上海安浦鸣志-集成式步进伺服-SSM产品-SSM23 英文-SSM23C 用户手册.pdf

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上海安浦鸣志-集成式步进伺服-SSM产品-SSM23 英文-SSM23C 用户手册pdf,上海安浦鸣志-集成式步进伺服-SSM产品-SSM23 英文-SSM23C 用户手册
SSM23C User manual MOONs 4.2.3 Electronic Gearing 23 4.2.4 Positioning Error Fault 23 4.2.5 Maximum acceleration 24 4.3 Node d .24 4.3.10 Definition 25 5 Tuning- Sampling 26 5. 1 Velocity Control Loop(v Loop) 26 5.1.1 Gain: The velocity Proportional Term(VP) 27 5.1.2 Integ Gain: The velocity Integral Term(V)……………………27 5.1.3 FF Gain: Acceleration Feed-forward Term( KK) 27 5.1.4 PID Filter: Torque Command Filter Term(Kc) 27 5.2 Position Control Loop 28 5.2.1 Gain: The Position Proportional Term(KP) ,28 5.2.2 The Position Integral Term(KI)-Not Implemented 28 5.2.3 Deri Gain: The Derivative Term(KD) 28 5.2.4 Deri Filter: Torque Command Filter Term(KE) 29 5.3 Notch filter 29 5.3.1 Frequency: Notch Filter Center Frequency .30 5.3.2 BandWidth: Notch Filter Frequency Bandwidth …30 5.4 Getting Ready for Tuning…… 31 5.5 Tuning the velocity Loop.……… 32 5.5.1 Entering a Sample Move 32 5.5.2 Performing a Move 33 5.5.3 Adjusting tuning parameters 33 5.5.4 Adding in the FF Gain 5.5.5 Filter parameter 35 5.5.6 Verify the Drive Current 36 5.5.7 Finishing up….,… 36 5.6 Tuning the Position loop……… 36 5.6.1 Entering a Sample Move....,……………….36 5.6.2 Performing a move .37 5.6.3 Adjusting the Gain(KP)and Deri Gain(KD) parameters 38 5.6.4 The Deri Filter(KE) parameter 38 5.6.5 Filter parameter(again) 38 5.6.6 Verify the Drive Current…… 38 5.6.7 Finishing up .38 5.7 Using Auto Trigger Sampling 38 5.7.1 Setting up Auto Trigger 39 +86-400-820-9661 Rev 1.0 0006302011 SSM23C User manual MOONs 5.8 Setting the Notch filter 40 6 SCL Test Monitor 41 6.1 SCL Test 6.2 Motion status ■重口重口 41 6.3 Monitor 42 6.4 0 Status 画 .42 6.5 Alarm 42 6. 6 Drive status 7 Troubleshooting……… ■■口■■■ 45 8 Reference Materials ......................... 46 8.1 Mechanical outlines 46 8.2 Technical Specifications .47 8.3 Torque-Speed Curves 48 8. 4 SCL Command Reference a:.a:aa::日: 49 9 Contacting MooNs 51 Communications Model Rs-232 CANopen SSM23C-2CG SSM23C-3CG Rev. 1.0 0006302011 +86-400820-9661 SSM23C User manual MOONs 1 Introduction Thank you for selecting the MooNS SSM2 3C Integrated Motor. The SSM line of integrated step-servo motors combines servo technology with an integrated motor to create a product with exceptional feature and broad capability. We hope our commitment to performance, quality and economy will result in a successful motion control project 1.1 Features Programmable, Digital servo driver and motor in an integrated package Operates from a 12 to 70 volts dC power supply Modes of operation CANopen(complant CIA DSP402) Profile Torque · Profile velocity ·Prof| e position Homing Q Programing Execute stored Q programs via MOONS specific CANopen objects Communications CANopen& RS-232 5000 line(20,000 counts/rev)encoder feedback Available torque SSM23C-2CG: Up to 1.0Nm Continuous(1. 3 Nom Boost SSM23C-3CG: Up to 1.5N.m Continuous(2.0 N.m Boost O 3 optically isolated digital inputs, with adjustable bandwidth digital noise rejection filter, 5 to 24 volts optically isolated digital output, 30V/100 mA max Technological advances Full servo control, Closed loop Efficient, Accurate, Fast, Smooth Intelligent, Compact +86-400820-9661 5 Rev 1.0 0006302011 SSM23C User manual MOONs 1.2 Block Diagram SSM23C Block Diagram 12-70VDC External 5 Volt DC Power Supply Power Supply RS-232 TX, RX, GND RS232 Logic Volta CANopen Suppl Temp CANopen Det CANH CANL, GND MOSFET PWM Power N1+ Amplifier Optical Digital Software DSP Contre IN2 Optical Software encoder Over Current Det Optional I Optical Software Filter Status oUT+ Optical OUT- Iso 10 Configurations IN1 (5 to 24 Volts) IN2 (5 to 24 Volts) IN3 (5 to 24 Volts) 0UT(30V,100mA) CW Limit CCW Limit Enable Input Brake Outp General Purpose General Purpose Reset input Alarm Output General Purpose Motion Output General Purpo In position Rev. 1.0 0006302011 6 86-400-820-966 SSM23C User manual MOONs 1.3 Safety Instructions Only qualified personnel should transport, assemble, install, operate, or maintain this equipment Properly qualified personnel are persons who are familiar with the transport, assembly, installation, operation, and maintenance of motors, and who meet the appropriate qualifications for their jobs To minimize the risk of potential safety problems, all applicable local and national codes regulating the installation and operation of equipment should be followed. These codes may vary from area to area and it is the responsibility of the operating personnel to determine which codes should be followed, and to verify that the equipment, installation, and operation are in compliance with the latest revision of these codes Equipment damage or serious injury to personnel can result from the failure to follow all applicable codes and standards. moonS does not guarantee the products described in this publication are suitable for a particular application, nor do they assume any responsibility for product design, installation or operation Read all available documentation before assembly and operation Incorrect handling of the products referenced in this manual can result in injury and damage to persons and machinery All technical information concerning the installation requirements must be strictly adhered to It is vital to ensure that all system components are connected to earth ground Electrical safety is impossible without a low-resistance earth connection This product contains electrostatically sensitive components that can be damaged by incorrect handling. Follow qualified anti-static procedures before touching the product During operation keep