Date: 2012-11
Subject: Setup system on EPL network with manager node and 2 control nodes.
This is performed after each drive is configure in position/direct,
and the autotune procedure executed on the drive to ensure the controller+Motor
is OK.
1. Set up 2 control nodes as 0x01 and 0x02
Factory reset.
Commission Wizard:
Connectivity:
USB as node_ID 1 for Hex01, and 2 for Hex 02.
DC Bus Sharing:
DC bus Sharing: Stand-alone drive.
Motor Type: AC brushless (rotary)
Select Motor:
Select motor by Catalog Number: BSM 100C 3150 BA (Spec # is S4 P 160 W 107)
Feedback:
Change Resolution to 1024 x 4 = 4096
Drive setup complete.
Operating Mode:
Control Mode: Position
Drive Enable Input Mode: ignore (means don't raise an error).
Control Ref. Source: Direct
Application Limit:
app. peak current: 29 amps (default to max motor current)
Motor Overload Action: foldback current.
Drive Overload Action: foldback current.
app. max speed: 1141 RPM. (this runs the dome at 2.0 deg second).
Select Scale Factor:
Set Position, Velocity, and Accel scale Factor to Rev/Sec, this will change
the scale factors to 4096.0.
Profile parameters:
positioning SPEED: 9.76563 r/s // this is about 51.1% the max vel
Accel Time to SPEED: 6184 ms // 9.76563 r/s / 1.57896 r/s^2 accel
Decel Time to SPEED: 6184 ms
Idle Velocity: 1 r/s
Parameters:
Motor->MotorBrakeMode = Disablebrake control ' 0=disables brake control
Motor->MotorBrakeOutput = 1 ' assigned motor brake to DOUT1
DigitalOutput->OutputActiveLevel = 1 ' set (bit1) to 0 (or mask = 0x01).
Save Project.
Do autotune to ensure motor are working.
Configuration->ControlRefSourceStartup = EPL
Then connect up to network, and reboot.
2. Configure Manager Node, 0xF0 or 240.
Factory reset.
Commission Wizard:
Connectivity:
USB is node id 100 Hex64 (cannot match ethernet node address of .240, usb only goes to 127).
DC Bus Sharing:
DC bus Sharing: Stand-alone drive.
Motor Type: AC brushless (rotary)
Select Motor:
Select motor by Catalog Number: BSM 100C 3150 BA (Spec # is S4 P 160 W 107)
Feedback:
Change Resolution to 1024 x 4 = 4096
Drive setup complete.
Operating Mode:
Control Mode: Velocity
Drive Enable Input Mode: ignore (means don't raise an error).
Control Ref. Source: Direct
Application Limit:
app. peak current: 29 amps (default to max motor current)
Motor Overload Action: foldback current.
Drive Overload Action: foldback current.
app. max speed: 1141 RPM. (this runs the dome at 2.0 deg second).
Select Scale Factor:
Set Position, Velocity, and Accel scale Factor to Rev/Sec, this will change
the scale factors to 4096.0.
Profile parameters:
positioning SPEED: 9.76565 r/s // this is about 1/2 the max vel of 19.0236 rev/sec.
Accel Time to SPEED: 6184 ms // 9.76565/1.57896 = 6.184, or speel/accel = 6184ms
Decel Time to SPEED: 6184 ms
idle Velocity: 2
Parameters:
Configuration->ControlRefSource = Direct(Host/Mint)
Configuration->ControlModeStartup = Velocity
Configuration->ControlRefSourceStartup = Direct
Motor->MotorBrakeMode = 0 (disable) ' 1=activates brake control
Motor->MotorBrakeOutput = 1 ' assigned motor brake to DOUT1
DigitalOutput->OutputActiveLevel(bank0) = 1 ' set (bit1) to 0 (or mask = 0x01).
Save Project.
Cold boot all controllers.
Use the "System Configuration Wizard" to add control node using the EPL network.
And map the necessary resources to the manager node.
Add Device
NodeID: 1
DeviceType: MotiFlex e100
Map Axis: map Axis0 to Manager Axis 1.
Map Encoder: Map encoder 0 to manager Encoder 4.
Add Device
NodeID: 2
DeviceType: MotiFlex e100
Map Axis: map Axis0 to Manger Axis 2.
Map Encoder: Map encoder 0 to manager Encoder 5.
Using provided rate of 4ms (250 Hz ) for all axis.
3. Review of key Parameters
--Node F0 -----------------------------------------------------------------------
Family->Systems
GlobalErrorOutput to 0 - all controller, so DOUT is signal global error.
