on the mode ooperation.

NOTE: Low requency flter values will cause a lag in the system response.

Maximum AccelerationThis will set the maximum level o acceleration or the motor. Even i the command input tries to demand ahigher level o acceleration, the drive will only accelerate at the maximum set level.

When you select Si the maximum acceleration will be defned within the Si so tware as part o your pro-gram.

Maximum SpeedHere you can enter the maximum speed allowable in your application. I your maximum speed is set belowthe speed your command signal can demand, the fnal speed achieved will be the speed set in the MaximumSpeed parameter.

Note, Maximum Speed only works with Velocity Mode. In Torque Mode you will need to set the Peak and Con-tinuous torques to values that will limit torque in your application.In Pulse Input Mode these values will be limited in your controllers so tware.

Positioning Error FaultPositioning error is the di erence , in encoder counts, between the actual position and the commanded posi-tion o the motor. A small amount o positioning error is a normalpart o a servo system. But sometimes the unexpected can hap-

pen. A wire might break, a sensor could ail or the motor mayencounter a physical obstruction. You might even one day orgetto set up and tune a drive be ore installing it into a system. In all othese cases, youll want to know that something is wrong as soonas possible and without damaging anything. For this reason, the servo drives include a position error aultlimit. Anytime the position error (as reported by the encoder) exceeds this limit, the drive cuts power to themotor.

You can set the ault limit to as little as 10 encoder counts, or as much as 32000. When youre frst tuning thesystem, you should set this value high so that the drive doesnt shut down as you experiment with tuning pa-rameters. Once the drive is properly tuned and you know how much error to expect during normal operation,


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you can set an appropriate ault limit. For example: set Quick Tuners scope to plot position error. Executesome aggressive sample moves, using the maximum speed and acceleration that you plan to use in your ap-plication. I the maximum position error is, say, 50 counts, then you could sa ely set the ault limit at 100.

Regen Resistor (BLuAC5 drives only)

When a motor reduces speed, it does in act turn into a generator, generating a voltage. This voltage getssent back into the drive, which has to get rid o it. A motor which is driving a large inertia load, can during astdecelerations generate enough voltage to destroy the drive. The BLuAC5 has the ability to absorb a certainamount o voltage or regeneration energy into its internal circuits. It has a number o capacitors and a smallinternal resistor to do this. But it may be necessary to add an external resistor to dump larger amounts oenergy. I this is the case you will need to speci y the value o the external resistors resistance, continuouspower and peak power duration.

The BLuDC and SV7 drives, which are powered by external DC power supplies, can also trans er large quan-tities o regenerative power rom the motor and load back into the power supply. In such cases, an RC50external regeneration clamp is recommended.


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Step 4: Inputs and Outputs Fault OutputAlarms that disable the drive are called aults. The drive eatures a Fault Output that will be triggered i there

is a ault condition. This ault may be a ault within the drive or it may indicate a system ault. I you are run-ning QuickTuner while an alarm condition develops, a dialog box will pop up and give you details o the ault.Alarms and aults are also displayed on the drives ront panel LEDs.

Alarm Reset Input

The Alarm Reset input is used to clear alarms and aults. This will clear the Fault Output but will not reset thedrive unless you choose or it to do so by checking the other box in the Alarm dialog box. I you do not checkthis box you will have to cycle the power on the drive to reset the drive. There is good reason or this. Analarm condition may indicate a ault on the drive or it may indicate a error on you machine or system. Reset-ting the drive at this point will make the drive able to respond to any command signal present and could resultin damage to your machine or possibly injury.

When using QuickTuner , the alarm can also be reset by disabling and re-enabling the drive with thepause and run buttons at the top o the screen.

Brake OutputFor use when your servo motor is ftted with a ail sa e holding brake. These are normally used to hold theload in position when the motor is at zero speed, o ten used when the motor is holding a load against gravity.

Most brakes are ail sa e, which means it requires a voltage to hold the brake in the OFF position, allowing themotor to move.

Quick Tuner gives you a choice between closing or opening the brake output to release the brake. Please

select this option with care as the wrong choice could damage your system.The Brake also has some time delay eatures.

The frst time delay option creates a time delay between the brake being released and the servo drivebeing enabled. I a move is attempted immediately a ter the drive is enabled this could create a timelag in your system as the motor will not respond instantly.

The second time delay option creates a time delay between the brake engaging and the servo drivebeing disabled. This will ensure that the brake is ully engaged be ore the load is no longer being heldin position by the servo motor.


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Limit Switch InputsThe BLu and SV drives have two inputs that can be confgured as end o travel limit switches. These are use ulor linear applications such as actuators.

You tell the drive whether your input switches or sensors are Open or Closed when they are activated. You canalso select the Not Used option or when limit sensors are not present. SCL userscan confgure these limits to be used as programmable inputs.What happens when a limit switch is activated will depend on the programming mode you are using and theparticular command you are using at the time. Please re er to your programming manual or details o LimitSwitch Input errors.Motion OutputThe Motion output will indicate whether the motor is in motion or it has reached the current programmed posi-tion.The output will close when the motor is within a given distance o the fnal position, this distance can be defnedin the Motion Output dialog box.

The Motion Output dialog box mentions the Position Error. In this case the error is the number o encodercounts between the actual position and the commanded position.Servo Enable InputThe Servo Enable Input allows you to turn the power stage o thedrive on and o . This means that the drive can be on, with powergoing to it, but the motor will not be active.

