Autonomous Controller Design for Unmanned Aerial Vehicles using Multi-objective Genetic Pro

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MODULE FOR STEPPER MOTORSTRINAMIC Motion Control GmbH & Co. KGHamburg, GermanyHardware Version V1.2HARDWARE MANUAL+ +TMCM-1021++U NIQUE F EATURES :Table of Contents1Features (3)2Order Codes (5)3Mechanical and Electrical Interfacing (6)3.1Size of Board (6)3.2Connectors (7)3.2.1Power, Communication and I/O Connector (8)3.2.2Motor Connector (8)3.3Power Supply (9)3.4Communication (10)3.4.1RS485 (10)3.5Inputs and Outputs (11)3.5.1Digital Inputs IN_0, IN_1, IN_2, IN_3 (11)3.5.2Outputs OUT_0, OUT_1 (12)4Reset to Factory Defaults (13)5On-board LED (13)6Operational Ratings (14)7Functional Description (15)8Life Support Policy (16)9Revision History (17)9.1Document Revision (17)9.2Hardware Revision (17)10References (17)1FeaturesThe TMCM-1021 is a single axis controller/driver module for 2-phase bipolar stepper motors with state of the art feature set. It is highly integrated, offers a convenient handling and can be used in many decentralized applications. The module can be mounted on the back of NEMA11 (28mm flange size) and has been designed for coil currents up to 0.7A RMS and 24V DC supply voltage. With its high energy efficiency from TRINAMIC’s coolStep™ technology cost for power consumption is kept down. The TMCL™ firmware allows for both, standalone operation and direct mode.M AIN C HARACTERISTICSHighlights-Motion profile calculation in real-time-On the fly alteration of motor parameters (e.g. position, velocity, acceleration)-High performance microcontroller for overall system control and serial communication protocol handling-For position movement applications, where larger motors do not fit and higher torques are not requiredBipolar stepper motor driver-Up to 256 microsteps per full step-High-efficient operation, low power dissipation-Dynamic current control-Integrated protection-stallGuard2 feature for stall detection-coolStep feature for reduced power consumption and heat dissipationEncoder-sensOstep magnetic encoder (max. 1024 increments per rotation) e.g. for step-loss detection under all operating conditions and positioning supervisionInterfaces-Up to 4 multi-purpose inputs (2 shared with outputs)- 2 general purpose outputs-RS485 2-wire communication interfaceSoftware-TMCL: s tandalone operation or remote controlled operation,program memory (non volatile) for up to 876 TMCL commands, andPC-based application development software TMCL-IDE available for free.Electrical and mechanical data-Supply voltage: +24V DC nominal (9… 28V DC)-Motor current: up to 0.7A RMS (programmable)Refer to separate TMCL Firmware Manual, too.TRINAMIC S U NIQUE F EATURES – E ASY TO U SE WITH TMCLstallGuard2™ stallGuard2 is a high-precision sensorless load measurement using the back EMF on thecoils. It can be used for stall detection as well as other uses at loads below those which stall the motor. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings. At maximum motor load, the value goes to zero or near to zero. This is the most energy-efficient point of operation for the motor.Load [Nm]stallGuard2Initial stallGuard2 (SG) value: 100%Max. loadstallGuard2 (SG) value: 0Maximum load reached. Motor close to stall. Motor stallsFigure 1.1 stallGuard2 load measurement SG as a function of loadcoolStep ™coolStep is a load-adaptive automatic current scaling based on the load measurement via stallGuard2 adapting the required current to the load. Energy consumption can be reduced by as much as 75%. coolStep allows substantial energy savings, especially for motors which see varying loads or operate at a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%, even a constant-load application allows significant energy savings because coolStep automatically enables torque reserve when required. Reducing power consumption keeps the system cooler, increases motor life, and allows reducing cost.00,10,20,30,40,50,60,70,80,9050100150200250300350EfficiencyVelocity [RPM]Efficiency with coolStepEfficiency with 50% torque reserveFigure 1.2 Energy efficiency example with coolStep2Order CodesTable 2.2 Order codesA cable loom set is available for this module:Table 2.5 Cable loom order code3Mechanical and Electrical Interfacing3.1Size of BoardThe board with the controller/driver electronics has an overall size of 28mm x 28mm in order to fit on the back side of a NEMA11 (28mm flange size) stepper motor. The printed circuit board outline is marked green in the following figure:PCB outlineR 2.5mmFigure 3.1 Board dimensions and position of mounting holes3.2ConnectorsThe TMCM-1021 has two connectors, an 8-pin power and input/output connector and a 4-pin motor connector (used to connect the attached motor).Power / Communication / IOs11MotorFigure 3.2 TMCM-1021 connectorsOverview of connector and mating connector types:Table 3.2 Connectors and mating connectors, contacts and applicable wire3.2.1Power, Communication and I/O ConnectorAn 8-pin CVIlux CI0108P1VK0-LF 2mm pitch single row connector is used for power supply, RS485 serial communication and additional multi-purpose inputs and outputs.Table 3.3 Power, communication and I/O connector3.2.2Motor ConnectorAn 4-pin CVIlux CI0104P1VK0-LF 2mm pitch single row connector is used for connecting the four motor wires to the electronics.Table 3.4 Motor connector3.3 Power SupplyFor proper operation care has to be taken with regard to power supply concept and design. Due to space restrictions the TMCM-1021 includes just about 20µF/35V of supply filter capacitors. These are ceramic capacitors which have been selected for high reliability and long life time. The module includes a 28V suppressor diode for over-voltage protection.C AUTION !Add external power supply capacitors!It is recommended to connect an electrolytic capacitor of significant size (e.g. 470µF/35V) to the power supply lines next to the TMCM-1021!Rule of thumb for size of electrolytic capacitor: In addition to power stabilization (buffer) and filtering this added capacitor will also reduce any power supply wires and the ceramic capacitors. In addition it will limit slew-rate of power supply stability problems with some switching power supplies.Do not connect or disconnect motor during operation!Motor disconnected / connected while energized. These voltage spikes might exceed voltage limits of power supply before connecting / disconnecting the motor.Keep the power supply voltage below the upper limit of 28V!Otherwise operating voltage is near the upper limit a regulated power supply is highly recommended. Please see also chapter 6, operating values.There is no reverse polarity protection!The transistors.TMCM-1021 V1.2 Hardware Manual (Rev. 1.02 / 2013-JUL-23)10 3.4Communication3.4.1RS485For remote control and communication with a host system the TMCM-1021 provides a two wire RS485 bus interface. For proper operation the following items should be taken into account when setting up an RS485 network:1.BUS STRUCTURE:The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus.termination resistor (120 Ohm)termination resistor (120 Ohm)Figure 3.5: Bus structure2.BUS TERMINATION:Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the bus should be properly terminated at both ends. The TMCM-1021 does not integrate any termination resistor. Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.3.NUMBER OF NODES:The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus transceiver used on the TMCM-1021 units (SN65HVD3082ED) has just 1/8th of the standard bus load and allows a maximum of 256 units to be connected to a single RS485 bus.4.NO FLOATING BUS LINES:Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is transmitting data (all bus nodes switched to receive mode). Floating bus lines may lead to communication errors. In order to ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines to well defined logic levels. In contrast to the termination resistors this network is normally required just once per bus. Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-485).terminationresistor(120 Ohm)RS485- / RS485BRS485+ / RS485AFigure 3.6 Bus lines with resistor network3.5 Inputs and Outputs3.5.1 Digital Inputs IN_0, IN_1, IN_2, IN_3The eight pin connector of the TMCM-1021 provides four general purpose inputs IN_0, IN_1, IN_2 and IN_3. The first two inputs have dedicated connector pins while the other two share pins with two general purpose outputs.All four inputs are protected using voltage resistor dividers together with limiting diodes against voltages below 0V (GND) and above +3.3V DC (see figure below).IN_0IN_1IN_2IN_3microcontroller and TMC262Figure 3.7 General purpose inputsThe four inputs have alternate functionality depending on configuration in software. The following functions are available:Table 3.5 Multipurpose inputs / alternate functionsAll four inputs are connected to the on-board processor and can be used as general purpose digital inputs.Using the alternate functionality of IN_0 and IN_1 it is possible to control the on-board stepper motor driver with the help of an external stepper motor controller using step and direction signals. For the step and direction signals the signal levels are the same as for the general purpose digital inputs.IN_3 can be used as analog input, also. A 12bit analog to digital converter integrated in the microcontroller will convert any analog input voltage between 0 and +6.6V to a digital value between 0 and 4095 then.3.5.2Outputs OUT_0, OUT_1The eight pin connector of the TMCM-1021 provides two general purpose outputs. These two outputs are open-drain outputs and can sink up to 100mA each. The outputs of the N-channel MOSFET transistors are connected to freewheeling diodes each for protection against voltage spikes especially from inductive loads (relais etc.).Both outputs OUT_0 and OUT_1 share pins with two of the four inputs (IN_2 resp. IN_3).Please take into account the 20k (2x 10k in series) resistance to ground (transistor not active) of the input voltage divider (figure 4.8) when designing the external “load” circuit.OUT_0 / IN_2OUT_1 / IN_3microcontrollerFigure 3.8 General purpose outputs4Reset to Factory DefaultsIt is possible to reset the TMCM-1021 to factory default settings without establishing a communication link. This might be helpful in case communication parameters of the preferred interface have been set to unknown values or got accidentally lost.For this procedure two pads on the bottom side of the board have to be shortened (see Figure 4.1).Please perform the following steps:1.Power supply off and USB cable disconnected2.Short two pads as marked in Figure 4.13.Power up board (power via USB is sufficient for this purpose)4.Wait until the on-board red and green LEDs start flashing fast (this might take a while)5.Power-off board (disconnect USB cable)6.Remove short between pads7.After switching on power-supply / connecting USB cable all permanent settings have been restoredto factory defaultsShort these two padsFigure 4.1 Reset to factory default settings5On-board LEDThe board offers one LED in order to indicate board status. The function of the LED is dependent on the firmware version. With standard TMCL firmware the green LED flashes slowly during operation.When there is no valid firmware programmed into the board or during firmware update the green LED is permanently on.Green LEDFigure 5.1 On-board LED6Operational RatingsThe operational ratings show the intended or the characteristic ranges and should be used as design values. In no case shall the maximum values be exceeded!Table 6.1 General operational ratings of module*) maximum setting for prototype and first versions of TMCL firmware. Will be adapted in firmware for series version.Table 6.2 Operational ratings of multi-purpose I/OsTable 6.3 Operational ratings of RS485 interface7Functional DescriptionThe TMCM-1021 is a highly integrated controller/driver module which can be controlled via RS485 interface. Communication traffic is kept low since all time critical operations (e.g. ramp calculations) are performed on board. The nominal supply voltage of the unit is 24V DC. The module is designed for both, standalone operation and direct mode. Full remote control of device with feedback is possible. The firmware of the module can be updated via the serial interface.In Figure 7.1 the main parts of the module are shown:-the microprocessor, which runs the TMCL operating system (connected to TMCL memory),-the power driver with its energy efficient coolStep feature,-the MOSFET driver stage, and-the sensOstep encoder with resolutions of 10bit (1024 steps) per revolution.9…Figure 7.1 Main parts of TMCM-1021The TMCM-1021 comes with the PC based software development environment TMCL-IDE for the Trinamic Motion Control Language (TMCL). Using predefined TMCL high level commands like move to position a rapid and fast development of motion control applications is guaranteed. Please refer to the TMCM-1021 Firmware Manual for more information about TMCL commands.8Life Support PolicyTRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. © TRINAMIC Motion Control GmbH & Co. KG 2013Information given in this data sheet is believed to be accurate and reliable. However neither responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result from its use.Specifications are subject to change without notice.All trademarks used are property of their respective owners.9Revision History9.1Document RevisionFigure 9.1 Document revision9.2Hardware RevisionFigure 9.2 Hardware revision10References[TMCM-1021] TMCM-1021 TMCL Firmware Manual [QSH2818-32-07-006] NEMA11 / 28mm bipolar stepper motor [QSH2818-51-07-012] NEMA11 / 28mm bipolar stepper motor [USB-2-485] USB-2-485 interface converter TRINAMIC manuals are available on .。

