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