EMC

User Manual

DKM

1. EMC (EMPS Motion Control) Overview

1.1 Overview

EMC is a controller for motion and speed control of EMPS Motor developed by DKM.

The changing and saving program is easy by adopting non-volatile memory(EEP ROM).

And displaying the distance and input of distance can be by ‘mm’ unit. So it is very

convenient.

It is designed for a point of user’s view so that everyone can use easily even if

they are not specialist. Furthermore, the set of Input and Output terminal is made by

considering the connection with PLC(Programmable Logic Controller) so that user can

make connection easily.

2. External Appearance

2.1 The name of each part

2.2. Terminal

2.2.1 Main Circuit Terminal

R/L1 S/L2 T/L3 U/T1 V/T2 W/T3

P P2 N B

주회로 단자

2.2.2 Main Circuit Terminal Function Function Terminal display

Power Input R/L1, S/L2, T/L3

Output U/T1, V/T2, W/T3

DC Input R/L1(or S/L2), N

DC reactor connection P, P2(Short BAR removal)*

Braking resistance P2(P), B (for internal braking unit)

Braking unit(optional ) P2(P), N

Assistant condenser (+)：P2(P) (-)：N

Earth

Note) When connect DC reactor, remove Short Bar.

2.2.3 Control Circuit Terminal

제어회로 단자

⑨ ⑩ ⑪ ⑫ ⑬ ⑭ ⑮ 16

A1 B1 C1 GND +12 VIN AIN

① ② ③ ④ ⑤ ⑥ ⑦ ⑧

M1 M2 M3 M4 M5 M6 GND GND

2.2.4 Control Circuit Terminal Function

Terminal Function Signal Level Default Value

1 Run -

2 Pause / Stop -

3 Jog (CW) -

4 Jog (CCW) -

5 Input of Home command -

6 Input of output signal of Home sensor and Mark sensor

Photo Coupler Input +12V, 10mA

-

7 Sequence control Common +12V Ground Sequence 0V

8 Sequence control Common +12V Ground Sequence 0V

9

10

11

Output of Multi function 1 Capacity of terminal:

Below AC 250V, 5A

Below AC 125V, 8A Below DC 30V, 5

Error output

12 Output of Multi function 2 - Output of motion completion

13 Control Common DC 0 ∼ +10V -

14 Power of potentiometer +12V(Max 20mA) -

15 Voltage control for main frequency

DC 0∼+10V(20kΩ) -

16 Current control for main frequency

4∼20mA(250Ω) -

Note) When changing main frequency by external potentiometer, pay attention to below things.

- In factory shipping, only the terminal of voltage direction is available.

2.3 External Dimension

200 V Three-phase

Model

External size (W×H×D)

Install size (W1×H1, Φ)

Volume()

Weight()

EMC007

100×146×143

92×138, M4

2,087,800

1.6

EMC015

EMC022

136×146×143

128×138, M4

2,839,408

2.0

2.4 KEY PAD

3. General Specification

Specification

Model

EMC007, EMC015, EMC022

Input Power

Three-phase 200~ 230V, 50 ~ 60Hz

Output Frequency

1.5 ~ 400.0 Hz

Output type

Three-phase PWM

Resolution

4200 pulse/rev. (42 pole)

Accel&Decel time

0.1 ~ 20.0 sec (0.1 sec unit)

Function

Multi step(16 step), Jog, Mark, Home, Index

Display(LED)

CW, CCW

Using Temperature

-10 ~ 40

4. Wiring

5. Key

5.1 DATA/SET : is for entering the wanted parameter and saving the changed data.

5.2 RUN

: start running.

5.3 STOPRST

: pause and stop the running.

If user press it one time, pause function will be operated so if user press Run key in this

state, the rest memory data will be operated. If user press Stop key one more time, the rest

memory data will be disappeared.

5.4 Setting Parameter data by Key

By setting the proper data, the function of the application will be realized better for the

productivity.

* In the initial screen of EMC

① move to the the wanted parameter by UP or DOWN key and enter the parameter by pressing SET key

② move to the wanted digit by SHIFT key

③ change the data by UP, DOWN key

④ Save the data by SET key

5.5

<

<

: is for moving to the wanted parameter and changing the data.