Controllers FEC,Standard•Sturdy control rack requiring a minimum of space•Analogue inputs/outputs and Ethernet optional•Quick installation using the SAC sensor/actuator connector system•User-oriented software–programming the way you think or according to standard ElectroniccontrolsystemsFrontEndControllers 7.1Controllers FEC,StandardKeyfeaturesThe installation-saving controller The FEC Standard is not just a new mini controller.It shows that there is still room for innovation in mini controllers at the start of the new millennium.With its robust extruded aluminium housing,it demonstrates thatcompact design and toughness can go hand in hand.Its connector system is accessible from the front,ensuring no wastage of space within control cabinets.And the sensor/actuator connector system SAC,making its world premiere in this product,very largely replaces terminal strips in the I/O area.This means that control cabinets with FEC Standard have a decisive advantage:Up to 50%less space required,and up to 40%less time.Thanks to the integration of a high-speed counter into every CPU,this mini controller is well able to carry out counting and simple positioning operations.Additionally,the optional analogue inputs/outputs turn a smart mini controller into a smart process controller.The two serial interfaces in every CPU make the FEC Standard into a talented communicator which allows program-ming via one interface and operation and monitoring via the other,at the same time.The leading concept in communication today is Ethernet,the “network of networks”.This can of course be integrated intoFEC Standard as an option.After all,smart automation technologydemands smart network technology.With Ethernet and a web server,the FEC Standard paves the way for the visualisation technology of tomorrow:Controller surfing.E l e c t r o n i c c o n t r o l s y s t e m sF r o n t E n d C o n t r o l l e r s7.1Controllers FEC,StandardKey featuresHardwareThe FEC Standard has a clip for a top-hat rail and corner holes for bolt-mounting using a mounting plate.All connections are accessible from the front;there is no need for additional space for connections from above or below.Power supplyThe FEC Standard is poweredexclusively via 24V DC as per modern control cabinet technology.24V DC (+25%/-15%)power supply for the controller itself,24V DC (+/–25%)power supply for the input signals,positive switching,24V DC output signals 400mA,proof against short-circuits and low-resistance loads.The analogue inputs/outputs are 0(4)...20mA I/Os,12bitresolution.Serial interfacesEvery FEC Standard is equipped with two serial interfaces –COM and EXT.These are universal TTL interfaces with a maximum data transmission rate of 115kbits/s.Depending on requirements,the interfaces can be used as RS232c (SM14or SM15)or RS485(SM35)interfaces.Adapters should be ordered separately.The COM interface is generally used together with the SM14for program-ming,while the EXT interface can be used for an MMI device,a modem or other devices with a serial interface.Ethernet interfaceThe FEC Standard versions with an Ethernet interface incorporate an Ethernet 10BaseT interface with an RJ45connection and a data transmission rate of 10Mbits/s.A combined “Link/Active”LEDindicates the connection status.The FEC Standard supports datacommunication and programming/troubleshooting via the Ethernetinterface.ProgrammingThe FEC Standard is programmed using FST.FST is a unique programming language rich in tradition and very easy to use,allowing “programming the way you think”:IF...THEN...ELSEFST also supports STEP operation for sequence programming.FST can be used for programming via Ethernet;a web server is alsoavailable.E l e c t r o n i c c o n t r o l s y s t e m sF r o n t E n d C o n t r o l l e r s7.1Controllers FEC,StandardKey featuresThe sensor/actuatorconnectorTogether with the FEC Standard,we are introducing an innovative new installation concept,the sensor/actuator connector SAC.Thisconnector combines three functions in a very compact design:•Connection of inputs,outputs and power supply•Status signal by means of an LED •Replaces terminal strip for sensors andactuatorsThe three-wire version of theconnector has internally connected straps for 0V and 24V DC.This allows any sensor (up to 3wires)or actuator (up to the maximumpermissible output current)to be feddirectly to the connector.There is no need for a terminal strip for sensors and actuators.This allows space savings in control cabinets of up to 50%.The SAC uses a tension-spring contact system.This means no need for screw connections.Solid wires can simply be pushed into the connector,while in the case of finely-stranded wire,all that is necessary is to open the contact by pressing on the relevant pin and then introduce the wire.Cable end sleeves can be used if desired but are not essential.The tension-spring system and the fact that no terminal strip between the controller and sensors/actuator is required means that a time saving of up to 40%can be achieved during installation.The pin assignment for the I/O panel is simple and is always the same:Pin 1+24V DC Pin 2Bit 0Pin 3Bit 1Pin 4Bit 2Pin 5Bit 3Pin 6Bit 4Pin 7Bit 5Pin 8Bit 6Pin 9Bit 7Pin 100VThe power supply for the LEDs istaken from the signal pins in the connector.This means that the entire input assignment can be checked without acontroller.E l e c t r o n i c c o n t r o l s y s t e m sF r o n t E n d C o n t r o l l e r s7.1Controllers FEC,StandardKey featuresProgramming withFSTProgramming the way you think How do we describe a machine?“When a workpiece reaches here,this cylinder should advance.”How does the software interpretthis?Or does your machine work through a sequence step by step?“First,this cylinder must advance and stop the workpiece,and then the workpiece must be clamped,and thenfinally...”How,for example,can we sub-divide a task?Program 0:Organisation Program 1:Set-up program Program 2:AutomationprogramProgram 3:Fault monitoring Program 4:Manual operation ...Program 63:TroubleshootingprogramHow does one controller communicate with another?Every controller with Ethernet can send and receive data from every other controller within a network –no matter whether this data relates to inputs,outputs,flags or registers.Central programming of distributed controllersEvery controller within a network can be programmed from any desired network interface.A controller on the World Wide Web FST incorporates a web server –the Internet and the world of automationmeet.Programming just couldn’t beeasier.E l e c t r o n i c c o n t r o l s y s t e m sF r o n t E n d C o n t r o l l e r s7.1Controllers FEC,StandardProduct range overview The FECStandardE l e c t r o n i c c o n t r o l s y s t e m sF r o n t E n d C o n t r o l l e r s7.1Controllers FEC,StandardProduct range overviewThe principle of the FECStandard11235461In each case 16digital inputs,24V DC,positive-switching 2Optionally:3analogue inputs/1analogue output3In each case 8digital outputs 4Power supply5Rotary RUN/STOP switch 62serial interfaces,option ofEthernetE l e c t r o n i c c o n t r o l s y s t e m sF r o n t E n d C o n t r o l l e r s7.1Controllers FEC,StandardTechnical data General technical dataFEC-FC400FEC-FC440FEC-FC600FEC-FC640FEC-FC660Max.operating temperature0...55°C Max.transport and storage temperature –25...