Training - Motion 1/80 AX2000 Drive. Training - Motion 2/80 Overview( 概览 ) Product Overview...

Training - Motion1/80

AX2000 Drive


Overview( 概览 )

Product Overview Operating Modes

• Analog velocity command • Indexer• SERCOS• Step and direction• Electronic gearing

Power and Motor Connection Faults and Status Configuration Storage Servo loop configuration


Section 1ProductOverview


AX - Power and Dimensions功率及尺寸

Wide power range• 1.5 - 20A first release• 40A, 75A second release

Global input voltage (208-480 VAC) CE approval without external filters External 24V supply for logic functions and I/O allows position

tracking when 3 phase power is disconnected by safety interlock Internal regen. resistor with option of external resistor Internal regenerative shunt resistors can be connected in parallel

to share power in multi-axis applications Small footprint

• 1.5A, 3A, 6A and 10A: 325mm x 70mm• 10A: 325mm x 120mm


AX - Operating Modes运行模式

SERCOS• Class A compliant with Class B/C supported IDNs

Analog • +/-10V velocity/current command• Current limit• Velocity feedforward• Simulated encoder output: incremental and SSI

Stand-alone indexer• 180 stored motion tasks• Additional 64 tasks can be configured in volatile memory via

serial interface• Tasks are selectable from I/O or serial interface• Homing

Step and direction interface Geared to external encoder


AX - Servo Performance伺服性能

All digital servo-loops Loop updates

• Torque: 62.5 usec• Velocity: 250 usec• Position: 250 usec

Loop parameters set automatically after motor selected from pick-list in Unilink commissioning software

Oscilloscope simulation for tuning optimization after connecting to load


AX - Feedback反馈方式

Resolver• Resolution: 14 bits

Hyperface encoder • Single and multi-turn• Resolution: 20 bits• Turn counter: 12 bits (4096 revolutions)


AX - I/O 输入 / 输出点

Analog I/O (+/-10 Volts)• Input 1: 14 bits• Input 2: 12 bits • Output 1,2: 10 bits

Discrete I/O• Inputs (24V solid state optically isolated)

– 4 general purpose plus enable • Outputs (24V solid state optically isolated excluding fault)

– Two general purpose– One fault relay contact– One brake control

I/O expansion option• Inputs (24V solid state optically isolated)

– 14 fixed function• Outputs (24V solid state optically isolated)

– 7 fixed function


AM Motors - A Common Offer for AM 伺服电机

High torque-to-inertia samarium cobalt brushless motors 0.4 - 100 Nm torque range IP65 rating with IP67 option DIN standard mounting CE, UL and cUL approvals Resolver and SINCOS encoder options Optional brake 7 motors are stock items (see next slide)

• IP65• Resolver feedback• No brake• Keyed shaft


Section 2OperatingModes运行模式


Section 2aAnalog Velocity Mode模拟速度方式


Analog Velocity Command Mode 模拟控制

BreakoutBox

Command andControl Signals

Controller

System Device TaskPLC Application ProgramMotion Controller Path Planning

InterpolationPosition Loop

Drive Velocity LoopCurrent Loop

Power Converter


Velocity Command Architecture 1速度控制结构 1

+ Motor

FB

+

-

Vcomp Icomp

Vderived

-

Pderived

Controller

Drive

Current Limit

VelocityCommand

Position Feedback

+

-Pcomp

Vff

+

+


Velocity Command Architecture 2速度控制结构 2

+

-Pcomp

Vff

+ Motor

FB

+

-

Vcomp Icomp

Vderived

-

+

Pderived

Controller

Drive

VelocityCommand

Position Feedback

Velocity Feedforward


Command Input Scaling量程输入

Command inputs are scaled for the desired maximum speed with the highest possible resolution

Care must be taken that the command outputs from the controller have the same scaling factor


Command Input Offset and Filtering偏置及滤波

Offset can be manually adjusted by entering a voltage magnitude to trim out any motion when zero speed is commanded from the controller

The Lexium also offers an Auto Offset feature which eliminates the manual steps A digital filter is available to reduce noise present on the analog inputs. Caution must be

exercised in increasing the filtering as this introduce a delay in the response to the input signal. This can cause stability problems in the position loop.