6. Parameter

6.1 PARAMETER LINE-UP

6.2 How to set the Parameter

6.2-1 Moving data (distance)

Moving data consists of 6 digits ; 4 digits are positive and the rest 2 digits are decimal value.

(1) The positive value

(2) The decimal value

(3) How to set for motion control

1) Overview

The turning quantity of motor is decided by the parameter of ‘moving data’ and ‘scale’

value. The value multiplied by‘moving data’ and ‘scale’is the total pulse value and EMPS

Motor rotates by this total pulse value.

The resolution of EMPS motor is 4,200. That is to say, 4,200 pulse is needed for 1 rotation of

EMPS motor.

So if moving data is set into ‘2’ and scale value is ‘4,200’, the total pulse is ‘8,400’

(2 × 4,200 = 8,400). If this pulse, 8,400 is sent to EMC, EMPS Motor will rotate two rounds.

Rotation quantity = (Moving data value × Scale value) ÷ Resolution (4,200)

= Total Pulse ÷ Resolution

ex) 2 = ( 2 × 4,200 ) ÷ 4,200 = ( 1 × 8,400 ) ÷ 4,200

2) Application Example

<Example 1> Linear Ball Screw

Let’s get the needed pulse value for 1mm moving in ball screw and input the data into its

parameter. The reducing gear is 30:1 and Ball screw lead length is 1mm like below.

① Needed round quantity in gear output

Lead length is 5mm. And if ball screw turn 1 round, it will move 5mm in ball screw.

So for 1mm in ball screw, the pulley in ball screw should turn 0.2 round (= 1mm ÷ 5mm).

For 0.2 round in ball screw, the gear pulley should turn 1 round because their pulley ratio

is 1:5.

② Needed round quantity in motor output

In above calculation we got the result that for 1mm in ball screw, gear pulley should turn

1 round. So for 1 round in gear output, motor should turn 30 rounds because gear ratio is

1:30.

③ Needed pulse value

Needed pulse value = Resolution 4,200 × Needed motor round q’ty 30 = 126,000

④ How to input data into parameter

Enter ‘1260’ into 'SC-H' as a scale value instead of ‘126,000’ because its digit allows

just 4 digits.

And enter ‘100’ into ‘moving data’ instead of 1 because the ‘1260’ was input into

‘SC-H’ instead of ‘126,000’.

[ MOVING DATA × SCALE VALUE = NEEDED PULSE ] → [100 × 1,260 = 126,000]

<Example 2> INDEX

(1) How to input position quantity

① MODE

Set 'MODE' into '2' (INDEX ).

② SCALE Value

[Resolution × Ratio] → [4,200 × 30 = 126,000]

The needed data is 126,000 pulse. But in INDEX running the unit of SCALE value is 100.

So input ‘1260' instead of 126,000

③ Moving data (Position)

Input the wanted position quantity randomly.

(2) How to input degree

① MODE

Set 'MODE' into 'O' (GENERAL ) or ‘3’(STEP) or ‘4’(STEP AUTO) or ‘5’(ROUND RUN).

② SCALE Value

[Resolution × Ratio / 360 ] → [4,200 × 30 / 360 = 350]

The needed scale is 350 for 1 degree.

③ Moving data (Degree)

Input the wanted any degree randomly.

6.2-2 PROG

6.2-3 Base Run Speed (Hz)

6.2-4 Base Acceleration & Deceleration Time

< The relationship between BSPD and BACC >

1. Base Run Speed - - -

2. Actual Run Speed

6.2-5 Base Direction

: Set ‘0’for CW(Clockwise direction) direction and ‘1’ for CCW(Counter Clockwise

direction). And if any two wire out of U,V,W is changed without changing this

parameter, direction will be changed.

6.2-6 Start Speed

: means the starting speed of motor. If this speed is higher, the productivity will be

higher but too high start speed could make some impact or shock in mechanical

appliances and shorten the life time of motor and production facilities.