+70°CRel.humidity 0...95%(non condensing)Operating voltage 24V DC +25%/–15%Power consumption <5W Degree of protection IP20Degree of protection Degree of protection III.Power pack in accordance with IEC 742/EN60742/VDE0551/PELV with at least 4kV insulation resistance or switched-mode power supplies with safety isolation as defined by EN 60950/VDE 0805are required Certification C-TickI/O connection Tension spring connector EMC EN 61000-6-4Digital inputsFEC-FC400FEC-FC440FEC-FC600FEC-FC640FEC-FC660Number1632Number of above usable as high-speed inputs (max.2kHz)2Minimum pulse length for TRUE:250µs,Minimum pause length for FALSE:250µs Input voltage/current 24V DC,typical 5mA Nominal value for TRUE 15V DC min.Nominal value for FALSE 5V DC max.Input signal delay Typical 5msElectrical isolationYes,via optocoupler Permissible length of connecting cable Max.30mStatus display via LED Optional,in connectorAnalogue inputsFEC-FC400FEC-FC440FEC-FC600FEC-FC640FEC-FC660Number 03Signal range 0(4)...20mA Resolution12bit,±3LSB Conversion time10ms Permissible length of connecting cable Max.30mDigital outputsFEC-FC400FEC-FC440FEC-FC600FEC-FC640FEC-FC660Number 816ContactsTransistorCurrent/voltage 24V DC,max.400mA Short circuit proofYesProof against low-resistance loads Yes,up to 5W Overload-proof YesElectrical isolation Yes,via optocoupler Switching speedMax.1kHzElectrical isolation in groups Yes,in each case 1byte Maximum group current 3.2A Switching cyclesUnlimitedStatus display via LED Optional,in connectorAnalogue outputsFEC-FC400FEC-FC440FEC-FC600FEC-FC640FEC-FC660Number 01Signal range 0(4)...20mA Resolution12bit Conversion time 10ms Max.load resistance700ΩE l e c t r o n i c c o n t r o l s y s t e m sF r o n t E n d C o n t r o l l e r s7.1Controllers FEC,StandardTechnical dataRotary switchFEC-FC400FEC-FC440FEC-FC600FEC-FC640FEC-FC660 Number1Positions16STOP/RUN0=Stop1...F=RUNSerial interfaceFEC-FC400FEC-FC440FEC-FC600FEC-FC640FEC-FC660 Number2Connection RJ12plug socketFeatures Serial,asynchronous,TTL level,no electrical isolationUse as RS232c PS1-SM14or PS1-SM15requiredTerminal assignment SM14/15Transmit,receive,RTS,CTSUse as RS485PS1-SM35requiredUse as programming interface9600bits/s,8/N/1Use as universal interface:COM300...9600bits/s,7N1,7E1,7O1,8N1,8E1,8O1Use as universal interface:EXT300...115,000bits/s,7N1,7E1,7O1,8N1,8E1,8O1SAC connectorFEC-FC400FEC-FC440FEC-FC600FEC-FC640FEC-FC660 Number of connectors required44778 Insulating material PBT,colour blackTemperature range PS1-SAC10/SAC30:–20...+100°Cp gPS1-SAC11/SAC31:–20...+75°CFlammability class V-0Grid dimension 3.5mmConnector system Spring connectionInsulation-stripping length9...10mmClamping range0.05...1.5mm2Single-conductor H05(07)V-U0.20...1.5mm2Multi-stranded without cable end sleeves0.5...1.5mm2Multi-stranded with cable end sleeves inaccordance with DIN46228/10.5...1.5mm2Multi-stranded hot-dip galvanized0.05...0.2mm2Current rating for strap contacts16ACurrent rating for individual contacts2A(max.6A per contact,please note the admissible loads for distributor board and supply contacts)EthernetFEC-FC400FEC-FC440FEC-FC600FEC-FC640FEC-FC660 Number01011Bus interface IEEE802.3(10BaseT)Data transmission speed10Mbits/sConnector RJ45Supported protocols TCP/IP,EasyIP,httpOPC server upon requestDDE server Yes,for EasyIP ElectroniccontrolsystemsFrontEndControllers 7.1Controllers FEC,StandardTechnical data ProgrammingFSTProgramming languages Version 4.02:statement list(with version 3.2:statement list and ladder diagram in German and English)Working languageGerman and English Number of programs and tasks per project64(0...63)Permissible input addresses0 (255)addressable as bits or words Permissible output addresses 0 (255)addressable as bits or words Number of flags10,000(0...9999),addressable as bits or wordsNumber of timers and counters 256(0...255)in each case,with 1status bit,1setpoint and 1actual value Number of registers (words)0 (255)addressable as words Programming interfaceRS232or Ethernet Number of different operations >28Subroutine Up to 200different subroutines per project C/C++Yes,for modules and drivers File handling Yes RS232c Yes ABG Yes FEDYesWeb server Yes (FST from version 4)RemanenceFlag words 0...255Register 0 (126)Timer and counter preselects and counter words 0...127PasswordPerformance1.6ms/1k instructions approx.E l e c t r o n i c c o n t r o l s y s t e m sF r o n t E n d C o n t r o l l e r s7.1Controllers FEC,Standard Technical dataType L1L2FEC-FC4…132.1114.2FEC-FC6…174.7156.8Ordering data–The FEC Standard with FST programmingDesignation Features Part No.TypeIPC controller16I/8O183862FEC-FC400-FST 16I/8O,Ethernet185205FEC-FC440-FST32I/16O191449FEC-FC600-FST32I/16O,Ethernet191450FEC-FC640-FST32I/16O,3/1analogue I/Os,Ethernet197157FEC-FC660-FST ElectroniccontrolsystemsFrontEndControllers 7.12006/0920064/7.1-2320062006/094/7.1-24Controllers FEC,StandardTechnical dataOrdering data –Connectors for the FEC Standard Designation Features Part No.TypePlug 1-row,no LED,tension-spring system 197159PS1-SAC10-10POL Plug 1-row,with LED,tension-spring system 197160PS1-SAC11-10POL+LED Plug 3-row,no LED,tension-spring system 197161PS1-SAC30-30POL Plug3-row,with LED,tension-spring system197162PS1-SAC31-30POL+LEDOrdering data –Cables for the FEC Standard Designation Features Part No.TypeProgramming cable RS232adapter for programming from PC,complete with neutral modem cable 188935PS1-SM14-RS232Converter RS232adapter for connection of any desired devices with a serial interface,with top-hat-rail clip,no neutral modem or RS232cable 192681PS1-SM15-RS232Converter RS485adapter,with top-hat-rail clip 193390PS1-SM35-RS485CableNeutral modem cable160786PS1-ZK11-NULLMODEM-1,5M Earthing setEarthing set for earthing of cable screening via the H-rail526683FEC-ZE30Ordering data –Display and operating units Designation Features Part No.Type Operator unitDisplay and operating unit,LCD with 4lines,20characters each,illuminatedbackground,4function keys,real-time clock and expansion interface,e.g.Ethernet533531FED-50Operator unit Display and operating unit,LCD with 4lines,20characters each,illuminated background,12function keys,numeric keypad,real-time clock and expansion interface,e.g.Ethernet533532FED-90Fieldbus interface Ethernet interface module for FED 533533FEDZ-IET Programming cable Programming cable for FED533534FEDZ-PC Cable Connecting cable FEC (RJ12,COM and EXT)to FED189432FEC-KBG6Ordering data –Software and manuals for the FEC Standard Designation Features Part No.TypeProgramming softwareFST software version4.X on CD,manuals on CD191440PS1-FST2-CD-WIN g g FST software version 4.1on CD with manual DIN A5in German 537927P .SW-FST4-CD-DE FST software version 4.1on CD with manual DIN A5in English 537928P .SW-FST4-CD-EN ManualSystem manual FEC Standard,German 525368P .BE-FEC-S-SYS-DE System manual FEC Standard,English525369P .BE-FEC-S-SYS-ENE l e c t r o n i c c o n t r o l s y s t e m sF r o n t E n d C o n t r o l l e r s7.1。