Family->Configure
ControlMode Velocity
Family->Drive
DriveOverloadMode Foldback current.
DriveSpeedMax 23.77 UU ' 19.02 UU max + 25%
Family->Motor
MotorDirection Reverse ' to match IRTF Left(negative)/Right(positive)
MotorOverloadMode FoldbackCurrent
MotorPeakCurrent 29.00 Amps
MotorPeakeDuration 3.00 secs
MotorBrakeOutput 1 ' MotorBrake connected to DOUT1
MotorBrakeMode EnableBrakeControl ' Automatic brake control.
Family->PositionControl
FolErrorMode Ignore ' Ignore following errors.
Family->DigitalInputs
InputDebounce( inputBank ) 2ms
Family->DigitalOutputs
DigitalOutput->OutputActiveLevel(bank0) = 1 ' set (bit1) to 0 (or mask = 0x01) for brake cntl
Family->AnalogInputs
ADCTimeConstants 2 ms ' On node 0x0f, input used to velref.
Family->ScaleFactors
AccelScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
PoslScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
ScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
VelScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
Family->Profiler
Accel 1.5790
Decel 1.5790
Speed 3.0000
Family->ErrorHandling
ResetInput 2 ' DIN2 input for reset
Axis/Channel/Bank->Axis
ControlMode Velocity ' axis 0, 1, 2, 3
DriveOverloadMode Foldback current
DriveSpeedMax 23.77 UU ' 19.02 UU + 25%
--Node 01 -----------------------------------------------------------------------
Family->Systems
GlobalErrorOutput to 0 - all controller, so DOUT is signal global error.
Family->Configure
ControlMode Velocity
ControlModeStartup Velocity
ControlRefSource EPL
ControlRefSourceStartup EPL
Family->Drive
DriveOverloadMode Foldback current.
DriveSpeedMax 23.77 UU ' 19.02 UU + 25%
Family->Motor
MotorDirection Reverse ' to match IRTF Left(negative)/Right(positive)
MotorOverloadMode FoldbackCurrent
MotorPeakCurrent 29.00 Amps
MotorPeakeDuration 3.00 secs
MotorBrakeOutput 1 ' MotorBrake connected to DOUT1
MotorBrakeMode EnableBrakeControl ' Automatic brake control.
Family->PositionControl
FolErrorMode Ignore ' Ignore following errors.
Family->DigitalInputs
InputDebounce( inputBank ) 2ms
Family->DigitalOutputs
DigitalOutput->OutputActiveLevel(bank0) = 1 ' set (bit1) to 0 (or mask = 0x01) for brake cntl
Family->AnalogInputs
ADCTimeConstants 2 ms ' unused, but save as master.
Family->ScaleFactors
AccelScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
PoslScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
ScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
VelScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
Family->Profiler
*unable to change Accel, Decel, Speed on slaves.
Family->ErrorHandling
ResetInput 2 ' DIN2 input for reset
--Node 02 -----------------------------------------------------------------------
Family->Systems
GlobalErrorOutput to 0 - all controller, so DOUT is signal global error.
Family->Configure
ControlMode Velocity
ControlModeStartup Velocity
ControlRefSource EPL
ControlRefSourceStartup EPL
Family->Drive
DriveOverloadMode Foldback current.
DriveSpeedMax 23.77 UU ' 19.02 UU + 25%
Family->Motor
MotorDirection Reverse ' to match IRTF Left(negative)/Right(positive)
MotorOverloadMode FoldbackCurrent
MotorPeakCurrent 29.00 Amps
MotorPeakeDuration 3.00 secs
MotorBrakeOutput 1 ' MotorBrake connected to DOUT1
MotorBrakeMode EnableBrakeControl ' Automatic brake control.
Family->PositionControl
FolErrorMode Ignore ' Ignore following errors.
Family->DigitalInputs
InputDebounce( inputBank ) 2ms
Family->DigitalOutputs
DigitalOutput->OutputActiveLevel(bank0) = 1 ' set (bit1) to 0 (or mask = 0x01) for brake cntl
Family->AnalogInputs
ADCTimeConstants 2 ms ' unused, but save as master.
Family->ScaleFactors
AccelScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
PoslScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
ScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
VelScaleFactor 4096.0 ' for axis 0,1,2, not the virtual axis
Family->Profiler
*unable to change Accel, Decel, Speed on slaves.
Family->ErrorHandling
ResetInput 2 ' DIN2 input for reset