advanced motion controls drive ware and digiflex product overview march 2009

3/30/2009 1

DriveWare™ and Digiflex® Performance™Servo Drives Overview

Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249

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3/30/2009 ADVANCED Motion Controls 2

Agenda

Digiflex Peformance OverviewDriveWare Overview

SetupConfigurationDiagnostic and Troubleshooting

DriveWare TrainingSetup

Network TypeMotor InformationFeedback InformationCommutationCommand TypeControl Mode(s)

ConfigurationGains (Current, Velocity and Position)Limits, Power-Up, BrakeEvents and ActionsInputs/Outputs (Analog and Digital)HomingUser Units

DriveWare Training Cont.Diagnostics and Troubleshooting

ScopeMultimeterDrive StatusCommand StatusInput/Output StatusPhase DetectAutocommWaveform GeneratorPVT GeneratorStatus Bar

Updates and Thank You!

*If you have Questions during the presentation…

…please type them in the question area on the GoTo Webinar toolbar.I will then answer them during the presentation.


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Product Line Overview – Standard Products

Digiflex Performance – Common Firmware and Common GUIDP Series – Panel MountDZ Series – PCB Mount

SOFTWARE HARDWARE SYSTEMS

DRIVEWARE™

SERVO DRIVES POWER SUPPLIES

MOUNTING CARDS

SHUNT REGULATORS FILTER CARDS QUICKSTART

ANALOG

DIGITAL

ANALOG INPUT

PWM INPUT

SINUSOIDAL INPUT

DP

DZ

AZ

TRADITIONAL CONVENTION

DIGIFLEX® PERFORMANCE™

ADVANCED MOTION CONTROLS PRODUCT LINE


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Digiflex® Performance™ Capabilities

20-80 10-80 40-190 20-80 40-190 20-80 20-80

100-240 100-240200-480

100-240200-480 200-240

12 20 15 20 25 30 40 60 1006 12 7.5 10 12.5 15 20 30 50

100-24020-80

100-240

AC - Nominal Range (Vac)

Voltage Ratings

PeakContinuous

Current Ratings (Adc)

DZ DP

DC - Nominal Range (Vdc)

Auxiliary CommunicationRS-232

DPQxxxx

Primary Communication

CANopenSynqNet

DZCxxxx-

DZRxxxxRS-485/232 DPRxxxxDPCxxxx

Command Sources+/-10 V Analog DPCxxxx, DPRxxxx

DZRxxxx DPxALxx+24V Step and Direction - DPxAHxx

Primary Feedback

PWM and DirectionOver the Network

Encoder Following+5V Step and Direction

Absolute Sin/Cos Encoder

3Programmable Digital Outputs

1 Vp-p Sin/Cos EncoderResolver

Tachometer (+/-10 Vdc)

Motors Supported

Programmable Analog Outputs -

Programmable Digital Inputs

1

Position

Brush

Linear BrushlessLinear AC Induction

Digital and Analog I/O (consult drive datasheet for specific DP I/O)

Modes SupportedCurrent

Velocity

DPxxxxADPxxxxSDPxxxxR

---

AC Induction

2

6, 8, or 104

3 or 41 or 2

0, 2 or 3

5

Programmable Analog Inputs

High Speed Captures

DPxxxxE

Agency ApprovalsUL, cUL

DPxxxxE, DPxxxxSDPxxxxE

Hall Sensors onlyIncremental Encoder only

DPCANxx, DPRxxIx

Brushless

CE Class A (LVD), CE Class A (EMC)RoHS

Auxiliary FeedbackAuxiliary Incremental Encoder

Incremental Encoder w/ Hall Sensors


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Digiflex® Performance™ Capabilities – cont.