all covers and cabinet doors shut to avoid any hazards that could possibly cause severe damage to the product or personal health During operation, the product may have components that are live or have hot surfaces Never plug in or unplug the Integrated Motor while the system is live. The possibility of electric arcing can cause damage Be alert to the potential for personal injury. Follow recommended precautions and safe operating practices emphasized with alert symbols. Safety notices in this manual provide important information. Read and be familiar with these instructions before attempting installation, operation, or maintenance. The purpose of this section is to alert users to the possible safety hazards associated with this equipment and the precautions necessary to reduce the risk of personal injury and damage to equipment. Failure to observe these precautions could result in serious bodily injury, damage to the equipment, or operational difficulty +86-400-820-9661 Rev 1.0 0006302011 SSM23C User manual MOONs 2 Getting Started The following items are needed a 12-70 volt DC power supply, see the section below entitled"Choosing a Power Supply"for help in choosing the right one a small flat blade screwdriver for tightening the connectors(included) a pc running Microsoft Windows 2000, XP, vista, or Windows 7 the MooNS CD (included) a MOONSRS-232 programming cable(included) 2.1 Installing Software Before utilizing the ssM23C Integrated Step-Servo Motor and SSM Quick Tuner Software in an application, the following steps are necessary Install the SSM Quick Tuner software from the cd, software is also available at mOoNs website Connect the drive to the PC using the Rs-232 programming cable Connect the drive to the power supply. See instructions below Launch the software by clicking Start. Programs. MOONS Apply power to the drive The software will recognize the drive and display the model and firmware version. At this point it is ready for use 2.2 Mounting the Hardware As with any step motor, the SSM23C must be mounted so as to provide maximum heat sinking and airflow. Keep enough space around the integrated motor to allow for airflow Never use the drive where there is no airflow or where other devices cause the surrounding air to be more than 40C(104F) Never put the drive where it can get wet Never use the drive where metal or other electrically conductive particles can infiltrate the drive Always provide airflow around the drive Rev. 1.0 0006302011 8 +86-400820-9661 SSM23C User manual MOONs 2.3 Choosing a Power Supply The main considerations when choosing a power supply are the voltage and current requirements for the application 2.3.1 Voltage The SSM23C is designed to give optimum performance between 24 and 48 Volts DC. Choosing the voltage depends on the performance needed and motor/drive heating that is acceptable and/ or does not cause a drive over-temperature. Higher voltages will give higher speed performance but will cause the ssM23C to produce higher temperatures. Using power supplies with voltage outputs that are near the drive maximum may significantly reduce the operational duty-cycle The extended range of operation can be as low as 10 Vdc minimum to as high as 75 VDC maximum. When operating below 18 VDC, the power supply input may require larger capacitance to prevent under-voltage and internal-supply alarms Current spikes may make supply readings erratic. The supply input cannot go below 10 VDC for reliable operation. Absolute minimum power supply input is 10 VDC. If the Input supply drops below 10 VDC the low voltage alarm will be triggered. This will not fault the drive Absolute maximum power supply input is 75 VDC at which point an over-voltage alarm and fault will occur. When using a power supply that is regulated and is near the drive maximum voltage of 75 VDC, a voltage clamp may be required to prevent over-voltage when regeneration occurs When using an unregulated power supply, make sure the no-load voltage of the supply does not exceed the drive s maximum input voltage of 75 VDC 2.3.2 Regeneration Clamp If a regulated power supply is being used, there may be a problem with regeneration. When a load decelerates rapidly from a high speed, some of the kinetic energy of the load is transferred back to the power supply, possibly tripping the over-voltage protection of a regulated power supply, causing it to shut down. This problem can be solved with the use of a MooNS RC880 Regeneration Clamp. It is recommended that an rc880 initially be installed in an application If the"regen "LED on the RC880 never flashes, the clamp is not necessary LED Green- Power Red- Regen on RC880 Regen Clamp +86-400820-9661 Rev 1.0 0006302011 SSM23C User manual MOONs 2.3.3 Current The maximum supply currents required by the SSM23C are shown in the charts below at different power supply voltage inputs. The SSM23C power supply current is lower than the winding currents because it uses switching amplifiers to convert a high voltage and low current into lower voltage and higher current The more the power supply voltage exceeds the motor voltage, the less current will be required from the power supply It is important to note that the current draw is significantly different at higher speeds depending on the torque load to the motor Estimating how much current is necessary may require a good analysis of the load the motor will encounter SSM23C-2CG 24V Power 3.5 12 2.5 Torque 0.9 0.6 1.5 Supply current No load 0.3 0.5 20 Speed(RPs) SSM23C-2CG 48V Power 1.5 35 2.5 Torque 09 ontinuous 0.6 1.5 Supply current Full load No load 0.3 0.5 40 50 Speed(RPs) Rev. 1.0 10 0006302011 +86-400820-9661

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