WARNINGCare must be taken when using the Servo Enable input.I you enable a drive when a command input is present, the motor will attempt to per orm the move or achievethe speed or torque demanded. So when you enable the drive be sure it is sa e to do so.Alternatively i you disable a drive during a move the motor will no longer have power and it will be allowed toturn reely. I your motor has a large inertia load, or is holding a load against gravity, the motor will no longerhave control o the load.The Servo Enable can also be activated rom within Quick Tuner by using the Servo Pause and Play buttons onthe main screen. In act, the Enable Input isnt used when the servo drive is being controlled by QuickTuner.

Warning - Before enabling the drive be sure it is safe to do so. If a command signal is present when thedrive is Enabled, the motor will attempt to reach its commanded torque, speed, or position.


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Tools QuickTuner includes some specialized tools to help with your commissioning.

Alarm HistoryThe BLu and SV drives stores a log o previous alarm condi-tions.

Each time there is an alarm, the drive stores the alarm con-dition in memory. Since a ault may trigger more than onealarm condition, the drive stores all o them or re erence. Thisin ormation can then be extracted using QuickTuner to helpwith drive and system problem solving. The drive stores up to8 alarm conditions.

Restore Factory De aultsSometimes things go wrong, and you need to get back to asa e point rom where you can start again, the Restore Fac-tory De aults button will reset all the parameters on the driveto the ones that it le t the actory with.Note - this will erase all the parameters you have changed ,so you may want to save them to a fle frst.

Host TerminalThe Host Terminal allows you to send SCL commands to thedrive, regardless o the Operating Mode. The terminal is alsouse ul as a commissioning tool, allowing you to test your driveand SCL without having to launch a separate application.


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The Sampling OscilloscopeAt some point, you will want to observe the results o your choice o gain parameters. We have included asampling oscilloscope eature or this reason. All you have to do is select the move profle youd like to try,by entering a move distance, a maximum speed, and the acceleration rate. You should select a move that ismeaning ul to your application. There is no point in optimizing your speed around 50 rev/sec i your applica-tion only calls or speeds o 10 rps. The same is true or distance and acceleration.

The oscilloscope window can display either one or two measurements at a time. The choices include ActualSpeed, Target Speed, Position Error, Current and Supply Voltage. The drive only samples what you have se-lected, so i you change plot parameters you must sample again to update the display. By making the oscillo-

scope ull screen you can get a better display resolution and see your move in more detail.You may also choose clockwise or counterclockwise rotation. I your load is vertical, you may want to observethe di erences. I your load is linear, then you cant keep sampling in the same direction or youll run out otravel. For applications where travel is limited, choose alternate direction. Then the drive will change thedirection a ter each move.

I you have selected Sample Once, you will get one sample move, and one graph each time you click onStart.

Sometimes it is convenient to keep the sampling process running auto-matically while you adjust the gain parameter slide bars. To do this, se-lect Sample Continuously. The drive will start sampling and plotting

when you click on Start and will not stop until you click Stop. (Note:the Start button becomes a Stop button when you click it in Continuoussample mode.)

It is not necessary to click on the Download button when sampling. IQuickTuner detects any changes in the drive settings, it will automati-cally download the new settings be ore each sample move.

Each time the settings are downloaded to the drive, they are writteninto nonvolatile memory, and will still be there the next time you powerup the drive.


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Auto Trigger ModeThe Auto Trigger mode enables you to capture a trace or amove commanded by an outside signal such as the analogcommand rom a motion controller. The actual trigger canbe any o the sampling data that is displayed on the oscillo-scope and the trigger point is when the value rises above oralls below a chosen value.

When the START button has been pressed, the Trigger isArmed. When the Trigger occurs the system will store thechosen sampling data or the time specifed, then display iton the screen. I you want to display some data rom be orethe Trigger, enter a nonzero value or Capture Delay.

A trace consists o 100 data points or each o the twosampled data. With this in mind, your selection o triggerlevel and time span are important or viewing the desiredin ormation.

The example on the right shows a sampling selection o themotor Actual Speed and the Target Speed. The trigger is set or Above 10 revs/sec with a capture timeo 0.375 sec and a capture delay o 20%. I you set the capture delay at 20%, then 20% o the trace willcontain data rom be ore the trigger.

The trace below shows the results o a capture. When the actual speed exceeded 10 revs/sec the capture be-gan. Notice that the 10 revs/sec threshold is at about 0.075 seconds, which is 20% o the total capture time.


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QuickTuner So tware ManualMonitorI a BLu or SV series drive is detected it by QuickTuner it displays the option o opening the Monitor panel.Designed to assist with commissioning and ault fnding this confgurable screen will display the current con-dition o the drive I/O, drive status and selected drive parameters.

The monitor eatures three confgurable displays that can show live in ormation about the drive.Each can be confgured to display one o the ollowing selected parameters.

Position Error Alarm Code Actual Speed (NOTE 1) Target Speed (NOTE 1) Command Current Actual Current Supply Voltage Drive Temp Encoder Count (NOTE 2) Ain Voltage

NOTE 1 - this can be in rps ( revs per second ) or rpm ( revs per minute ) depending on the setting that youchose in the QuickTuner main screen.

NOTE 2 - By clicking on the Encoder Count, you can return the value to zero.

Quick Tuner Software Manual

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