Simulated Encoder Output模拟编码输出

Configurable as incremental encoder or SSI (single and multiturn) SSI encoder simulation

• Match parameters to controller Incremental encoder simulation

• Resolution must match controller• The encoder null can be offset to assist in home switch placement


Basic Discrete Interface to Controller开关量与控制器接口

Controller Drive

Enable

Fault

Ground Reference

Machine Overtravel Limits

Reset


Optional Discrete Interface to Controller可选接口

Controller DriveIntegral Gain Off

Select Current Limit

Regen Power Exceeded

Torque Mode

Current <> Value

I T Exceeded2

Power Stage Ready

Bus Voltage <> Value


Section 2bIndexer Mode组合方式


Indexer Mode 1 - Discrete I/O Interface数字量 I/O 接口

I/O ExpansionBoard

Control Signals

Controller

System Device TaskPLC Application ProgramDrive Path Planning

InterpolationPosition LoopVelocity LoopCurrent Loop

Power Converter


Indexer Mode 2 - Serial Interface串行接口

Ascii Commands on RS232

Machine I/O

Controller


Indexer Mode 3 - Standalone 独立使用

I/O ExpansionBoard

Control Signals

3 2Simple Control

Panel


Parameters Common to all Indexes

Linear or rotary indexes Velocity and acceleration limits In position window Resolution Software limits Output triggers on position <> programmed value


Setting Resolution 设定分辨率

The resolution parameter relates the linear or rotary movement of the load to motor revolutions via gearboxes, leadscrews etc.


In Position Window

Velocity

Time

In Position


Defining an Index

Velocity

Run Speed

Timeta tr td


Variable S-Curve Profiles

accel

velocity

accel

velocityS-Curve

Variable


Creating Index Sequences

Velocity

Time

Immediate Dwell Input

Index 1 Index 4

Index 2

Index 3


Blending Indexes

Velocity

Time

Transition Dwell

Index 1 Index 4

Index 2

Index 3

Transition


Homing and Jog Mode寻原点和点动

6 Homing options Specify seek-speed, direction and accel/deccel Define Home Offset Define Jog Speed (negative sign changes direction) On-line initiation of homing and jogging


Home Switch Placement原点开关放置

If the home switch is too close to the feedback null, it is possible to miss the null and rotate a whole revolution to the next null

The switch should not inactive, 45 degrees each side of the null

45-315 degrees


I/O Expansion Card扩展卡

14 dedicated inputs• 8 move select lines (move 0 is homing sequence)• Start selected move (rising edge starts, falling edge holds)• Continue move held by falling edge on Start• Home limit switch (reference)• Clear following error fault• Start jog in programmed direction at programmed speed• Start next task in sequence if defined as triggered by I/O

transition 7 dedicated outputs

• 4 position register (transition on <> defined position or software limit)

• Following error fault• In position• In position (sequence)


Section 2cSERCOS Mode网络方式


Sercos Mode

SERCOSRing

Controller

System Device TaskPLC Application ProgramMotion Controller Path Planning

InterpolationDrive Position Loop

Velocity LoopCurrent Loop

Power Converter


SERCOS Architecture

PositionCommand

+

-Pcomp

Vff

+ +

-

Vcomp Icomp

Vderived

-

+

Pderived

Drive

Position Feedback


Configuring SERCOS

Configure the baud rate and fiber optic cable length (fiber optic drivers are optimized for cable length)

The SERCOS address can be configured under Basic Setup or via the up/down arrow keys on the front panel


SERCOS Discrete I/O

SERCOSDrive

Overtravel Limit

Home Switch

Position Register

Fault

Position Register

Overtravel Limit

Probe


SERCOS Analog I/O

SERCOSDrive

Analog Input 1

Analog Input 2


Homing 寻原点 Homing is limited to one mode

• Zero reference is defined by Home switch and feedback null.


Section 2dStep/Direction,Encoder TrackingMode编码跟随方式


Step and Direction Mode

Open LoopStep and Direction

Controller


Encoder Tracking Mode

Geared Motor

EncoderInductionMotor


Electronic Gearing

+

-Pcomp

Vff

+ +

-

Vcomp Icomp

Vderived

-

+

Pderived

Drive

Gear

Position FeedbackPosition

Command


Section 3Power/Motor Connection


Single Axis, Internal Regen Power Connection

AX2000

24V

Fuses

Contactor


Single Axis, External Regen Power Connection

AX2000

24V

Fuses

Contactor


Multi Axis, Internal Regen Power Connection

AX2000

24V

Fuses

Contactor

AX2000 AX2000Bus Bus


Motor Connection

AX2000

24V

Fuses

Contactor

Choke

Motor

Brake


Brake Timing

Enable Input

Speed

Brake Output

EnablePower Section


Emergency Stop - Preferred

AX2000

24V

Fuses

Contactor

Motor

3 PhaseContactor

DynamicBraking

Resistors


Emergency Stop - Alternative

AX2000

24V

Fuses

Contactor

Motor

EnableContactor Enable


Motor Feedback Options

EncoderResolver


Motor Overtemperature

AX2000

24V

Fuses

Contactor

MotorFeedback and

Overtemperature

Power


Motor MSET

In a brushless servomotor system, it is necessary to know the relative position of the feedback device and the motor poles so that the motor can be commutated