Control Mode Command Source Feedbacks Supported DZCA

NTE

DZRA

LTE

DPCA

NIA

DPCA

NIE

DPCA

NIR

DPCA

NIS

DPCA

NTA

DPCA

NTE

DPCA

NTR

DPCA

NTS

DPRA

HIA

DPRA

HIE

DPRA

HIR

DPRA

HIS

DPRA

LTE

DPRA

LTR

DPRA

NIE

DPRA

NIR

DPRN

LIE

DPRN

LIR

DPQN

NIE

DPQN

NIR

Torque Analog Input+5V Step and Direction+24V Step and DirectionPWM and Direction

Analog Input+5V Step and Direction+24V Step and DirectionPWM and Direction

Hall SensorsIncremental EncoderTachometer (+/-10 Vdc)ResolverAbsolute EncoderSin/Cos Encoder

Analog Input+5V Step and Direction+24V Step and DirectionPWM and DirectionEncoder FollowingPVT

+/-10Vdc Analog PositionIncremental EncoderResolverAbsolute EncoderSin/Cos EncoderAuxiliary Encoder (Dual Loop)

Velocity

Torque

Position


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Digiflex® - Customs Capabilities

ADVANCED Motion Controls has the capability to promptly develop and deliver custom servo drive solutions outside of the standard product range

Optimized Footprint Tailored Project File Private Label Software Silkscreen Branding OEM Specified Connectors Optimized Base Plate No Outer Case Increased Current Limits Increased Current Resolution Increased Voltage Range Increased Temperature Range Conformal Coating Custom Control Interface Multi-Axis Configurations Integrated System I/O Reduced Profile Size and Weight

Examples of Customized Products


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DriveWare™ Overview

DriveWare is a GUI used primarily for:

Setup and Configuration of servo systemDiagnostics and Troubleshooting of servo system and/or machine

DriveWare InformationManualHelp File

Setup (describe the system around the drive)

Network TypeCommand TypeMotor InformationFeedback InformationCommutationControl Mode(s)

Configuration (set the levels or the parameters in the drive)

GainsLimits, Power-Up, BrakeEvents and ActionsInputs/Outputs (Analog and Digital)HomingUser Units

Diagnostics and TroubleshootingScopeMultimeterDrive StatusCommand StatusInput/Output StatusAutoCommutationWaveform GeneratorPVT GeneratorStatus Bar Toll Free Phone: 877-378-0240

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DriveWare – Where to get it?

DriveWare SoftwareDownload at: http://www.a-m-c.com/content/prods/descriptions/drives/digitaldp.htmlDocumentation

ReadMe – System RequirementsRelease Notes – Incremental Changes Between ReleasesHelp File

DriveWare ManualDownload At: http://www.a-m-c.com/content/prods/descriptions/drives/digitaldp.htmlContent of Manual and Help File are identical.

DriveWare PresentationDownload At: http://www.a-m-c.com/amcrep


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http://www.a-m-c.com/content/prods/descriptions/drives/digitaldp.html

http://www.a-m-c.com/content/prods/descriptions/drives/digitaldp.html

http://www.a-m-c.com/amcrep


Workspace Overview

The Tool Bar is used for quick access to commonly used functions and tools

The Status Bardisplays the drive communication status, current Hot Key setting, and bridge status.

The Block Diagramapplication window is used to navigate to the Setup and Configuration Windows.

The Command Tool Bar is used to control the bridge state and to stop motion.

The Menu Bar is used to navigate to the Setup and Configuration Windows as well as perform software functions.


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Block Diagram

The Block Diagram window provides access to tools, functions, and drive status to help configure the drive

Control Loops Configuration SettingsDrive Status

Primary use is for Navigating through software to get access to drive parameters


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Toolbars

The Toolbars provides shortcuts to setup and configuration windows, DriveWare settings, and general software functions

Standard ToolbarOpenSaveConnect/Connection SettingsDisconnectStore to NVMWizardUser UnitsOscilloscopeMultimeterPVT GeneratorContext Help

Command ToolbarEnable/DisableStart/Stop Motion

Command Toolbar

Standard Toolbar


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Menu Bar

The Menu Bar provides shortcuts to Setup and Configuration windows as well as general software functions.