1. Do not use or store the GOT under pressures higher than the atmospheric pressure of altitude 0m (0ft). Failure to observe this instruction may cause a malfunction. When the air inside the control panel ispurged by pressurization, the surface sheet may be lifted by high pressure. As a result, the touch panel may be difficult to press, and the sheet may be peeled off.2. This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical power distribution network and the machinery within the premises.Category II applies to equipment for which electrical power is supplied from fixed facilities. The surge voltage withstand level for up to the raged voltage of 300V is 2500V.3. This index indicates the degree to which conductive pollution is generated in the environment where the equipment is used. In pollution degree 2, only non-conductive pollution occurs but temporaryconductivity may be produced due to condensation. Do not use or store the GOT under direct sun light or in an environment with excessively high temperature, dust, humidity or vibration. For inquiries relating to the status of conforming to UL, cUL, and CE directives and shipping directives, please contact your local sales office.GOT Simple - GS21 Seriesn H U M A N M A C H I N E I N T E R F A C E SGS Installer Installation Procedure1. Double click the GS Installer (GS Installer.exe) in the folder of GT Works3 Version1.105K or later. Operate the personal computer in accordance with instructions given on the screen.2. When the completion screen appears, click the [Finish] button to finish installing the GS Installer. [Storage place]CD-ROM:<Root>\TOOL\GS\GS Installer.exeDVD-ROM:<Root>\Disk1\TOOL\GS\GS Installer.exeExternal DimensionsGS2110-WTBDGS2107-WTBDPanel Cutting DimensionsOpen an installation hole on the control panel with the dimensions as shown below. For the mounting brack-ets, space of 10mm is required above the top and below the bottom of the hole.Horizontal format (Rotate the image 90 degree forvertical format)n H U M A N M A C H I N E I N T E R F A C E S1. Necessary units when using GOT2000 or GOT SIMPLE are shown. Parenthesized devices will be required depending on conditions of use.2. Data is output to the printer that is recognized by the personal computer.3. Only the GOTs with SVGA or higher resolution are supported.4. 5V Power supply: Not supported5. Trigger backup: Not supported。

AUTOMATION & CONTROLMILLENIUM 3 MILLENIUM 3 ACCESSORIESe m4ABOUT CROUZET |2|SELECTION GUIDEInnoVista Sensors™ is a worldwideindustrial specialist of sensors,controllers and actuators forautomated systems.Through its brands, Crouzet andSystron Donner Inertial, InnoVistaSensors™ offers a wide range ofreliable, efficient and customizablecomponents dedicated to theAerospace & Defense, Transportation and Industrial markets and segments.Thanks to the recognized expertise of its teams and a strong innovation policy, InnoVista Sensors™ brings performance enhancing solutions to its customers worldwide.InnoVista Sensors™: your trusted partner of choice to face industrial challenges of today and tomorrow.ForAerospace& DefenseTransportation Industry Designs & ManufacturesSupported by an experienced technical team, Crouzet is a pioneer in the simplification of programming.The brand offers the easiest-to-use and most adaptable alternative automation solution for specialized and demanding needs.Crouzet is a brand of InnoVista Sensors™.*2143To meet market expectations and provide customers with the right solutions within the shortest timeframes, Crouzet has structured its processes around different types of products: standard products, adapted products and products specially developed for a customer. Introducing the adaptation wheel...ADAPTATION WHEEL1234 S TANDARD COMPONENTSA complete range of logic controllers immediately available to create your automation application.C OMPONENTS WITH ADDEDVALUEStandard products complemented by factory-mounted auxiliaries or accessories (connectors, wire outputs, cables, etc.) in order to assist integration into your equipment, simplify your logistics and maximize the reliability of your installation.A DAPTED PRODUCTS Defined jointly with our technical sales teams, these adapted products offer the exact performance and functions you need for your application.S PECIFIC PRODUCTSAll our design andindustrialization expertise in automation systems at your service, to design and create specific products dedicated to your application.Modbus RS485 slave interfaceExpandableSmartCompactEssentialem4 softe m4 remote em4 softem4 softM3 softM3 softM3 softSmart ExpandableSmart CompactEssentialWHICH SOLUTION DO YOU NEED?Offers a large variety of expansions (digital, analog I/Os…), up to 50 I/Os › E xpandable versions: 10 I/Os and 26 I/Os › W ith or without display, in 24 V c ,12 V c , 24 V a and 100 → 240 V a versionsThe easiest logic controller to implement, to program and to use on the market ›Compact versions: 12 I/Os and 20 I/Os › W ith or without display, in 24 V c , 12 V c ,24 V a and 100 → 240 V a versionsThe right product to tackle simpleapplications that still require a powerful logic controller›Compact versions: 12 I/Os and 20 I/Os ›Expandable versions: 10 I/Os and 26 I/Os › W ith or without display, in 24 V c , 12 V c versionsThe Millenium 3 logic controller and the e m4 nano-PLC are the easiest to use programmable modules for various applications. With simple and intuitive software, controlling and monitoring of machines and automation installations is incredibly simple.Millenium 3 toolboxM3 softMillenium 3 toolboxM3 softMillenium 3 toolboxM3 softSimplifiedBluetooth ® connectivityModbus RTU and Modbus TCP/IP expansionsAnalog 0-10V,4-20 mA,Pt100 expansions0-10V4-20mA Powerful and costeffective50 I/Os Digital expansions up to 50 I/Os Bluetooth ® connection accessoryBluetooth ® connection accessoryDirect connection of NTC temperature probesExtendedtemperature range (-20 °C to +70 °C)Modbus RTU andModbus TCP/IPexpansions Analog 0-10 V,4-20 mA,Pt100 expansions0-10V4-20mA 50 I/OsDigital expansions up to 50 I/OsAdvanced eventmanagementAdvancedmonitoring andcontrol functionsAdvanced remoteservices foryour customersCustomizableweb interfaceSecured platformand connectionsMachine /Equipmentfleet managementDevicemaintenance& managementMap localizationAutomatic clocksynchronizationAdvanced datahistoryRemoteapplicationprogram updatee m4 remotee m4 alertThe first all-in-one solution to bring yourapplication into the Internet of Things› F irst PLC capable of fleet managementincluding map localisation› H ighly secured solution, using e-bankingpractices and infrastructure› E xpandable from: 26 I/Os up to 46 I/OsNano-PLC that can alert you via SMS andemail›N eeds only GSM network to operate(SMS)›S ecured solution, only users identified inthe PLC can interact› Expandable from: 26 I/Os up to 46 I/Ose m4 toolboxsofte m4 toolboxsoft webEvent managementvia SMS and emailMonitoring andcontrol functionsvia SMSe m4 toolboxsofte m4 local/ethernetThe em4 for stand alone use or local areanetwork›T he most compact and powerful of its category›I ncludes highly accurate 4-20 mA analog inputsEmbeddedconfigurable 0-10V/4-20 mA accurateanalog inputs0-10V4-20mAModbus TCP/IPclient and serverModbusTCP/IPPLC to PLC SMScommunication *Data report via SMSand datalogsvia email or FTPFTPModbus RS485slave optioninterfaceThe most intuitivegraphical functionblock languageem4 softe m4 rangeSELECT YOUR CONTROLLER› H ighly visible blue LCD with 4 lines of 18 characters and configurable backlighting› A llow the use of the entire library of specific function blocks in the software workshop› E xtended temperature range (-20 °C to +70 °C)› A nalog inputs 0-10 V c , Potentiometer, NTC, LDR (0-20 mA/Pt100 with converters)Our products are specifically suited for integration in a wide range of applications.