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Elmomc SimplIQ Digital Servo Drives-Bell Command Referenc Handbücher

Bedienungsanleitungen und Benutzerhandbücher für Hardware Elmomc SimplIQ Digital Servo Drives-Bell Command Referenc.
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Elmomc SimplIQ Digital Servo Drives-Bell Command Referenc Bedienungsanleitung (315 Seiten)


Marke: Elmomc | Kategorie: Hardware | Größe: 1.78 MB |

 

Inhaltsverzeichnis

SimplIQ for Steppers

2

Chapter 1: Introduction

9

1.1. Command Specification

10

1.2. Scope

10

1.3. Reserved Commands

11

2.1 Motion Commands

13

2.2 I/O Commands

14

2.3 Status Commands

14

2.4 Feedback Commands

14

2.5 Configuration Commands

15

2.6 Communication Commands

16

2.7 Control Filter Commands

16

2.8 Protection Commands

16

2.9 Data Recording Commands

17

2.10 User Program Commands

17

2.11 General Commands

18

Limit Ranges

21

Purpose:

22

AC - Acceleration

23

AG[N] - Analog Gains Array

24

Application notes:

25

Speed reference generation

25

Open loop stepper control

25

AN[N] – Analog input array

26

AR[N] – Active Route array

27

SimplIQ electronics

28

BG - Begin Motion

29

Hexadecimal

30

BP[N] - Brake Parameter

31

CA[N] - Commutation Array

34

CC - Compiled Program Ready

40

CD - CPU Dump

41

CP - Clear Program

45

DC - Deceleration

46

DD - CAN Controller Status

47

DF/DT - Download Firmware

48

DL - Download Program

49

EC - Error Code

52

SimplIQ drive internal use

60

EM[N] - ECAM Parameters

66

EO - Echo Mode

68

FF[N] - Feed Forward

71

FR[N] - Follower Ratio

72

GS[N] - Gain Scheduling

73

SimplIQ can:

75

HP - Halt Program Execution

78

HT[N] – Holding torque

79

HX - Hexadecimal Mode

80

IB[N] - Input Bits Array

84

Current

85

IF[N] - Digital Input Filter

86

IL[N] - Input Logic

87

SimplIQ drive will retry

88

IP - Input Port

94

Table 3-23: IP - Input Port

95

JV- Jogging Velocity

96

KI[N], KP[N] - PI Parameters

98

KL - Kill Motion and Program

99

Parameters

100

MAN-STECR (Ver. 1.1)

101

LC - Current Limit Flag

102

Application note:

104

Storing non volatile data

104

LL[N] - Low Feedback Limit

105

LP[N] - List Properties

106

LS - List User Program

107

MF - Motor Failure

109

0x10,000,00

111

MI - Mask Interrupt

113

MO - Motor Enable/Disable

115

MS – Motion Status

119

OB[N] - Output Bits Array

120

OC[N] – Output Compare

122

OC[3]=100(RS), volatile

124

OC[4]=200(RS), volatile

124

OL[N] - Output Logic

125

drive will

126

OP - Output Port

127

PA - Absolute Position

128

PE - Position Error

130

PK - Peek Memory

131

PM - Profiler Mode

137

PN[N] –Integer parameters

138

PP[N] - Protocol Parameters

140

PR - Relative Position

142

PS - Program Status

143

PT - Position Time Command

144

PX - Main Position

147

PY - Auxiliary Position

148

Velocity

149

RG - Recorder Gap

151

RL - Record Length

152

RM - Reference Mode

153

RP[N] - Recorder Parameters

154

Table 3-41: RR Reports

156

RS - Soft Reset

158

RV[N] - Recorded Variables

159

SD - Stop Deceleration

160

SF - Smooth Factor

162

SN - Serial Number

163

SP - Speed for PTP Mode

164

SR - Status Register

165

ST - Stop Motion

167

TC - Torque Command

169

TM - System Time

171

TR - Target Radius

172

TW[N] – Wizard Command

175

UF[N] – User Float Array

176

UI[N] – User Integer

177

UM - Unit Mode

178

VC[N]- Voltage Command

180

VE - Velocity Error

181

VR - Firmware Version

183

Feedback

184

See also:

186

SimplIQ products

187

XA[N] - Extra Parameters

190

XM[N] - X Modulo

192

YM[N] - Y Modulo

196

Temporary Storage

198

SimplIQ for Steppers

199

Important Notice

200

Contents

201

Chapter 1:Introduction

205

Organization

206

Chapter 3:Unit Modes

208

FR[2] Follower gain

210

Control

215

Command Generator

217

TKI θθ=−

221

4.1.1 Stepper Commutation

222

4.1.2 Vector Commutation

222

4.2. Commutation Sensors

223

Position Sensors

225

TKI θ= (1)

227

4.3.1.1 Selecting Parameters

228

4.3.1.2 Method Limitation

229

4.3.1.3 Protections

229

Faults and Diagnosis

231

5.1. Current Limiting

232

[.9 ]01CL×

233

5.2. Sensor Faults

234

5.2.2 Commutation Faults

235

Incremental Position Sensor

235

Generator

237

6.1.4 Point-to-Point (PTP)

240

6.1.4.1 Basic PTP

240

6.1.5 Jog

244

6.1.6.1 The PVT Table

250

6.1.6.2 Motion Management

251

6.1.6.3 Mode Termination

253

6.1.7 Position - Time (PT)

258

6.1.7.2 The PT Table

260

6.1.7.3 Motion Management

260

6.2.1 Follower

267

Moving conveyer

268

6.2.2 ECAM

269

6.2.2.1 Linear ECAM

270

Figure 6-12: Linear ECAM

271

6.2.2.2 Cyclical ECAM

272

Portions

273

Drawing x-y manipulator

274

Camera station

274

6.3. Stop Manager

277

VL[3]= -5000

279

SimplIQ drive

283

7.1.1 Link Parameterization

285

7.2.2 Notch Filter Element

286

7.2.3 Double-lead Element

287

7.2.4 First-order Element

287

(2 )round x

288

Controller

289

8.1. Gain Scheduling

290

2 speed×

291

8.2. Speed Control

292

() ( ) ()

293

8.3.1 Block Diagram

294

−= [counts]

295

Current cmd prefilter

298



298

9.2. Cogging Correction

299

9.3. Speed Corrections

300

Implementation:

301

9.5. Pre-filter and Limiter

302

Chapter 10:Development Aids

303

Launching and Uploading Data

304

10.1.2 Signal Mapping

305

10-2. To

306

10-3 must be mapped to the

306

RV[1]=5; RV[2]=1; RC=3;

307

JV=5000;BG

308

SimplIQ

311

SimplIQ drive message

311

Resulting index pulse

314

Interpolation angle

314




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