File MenuOpen/Save FilesWizardExit

Drive MenuEnable/DisableConnect/DisconnectStore to Drive/Restore from DriveFirmware Download

ToolsScope/TuningMultimeterPVT Generator

SettingsUser UnitsHot Key SettingsDrive NameCANopen Settings

ViewDrive StatusEvent Logs

Critical Event ActivityEvent Counters

ToolbarsStandardCommand

WindowCascade/Tile Windows

HelpDriveWare Help File What’s This? Context HelpAbout the Drive/DriveWareToll Free Phone: 877-378-0240


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Status Bar

The Status Bar displays the drive operation status

Bridge StateConnection StateInterface Access State


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Setup – Project Files

Setup of the Drive can be started by:

Opening Existing Project (.adf)Connecting to Drive with Default Project FileConnecting to Drive and Use Setup Wizard

Default Project FileFile (.adf) with Default Factory Parameters


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Setup – Network Type

This is the window used to setup how DriveWare is going to connect to the Drive

The setup information can used to help configure the host

Communication TypesRS232RS485SynqNetEthernet (Future)USB (Future)

Aux. Comm. Only


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Setup – Motor

This window is used to enter motor information or select motor from User database

Motor TypesBrushBrushlessAC InductionLinear BrushlessLinear AC Induction

UnitsThe units entered are independent of User Units


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Setup – Feedback

This window is used to enter in feedback information or select feedback from User database

Feedback TypesEncoder OnlyHalls OnlyEncoder with HallsAbsolute

HiperfaceEnDat 2.1 (requires 1Vpp signals)

SIN/COSSIN/COS with HallsResolver

UnitsThe units entered are independent of User Units


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Setup – Commutation

There are two primary methods for commutation

Phase DetectAutoCommutation

Phase DetectThis method is used when no commutation signals (i.e. Halls) are availableMust be done after every power-up

AutoCommutationOnly needs to be done one time during setup.Information is stored in project file (.adf)

Brush MotorsJust select which two Motor Phases are used for external commutation


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Setup – Command Type

This window is used to select the Command Source

Command Source TypesNo CommandAnalog InputStep & DirectionPWM & DirectionEncoder FollowingPVTInterface InputCommunication Channel

Command LimiterControls the rate of change of the input command signal as seen by the drive


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Setup – Control Mode(s)

A control mode describes the loop closure, command input and feedback

Torque ModesAnalog InputStep and DirectionPWM Direction

Velocity ModesAnalog InputStep and DirectionPWM DirectionFeedbacks Supported

Motor Feedback*HallsAnalog Input

Position ModesAnalog InputStep and DirectionPWM DirectionEncoder FollowingPVTFeedbacks Supported

Motor Feedback*Analog InputAux. Encoder (Dual Loop)

*Motor Feedbacks can be Encoder, Absolute or SIN/COS


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Configuration – Current Loop

This window is used to adjust the Current Loop gains

Gains SupportedProportionalIntegral

Calculate GainsUse this feature to determine the Current Loop gains based on entered motor parametersProvides a starting point for gains adjustments


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Configuration – Velocity Loop

This window is used to adjust the Velocity Loop gains

Gains SupportedProportional GainIntegral GainDerivative GainFeedforward Gain

Additional FeaturesFeedback Filter Cut Off Frequency

Reduces velocity rippleLow Speed Smoothing

Stabilizes the velocity loop during low-speed movementReduces jitter when the Position Loop is tuned around the Velocity Loop

Integrator DecayPrevents a high current command in high stiction applications Toll Free Phone: 877-378-0240


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Configuration – Position Loop

This window is used to adjust the Position Loop gains

Gains SupportedProportional GainIntegral GainDerivative GainVelocity Feedforward GainAcceleration Feedforward Gain

Additional FeaturesIntegrator Decay

Prevents a high current command in high stiction applications


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Configuration – Limits and Options

This window is used for configuration of Drive and System Limits to prevent damage to components or machine

Drive Current Limits*Voltage LimitsVelocity LimitsPosition LimitsTemperature Limits

*Drive Current limits will automatically be limited by the values entered in the Motor and Feedback window to prevent system damage


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Configuration – Power-Up Control

The Power-up Control tab configures drive actions upon power-up

Power-up ActionSelects what target position to load as the home position

Bridge State On Power-upProvides user control over whether the power bridge will be automatically enabled or disabled upon power-up


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Configuration – Braking/Stop

The Braking/Stop tab allows configuration of external brake actions and deceleration limts

External BrakingSet time delays between braking and enabling/disabling the drive.