› S ave time designing your application and remote functionsusing the most intuitive graphical function block language on the market› A ccurately measure your high end industrial sensors with the embedded configurable analog inputs (including 4-20 mA)› E asily integrate one of our three high tech designs in your machine› A dapt your application during its lifecycle thanks to the enhanced controlling performancesSmart EssentialGlossy blackPower supplies from 7.5 to 240 W 5, 12 or 24 V Ambient temperatureVentilation duct temperature sensorPotentiometercurrent/voltage convertersCOMPLETE YOUR EXPERIENCE!Sensors, power supplies, converters, remote screens and communication accessories offer solutions to control your automation systems with the greatest ease of use.slave interfaceUSB interfaceLight sensorTemperatureMemory cartridgeBluetooth interfaceUSB cableM3 SOFTM3 Soft is the easiest programming software to use on the market. It is also incredibly powerful and user-friendly. Thanks to the most comprehensive library of application-specific function blocks in the industry, it allows you to customise your applications.M3 softFunction blocksFiltrationAllows for automatic filtration time based on water temperaturesSL In / SL OutAllows easy monitoring of your application usingTime ProgEasily schedule timeevents based oncalendare m4 soft32 bit function blocksAllows high speedcount, tachometer,power management,calculation with32 bit valuesDisplayLarge 4x18 characterdisplay allows user tovisualize text, status,times and control values inthe programAllows up to 24 eventsSMS/email messages including 2Sunset / SunriseCalculate the sunrise andsunset timeGoogleMAKE UP YOUR OWN SOLUTION Compact versionsExpandable versionsWith display* Millenium 3 Smart: backlit blue LCD display. Extended operating temperature range and function block library**Millenium 3 Essential: Logic Controller with green screen and industrial temperature rangeMILLENIUM 3 ACCESSORIESTemperature and signal converterse m4e m4e m4e m4* e m4 remote 2G, include the first year of subscription to e m4 remote access (e m4 web & e m4 app), with a SIM card.RANGE* e m4 cable not included in User KitLIGHTINGManaging flashing on illuminated signsTEMPERATURESManagement of various parameters such as heating, cooling, fluid temperatures, operation, calendar-based function, frost protectionmode, alarm management, etc.ACCESS CONTROLControl opening and closing of doors. Allow or restrict access with automatic detection, on a timer, or on certain days/time.WATER TREATMENTManaging circulation pumps, monitoring levels, temperature and conductivity of the water. Irrigation control based on temperature, humidity, and day/night cycleSOLAR WATER HEATINGAutomation of operation and heating regulation, remotemanagement of the installation.SMALL INDUSTRIAL MACHINESControlling the motor that unrolls the packing film. Controlscutting of the film after heat sealing and monitors the duration of the motor cycles. Controlling heat sealing times on blister packs, packaging bags, etc.Crouzet has identified six major applications for which Millenium 3 and e m4 are particularly suitable:PERFECTLY MATCH ALL OF YOUR REQUIREMENTS。

Exploring the Role of Artificial Intelligence in Healthcare: Opportunitiesand ChallengesAbstractIn recent years, autonomous driving technology has received increasing attention. The use of Field Programmable Gate Arrays (FPGAs) in the design of autonomous driving control systems has become a popular research direction. In this thesis, we propose a design for a vehicle autonomous driving control system based on FPGA. The proposed system is implemented on a Zynq-7000 FPGA, which includes a dual-core ARM Cortex-A9 processor and programmable logic resources. The FPGA is used to implement real-time data processing and control algorithms, while the ARM processor handles higher-level tasks such as system management and communication with external devices. The proposed system is tested using a small-scale autonomous vehicle platform, and the experimental results demonstrate its feasibility and effectiveness.Keywords: autonomous driving, FPGA, control system, Zynq-7000IntroductionAutonomous driving technology has the potential to significantly improve the safety and efficiency of transportation systems. With recent advances in sensors, algorithms, and computing hardware, many companies and research institutions have been actively developing autonomous driving systems. One of the key challenges in autonomous driving is the design of a robust and reliable control system that can operate in real-time.Field Programmable Gate Arrays (FPGAs) are a type of reconfigurable computing device that can be programmed to perform specific tasks. FPGAs offer high computational performance, low power consumption, and flexible hardware customization, making them ideal for implementing real-time control algorithms in autonomous driving systems. Moreover, FPGAs can be integrated with other computing devices, such as microprocessors, to create hybrid systems that combine the benefits of both technologies.In this thesis, we propose a design for a vehicle autonomous driving control system based on FPGA. The proposed system is implemented on a Zynq-7000 FPGA, which includes a dual-core ARM Cortex-A9 processor and programmable logic resources. The FPGA is used to implement real-time data processing and control algorithms, while the ARM processor handles higher-level tasks such as system management and communication with external devices.System DesignThe proposed system consists of two main components: the hardware platform and the software architecture. The hardware platform is based on a Zynq-7000 FPGA, which includes a dual-core ARM Cortex-A9 processor and programmable logic resources. The FPGA is connected to various sensors and actuators, including cameras, LiDARs, and motor controllers. The software architecture is designed to implement real-time control algorithms and higher-level system functions.Figure 1 shows the block diagram of the proposed system. The FPGA is divided into two parts: the processing system (PS) and the programmable logic (PL). The PS contains the dual-core ARM Cortex-A9 processor, which is responsible for running the operating system (Linux) and high-level software modules. The PL contains the FPGA fabric, which is used to implement custom hardware modules for real-time data processing and control algorithms.The sensor data is collected by the sensor modules and sent to the PL for processing. The PL includes custom hardware modules for image processing, LiDAR data processing, and control algorithms. The processed data is sent back to the PS for higher-level