6.2-9 Incremental / Absolute (BABS)

: 1) '0' : means incremental run. It runs the present moving data.

(Direction is needed.)

2) '1' : means absolute run. It runs the difference distance between previous

position and the present position (moving data).

(Direction is not needed.)

Example> For below running, data should be like below.

0 1 2

A B

C

6.2-10 The Upper Limit (ENDH : END High)

: means the limit of upper side. By this parameter, the prevention of the accident by

input of the exaggerative data is available. Especially in absolute running, the potential crash can

be prevented by this parameter.

6.2-11 The Lowest Limit (ENDL : END Low)

: means the limit of the lowest limit.

6.2-12 MARK deceleration time(MDEC)

: means setting parameter of the deceleration time in MARK running.

In case of the acceleration time in MARK running, the base Accel.&Decel time

( ) apply to it.

6.2-13 Initialization

: '1101' in this parameter initialize the EMC and all data will return to the default value.

So pay attention to make it and record the present data before initializing.

6.2-14 Potentiometer Setting (F-05)

: decides on use of analogue type potentiometer.

1) '0' : No use of potentiometer. Speed is changed only by setting frequency on Keypad.

2) '1' : Use of external potentiometer. Speed is changed by external potentiometer

changing voltage.(Terminal no. 15)

3) '2' : Use of external potentiometer. Speed is changed by external potentiometer

changing voltage. (Terminal no. 16)

6.2-15 EVENT POSITION (EPOS)

: decides the middle point in this parameter. For example, if the total moving distance is

100mm and EVENT POSITION value is 50mm, EMC will send a signal in point of 50mm on the way of

100mm through the EVENT terminal in LOADER (Model no. : ENC-B).

6.2-16 Choice of Run(MODE)

: Like below user can choose the run mode.

(1) General Run ① For general run, set ‘mode’ with ‘0’ and ‘babs’ with ‘0’.

② Set scale value(SC-H, SC-L) (refer to page ___)

③ Considering the load and other situations, set the proper value for ‘Base Run Speed’,’Start

Speed’, ‘Base Acc.Dec. Time’.

(2) MARK Run

MARK Run means the run type of motion control by EMC which receives a Signal (MARK) from Mark

Sensor. For example, in a cutting and printing machine if a sensor senses a mark (‘I’ mark)

printed at regular interval in a material like plastic or fabrics, EMC will receive this signal

through terminal no. 6 (Input of Output signal) and stop motor for motion control.

<Example>

In a cutting machine which Motor shaft and Roller are connected by Timing belt(1:1) and the

diameter of Roller is 100mm, if disregarding distance is 1,000mm, set EMC data like below.

① Set 'MODE' to '1'(MARK Run).

② 'Moving data' & 'Scale value'

Input 1,000, disregarding distance, into ‘moving data’ and set ‘scale value’for 1mm.

- 4,200 pulse : 100Ø = Χ : 1mm

100ØΧ = 4,200 * 1mm

Χ = (4,200 * 1mm) / 100 * 3.14195

Χ = 13.367494 (scale value for 1mm )

③ In case that there is no Mark signal even if motor run with over 4 times distance of

disregarding distance, Mark Error message will be displayed.

(Press STOP for releasing MARK ERROR.)

(3) INDEX Run

INDEX Run means the Run of dividing degree of a circle.

<Example>

In EMPS INDEX TABLE (Gear ratio 30:1) the dividing degree randomly can be made like below data.

① Scale Value

SCALE = Motor Resolution(4,200) × Gear ratio(30) = 126,000

② Moving data (Position data)

Any position data can be input randomly. ( ex> 2, 3, 4, 7, 11, 256 and so on. up to 999)

(4) STEP Run

STEP Run means the run type operating each step including different data by a run signal. ( Total

step quantity is 16 steps from no. 0 to no. 15 step)

A) General Step Run

By pressing RUN key or ‘ON’of Run terminal one time, it will run step by step.

B) Automatic Step Run

With DELAY TIME (DELY) it will run each step during the time of RUN terminal is ‘ON’.