Stop Deceleration LimitSets the Position and Velocity Modes deceleration limits for all stop actions


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Configuration – Event Manager

The Event Manager feature allows the user to configure how the drive will react to certain system events

Drive ProtectionDrive SystemSystem ProtectionBrake Option

Event Manager – Basic OptionsDrive can be latched in a disabled state to avoid damaging hardware

Requires ResetEvent reporting can be turned off for certain drive system events


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Configuration – Event Manager

Event Manager – Advanced options

Provides more comprehensive settings for event responses

Response TimeEvent ActionRecovery TimeTime-OutMaximum RecoveriesUnlimitedAutomatic CANopen Fault Recovery


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Configuration – Inputs/Outputs

This window is used to assign Events and Monitoring to Programmable Digital and Analog I/O

Analog InputsAnalog OutputsDigital InputsDigital OutputsCapture Inputs

High Speed


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Configuration – Homing

The Homing window is used to set homing parameters and configure the homing method

Search Home buttonSpeed During SearchHoming AccelerationHoming Methods

35 different home routines based on CANopen DSP402Home to an IndexSelect Homing Method by configuring homing response to Home Switch, Limit Switch, and Direction of travel


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Configuration – User Units

This window allows user configuration of parameters in units of the load

Select from a variety of unit types for each measurement parameter to set the general units used in the softwareUser can select unit assignments that are different from the motor and feedback units

Custom Labels – user can define labels specific to their application


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Diagnostics – Scope / Tuning

The Scope / Tuning feature provides an all-in-one window for loop tuning, system troubleshooting, and machine simulation

Waveform GeneratorCommand LimiterLimits and OptionsEvent Manager


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The Digital Oscilloscope is used for Current, Velocity, and Position Loop Tuning

Scope PresetsCurrentVelocityPosition

Waveform Generator simulates a target commandGains Adjustments available within the Scope/Tuning window


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The Digital Oscilloscope provides assistance during drive troubleshooting

Access to internal drive signalsDisplay of up to 8 channels at any time depending on the bandwidth used for each channelBasic and Advanced signal menus offer a comprehensive selection of available drive signals


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Diagnostics – Multimeter

The Digital Multimeter is used to monitor a variety of drive signal types, including positions, velocities, torques, and voltages

Minimum and Maximum countersAuto ScalingCan be used at the same time as the Digital Oscilloscope, or as a stand-alone feature

Multimeter window can always be open on top of other windows


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Diagnostics – Drive Status

The Drive Status window provides a real-time drive diagnostic display

Shows Drive Protection, System Protection, and System Status EventsActive, Inactive, Action, and History Event DesignationLinks to Critical Event Activity and Event Counters

The Drive Status window can always be open on top of other windows


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Diagnostics – Command Status

The Status section of the Command Source tab provides real-time integrated status information

Measured ValueCommanded value


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Diagnostics – Input/Output Status

The I/O Configuration window displays real-time integrated values and status for all I/O types

Analog Inputs/OutputsMeasured Value

Digital Inputs/Outputs“On/Off” Status

Capture InputsMeasured Captured Value


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Diagnostics – AutoCommutation/Phase Detect

The AutoCommutationroutine can be used to detect errors

Motor hardware issuesFaulty Feedback DeviceIncorrect information entered into the Motor and Feedback window

If the AutoCommutationroutine fails to complete, DriveWare provides information on how to correct the issue


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Diagnostics – Waveform Generator

The WaveForm Generator is accessible from the Scope / Tuning window, and provides an internal signal from the drive useful for loop tuning and configuration

Waveform TypeDCSquareTriangleSinusoidal

Waveform Into The:Current LoopVelocity LoopPosition Loop

Waveform AttributesFrequencyAmplitudeOffsetSymmetry Toll Free Phone: 877-378-0240


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Diagnostics – PVT Generator

The PVT Generator allows the user to specify position, velocity, and time data when operating in PVT mode

Allows entry of up to 16 separate PVT pointsUser can also upload an external PVT file


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