AM motors and associated feedback devices are aligned in the factory. The relative position of feedback device and motor poles is expressed as a default feedback offset in the drive

No MSET is required for AM motors A third party motor must be MSET


Section 4Faults andStatus错误及指示


Warnings and Errors Warnings

• Generated when a non-fatal fault occurs • Drive stays enabled with fault relay contact closed• Some non-fatal faults result in a controlled shutdown (ramp down to zero speed) but

with drive still enabled Errors

• Drive is disabled and fault relay opens• Faults can be cleared by a power cycle or reset (from Drive or via pre-configured

input)


Drive Status

A complete status of internal drive variables can be accessed via the Monitor icon on the main screen

• Motion information: position, speed, following error• Internal temperature• Regen power• Analog inputs• Current and bus voltage


Analog Output Diagnostics/Status

Internal servo loop variables can be made available on either analog output as a +/-10V signal

• Actual velocity• Commanded veocity• Actual current• Commanded current• Following error


Discrete Output Diagnostics/Status Discrete outputs can be configured to provide status

• Velocity <> preset value• Current <> preset value• Continuous current rating exceeded• Bus voltage <> preset value• Regen power dissipation exceeded• Any error, following error or warning

The on/off status of discrete inputs and outputs on the I/O expansion card are displayed in Drive


Section 5ConfigurationStorage组态储存


Internal Memory

WorkingMemory

NonVolatile

Defaults


File Storage

Drive configurations can be stored on a PC using the Drive browser

A file can be loaded from disk and modified off-line before downloading to the drive


Section 6Tuning运行


The Step Response

How a control loop responds to a small step change is a good indicator of how well the system has been tuned

The rise-time (tr) is shorter if the bandwidth is high The higher the proportional gain the higher the bandwidth The red curve shows some ringing and indicates that we are

starting to see some phase shift. The green curve shows a critically damped control loop with close to the ideal response

In practice a small amount of ringing is acceptable since the rise-time is a little shorter i.e. faster response

Time

ActualVelocity

Ringing

Tr


Tuning - The Golden Rules Command the System to Do Only What it is Capable of

• If the motor and drive is incorrectly sized for the desired motion profile no amount of tuning will yield the desired results

Tune Inside Out• It is essential to tune the inner loops first. A common mistake

is to have a low bandwidth, poorly tuned velocity loop then try to tune the position loop. The position loop can never be properly tuned because of the phase shift in the inner loop

Proper Grounding and Shielding• Great care must be taken in following the grounding and

shielding procedures in the installation manual. If there is excessive system noise the system must be detuned (low bandwidth) so that it is not excited by high frequency noise

Robust Mechanical Design• Ensure that there is minimum flexibility in the mechanical

system and that couplings are tight. Without a good mechanical design, resonances will be introduced which again force system detuning


Velocity Control Architecture

+ +

-

P+I P+I

Vderived

-

Pderived

Position Feedback

Proportional Plus IntegralVelocity Loop


Position Control Architecture

+

-P+I

Vff

+ +

-

P P+I

Vderived

-

+

Pderived

Position Feedback

ProportionalVelocity Loop


Oscilloscope

Time

Velocity


Oscilloscope Operating Modes

Reversing - step change in velocity Constant speed Constant torque Constant current


The Current Loop

The current loop is configured automatically when the motor is selected. It is usually not necessary to modify parameters.


The Velocity Loop

The goal is to tune the compensator so that the highest bandwidth is achieved appropriate for the mechanical system.

Velocity loop parameters are set automatically when the motor model number is selected. The velocity loop can then be adjusted for the appropriate performance when the load is connected


Optimizing Velocity Loop Step Response

Proportional Gain• Higher proportional gain results in faster rise time but more overshoot and ringing.

The optimum response is a small amount of overshoot with minimal ringing Integral Gain

• Higher integral gain improves immunity to disturbances but increases ringing. In a high friction system the integral gain can be increased more significantly

Time

Velocity


The Position Loop

The integral term moves from the velocity loop to the position loop. It should normally be increased 2-3 times the value from the optimized speed loop. A higher integral gain reduces following error but increases ringing

The proportional gain may require no adjustment. A higher gain reduces following error bu increases ringing

Following error is significantly reduced by Vff which normally requires no adjustment from the default


AX2000 单独使用方案


应用领域

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Training - Motion 1/80 AX2000 Drive. Training - Motion 2/80 Overview( 概览 ) Product Overview...

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Transcript of Training - Motion 1/80 AX2000 Drive. Training - Motion 2/80 Overview( 概览 ) Product Overview...