<Example>

CASE 1. STEP 0 → 1 → 2 → 0 → 1 → 2 → ... (0,1,2 STEP Repeating)

100

STEP 0

STEP 2

STEP 1

100 100

CASE 2. STEP 0 → 1 → 2 → 1 → 2 → 1 → 2 → ...

(0,1,2 STEP run and jump to no. 1 step and repeat no.1 and no. 2 step)

100

STEP 0

STEP 2

STEP 1

100 100

※ How to run and jump

Receiving the first run signal, it will operate the moving distance in step no. 0 and jump to the

step appointed in IND.0. And receiving next run signal, it will operate the data in step appointed in

IND.0.

(1) CASE 1 Step 0 → Step 1 → Step 2 → Step 0 → Repeating

(2) CASE 2

Step 0 → Step 1 → Step 2 → Step 1

C) Random Step Run

Any step out of 16 steps can be chosen randomly by contacting the extended terminals located in ENC-B

Loader. ※ Note : The parameter of ‘Choice of Run’ should be ‘0’(General).

Like below table the needed step can be chosen by contacting terminals which has their own BCD value.

< Example ; Step 15 = 1(IN0)+2(IN1)+4(IN2)+8(IN3) >

(5) Round Run

The round run by 1 time automatically is available with some delay time.

In round run motor will go set moving distance and stop for delay time and return to start

position automatically by just 1 time run signal.

6.2-15 Home

(1) Direction of coming back Home

In key pad change ‘HOME’ parameter value from ‘0’ to ‘1’.

In terminal connect terminal no. 5 (Input of Home command) and terminal no. 7(common).

(2) Speed coming Home (HOME SPEED)

Set the speed coming Home sensor installed mechanically. Input the proper frequency into 'HSPD'

(HOME SPEED) parameter.

(3) Home Creep Speed

After sensing Home sensor for precise Home, the slow Creep Speed is needed.

For precise home, set slow Hz below 10Hz. (Default : 10.0 / Setting range : 1.5 ~ 60.0 Hz)

(4) Home Acceleration & Deceleration time

Set the proper data into 'HACC'(HOME ACCELERATION & DECELERATION). If the prompt stop after

meeting sensor is needed set the shortest time. ( Default : 1.0 / Setting range: 0.1 ~ 20.0 sec)

Acceleration time and Deceleration time is same.

(5) Home Direction

It means the direction for Home. Set ‘0’(CW) or ‘1’(CCW) into 'HDRC'(Home Direction)

If it went in the opposite direction to sensor after setting, set reverse data.

( ex> 0 → 1 or 1 → 0 )

(6) Home Sensor Logic

It means setting the output contact type of Home Sensor whether it is A type or B type.

< A type(On in Home) ‘0’ / B type(Off in Home) ‘1’ >

(7) Home Type

After meeting Home sensor and stop, the direction for which edge out of 2 edges in Home sensor for

seeking the precise home should be decided. Set ‘0’ or ‘1’ into 'HTYP' parameter.

① '0' : Opposite direction to Home direction

② '1' : Same direction to Home direction

(8) Moving distance for 2nd Home (Home Offset)

For 2nd Home after making the mechanical Home by Home sensor, the moving distance data from 1st

Home to 2nd Home is needed. If the space is now allowed for installing mechanical in wanted Home

location, 2nd Home can be wanted Home location.

Set the proper data into ‘HOFF'(Home Offset) parameter.

(9) Home Offset Direction

Like above drawing, it means the direction for 2nd Home.

Set ‘0’ or ‘1’into ‘ODRC’ parameter. And if it went in the opposite direction to wanted

direction after setting, set reverse data. ( ex> 0 → 1 or 1 → 0 )

(10) Home Position for 2nd Home

It displays Home Position after making 2nd Home. (Available in absolute mode)

Set displaying data into ‘HPOS’parameter.

(11) Home Limit

In making Home for protecting a situation that motor rotates endlessly by a defect in sensor or

external factor, set Limit by software into ‘HLMT’ parameter.(setting range : 0~9999)

If motor rotates exceeding this limit without meeting sensor, it will display ERROR.

(For releasing Error, input STOP signal.)