control and communication with external devices. The PS also includes a CAN bus controller, which is used to communicate with the motor controllers.The software architecture is designed to support modular development and easy integration of new modules. The system is implemented using the Vivado Design Suite and Xilinx SDK, which provide tools for FPGA design and software development. The software modules are written in C/C++ and Python, and are compiled using the GNU Compiler Collection (GCC).Figure 1: Block diagram of the proposed system.Experimental ResultsThe proposed system was tested using a small-scale autonomous vehicle platform, as shown in Figure 2. The platform consists of a 1:10 scale RCcar equipped with a Zynq-7000 FPGA board, cameras, LiDARs, and motor controllers. The software modules were developed using the Vivado Design Suite and Xilinx SDK, and were tested on the platform in a simulated environment.The experimental results demonstrate that the proposed system is capable of real-time data processing and control. The image processing module was able to detect lane markings and obstacles in real-time, and the LiDAR data processing module was able to generate 3D point clouds and detect obstacles. The control algorithms were able to calculate steering and throttle commands based on thesensor data, and the motor controllers were able to execute the commands to control the RC car.To evaluate the performance of the system, we compared the execution time of the image processing module on the FPGA and on a desktop computer with a quad-core Intel Core i5 processor. The results showed that the FPGA was able to process images at a much faster rate than the desktop computer, with an average processing time of 11.4 milliseconds per frame compared to 30.3 milliseconds per frame on the desktop computer.ConclusionIn this thesis, we proposed a design for a vehicle autonomous driving control system based on FPGA. The proposed system was implemented on a Zynq-7000 FPGA, and was capable of real-time data processing and control. The experimental results demonstrated that the system was feasible and effective, and had better performance than a desktop computer for image processing tasks.Future work includes further optimization of the control algorithms and hardware modules, as well as integration with more advanced sensors and actuators. The proposed system has the potential to be applied to various autonomous driving scenarios, and could contribute to the development of safe and efficient transportation systems.。

Evaluation Board for DC,BLDC and StepperTMC4671-EVAL Evaluation BoardDocument Revision V1.1•2020-APR-02The TMC4671-EVAL is designed for evaluating all features of the TMC4671-LA.The evaluation board is part of TRINAMICs user-friendly plug-in system for chip evaluation.Just connect the TMC4671-EVAL with Landungsbruecke,the associated base board and a separate Power Stage(e.g.TMC-UPS-10A/70V)for easy configuration of PI controllers and feedback systems as well as driving a motor in standard modes like position,velocity or torque mode.Features•Servo Controller for DC,BLDC andstepper motors•Control of torque(FOC),velocity andposition by cascade control•Integrated Delta Sigma ADCs•5V Supply Voltage(onboard buck con-verter for VCCIO3.3V)•SPI and UART for communication withMicrocontroller•Realtime Monitoring Interface•ABN Encoder Interface,Digital HallInterface,Analog Hall Interface,Sine/-Cosine Encoder and Ref.-Switch In-putApplications•Laboratory Automation •Manufacturing •Semiconductor Handling •Robotics•Factory Automation•Test&Measurement•Life Science•Biotechnology•Liquid Handling Simplified Block Diagram©2021TRINAMIC Motion Control GmbH&Co.KG,Hamburg,GermanyTerms of delivery and rights to technical change reserved.Contents1Getting Started31.1First Start-Up (4)2Hardware Information5 3Evaluation Features in the TMCL-IDE6 4Revision History84.1Document Revision (8)1Getting StartedYou need•TMC4671-EVAL•Landungsbruecke or Startrampe with latest firmware (We recommend the Landungs-bruecke as it offers faster USB communica-tion.)•2x Eselsbruecke•TMC-UPS-2/24-EVAL or TMC-UPS-10A/70V-EVAL•BLDC or Stepper motor with supported feed-back system •USB interface •Power Supply•Latest TMCL-IDE V3.0and PC•Cables for interface,motors and powerPrecautions•Do not mix up connections or short-circuit pins.•Avoid bounding I/O wires with motor wires.•Do not exceed the maximum rated supply sup-ply voltage!•Do not connect or disconnect the motor while powered!•START WITH POWER SUPPLYOFF!Figure 1:Getting started1.1First Start-Up1.Make sure that the latest version of the TMCL-IDE is installed.The TMCL-IDE can be downloadedfrom /support/software/tmcl-ide/.2.Open the TMCL-IDE and connect the Landungsbruecke or Startrampe via USB to the computer.ForWindows8and higher is no driver needed,on Windows7machines the TMCL-IDE is installing the driver automatically.3.Verify that the Landungsbruecke or Startrampe is using the latestfirmware version.Thefirmwareversion is shown in the connected device tree.Figure2:Firmware Version4.The TMCL-IDE3.0needs room to show all important information and to provide a good overview.Therefore,arrange the main window related to your needs.We recommend using full screen.For evaluation boards it is essential to have access to the registers.Therefore open up the Register Browser(left side).For a better view click top right on the normal icon to get a maximized register browser window.5.The TMCL-IDE includes a dialogue for diagnostic tasks.Further,the dialogue provides an overviewof the connected motion controller and driver chips.Thus,a window pops up immediately after connecting the evaluation kit thefirst time.The window shows the actual status of the connections.The second tab of the dialogue offers the possibility to choose basic settings or to reset the module to factory1defaults.Figure3:Landungsbruecke Dialogue6.In the upper area of the Evaluation board youfind pin headers for connecting Digital Encoders,Dig-ital Hall Signals and Reference Switches.These input pins are5V tolerant and have extra protection and conditioning circuitry.Analog Hall Sensor Signals or Sine/Cosine Encoder can be processed as single ended analog signals at the respective pin headers in the lower area of the PCB.Power Supply and GND pins allow easy connection.Please check board schematics for proper connection of your feedback system.Figure4:Pin Headers on TMC4671-EVAL2Hardware InformationAll designfiles for our evaluation boards are available for free.We offer the original ECADfiles,Gerber data,the BOM,and PDF copies.Typically,the ECADfiles are in KiCAD format.Some(older)evaluation boards may only be available in Eagle,Altium,or PADS format.Please check schematics for Jumper settings and input/output connector description.Thefiles can be downloaded from the evaluation boards’website directly at https:/// support/eval-kits/.Note Iffiles are missing on the website or something is wrong please send us a note. 3Evaluation Features in the TMCL-IDEThis chapter gives some hints and tips on using the functionality of the TMCL-IDE,e.g.how to use the velocity mode or using the wizards.The register browser can be used to access every register of the TMC4671.Startfirst parametrization of the TMC4671-EVALwith the Wizard,providing guided dialogues to configure and calibrate your e configuration dialogues to setup PWM,Openloop generator,ADC calibra-tion,and feedback configuration.You can start the Wizard by clicking the marked icon(seefig.5).Figure5:Wizard Icon in TMCL-IDEThe TMCL-IDE also offers special dialogues for selectors,limits and PI controller configuration accessible from the left control pane.Figure6:Selectors and Limits dialogues in TMCL-IDEThe TMCL-IDE also provides ease-of-use dialogues for using drive modes(Torque Mode,Velocity Modeand Position Mode,seefig.7).Figure7:Control Mode Dialogues4Revision History4.1Document RevisionTable1:Document Revision。

Visit our website: /catalogsBulletin 150SMC™ Flex Smart Motor Controller18FeaturesDescription of FeaturesElectronic Motor Overload ProtectionThe SMC Flex controller incorporates, as standard, electronic motor overload protection. This overload protection is accomplished electronically with an I 2t algorithm.When coordinated with the proper short circuit protection, overload protection is intended to protect the motor, motor controller, and power wiring against overheating caused by excessive overcurrent.The SMC Flex controller meets applicable requirements as a motor overload protective device.The controller’s overload protection is programmable, providing the user with flexibility. The overload trip class consists of either OFF ,10, 15, 20 or 30 protection. The trip current is programmed by entering the motor full-load current rating, service factor, and selecting the trip class.Thermal memory is included to accurately model motor operating temperature. Ambient temperature insensitivity is inherent in the electronic design of the overload.Stall Protection and Jam DetectionMotors can experience locked-rotor currents and develop high torque levels in the event of a stall or a jam. These conditions can result in winding insulation breakdown or mechanical damage to the connected load. The SMC Flex controller provides both stall protection and jam detection for enhanced motor and systemprotection. Stall protection allows the user to program a maximum stall protection delay time from 0…10 seconds. The stall protection delay time is in addition to the programmed start time and begins only after the start time has timed out. If the controller senses that the motor is stalled, it will shut down after the delay period has expired. Jam detection allows the user to determine the motor jam detection level as a percentage of the motor’s full-load current rating. To prevent nuisance tripping, a jam detection delay time,from 0.0…99.0 seconds, can be programmed. This allows the user to select the time delay required before the SMC Flex controller will trip on a motor jam condition. The motor current must remain above the jam detection level during the delay time. Jam detection is active only after the motor has reached full speed.Underload ProtectionUtilizing the underload protection of the SMC Flex controller, motor operation can be halted if a drop in current is sensed.The SMC Flex controller provides an adjustable underload trip setting from 0…99% of the programmed motor full-load current rating with an adjustable trip delay time of 0…99 seconds.Undervoltage ProtectionThe SMC Flex controller’s undervoltage protection will halt motor operation if a drop in the incoming line voltage is detected.The undervoltage trip level is adjustable as a percentage of theprogrammed line voltage, from 0…99%. To eliminate nuisance trips,a programmable undervoltage trip delay time of 0…99 seconds can also be programmed. The line voltage must remain below the undervoltage trip level during the programmed delay time.Overvoltage ProtectionIf a rise in the incoming line voltage is detected, the SMC Flex controller’s overvoltage protection will halt motor operation.The overvoltage trip level is adjustable as a percentage of the programmed line voltage, from 0…199%. To eliminate nuisance trips, a programmable overvoltage trip delay time of 0…99 seconds can also be programmed. The line voltage must remain above the overvoltage trip level during the programmed delay time.Voltage Unbalance ProtectionVoltage unbalance is detected by monitoring the 3-phase supply voltage magnitudes in conjunction with the rotational relationship of the three phases. The controller will halt motor operation when the calculated voltage unbalance reaches the user-programmed trip level.The voltage unbalance trip level is programmable from 0…25%unbalance.Excessive Starts Per HourThe SMC Flex controller allows the user to program the allowed number of starts per hour (up to 99). This helps eliminate motor stress caused by repeated starting during a short time period.MeteringPower monitoring parameters include:Note:The motor thermal capacity usage allows the user to monitorthe amount of overload thermal capacity usage before the SMC Flex controller’s built-in electronic overload trips.Built-in DPI Communication CapabilitiesA serial interface port is provided as standard, which allowsconnection to a Bulletin 20 Human Interface Module and a variety of Bulletin 20-COMM Communication Modules. This includes Allen-Bradley Remote I/O, DeviceNet, ControlNet, Ethernet, ProfiBUS,Interbus, and RS485-DF1.LCD DisplayThe SMC Flex controller’s three-line 16-character backlit LCD display provides parameter identification using clear, informative text. Controller set up can be performed quickly and easily without the use of a reference manual. Parameters are arranged in an organized four-level menu structure for ease of programming and fast access to parameters.Keypad ProgrammingProgramming of parameters is accomplished through a five-button keypad on the front of the SMC Flex controller. The five buttons include up and down arrows, an Enter button, a Select button, and an Escape button. The user needs only to enter the correctsequence of keystrokes for programming the SMC Flex controller.Auxiliary ContactsFour fully programmable hard contacts are furnished as standard with the SMC Flex controller:Aux #1, Aux #2, Aux #3, Aux #4Ground Fault InputThe SMC Flex can monitor for ground fault conditions. An external core balance current transformer is required for this function. See SMC Flex User Manual for additional information.Tach InputA motor tachometer is required for the Linear Speed Start mode.Please see the Specifications section page 36 for tachometer characteristics.PTC InputA motor PTC input can be monitored by the SMC Flex. In the event of a fault, the SMC Flex will shut down and indicate a motor PTC fault.y N.O./N.C.y Normal/Up-to-Speed/External Bypass/Fault/Alarm/Network Network I/OThe SMC Flex can have up to two (2) inputs and four (4) outputs controlled via a communication network. The output contacts use the auxiliary contacts.y 3-phase current y Power Factory 3-phase voltage y Motor thermal capacity usage y Power in kW or mWy Elapsed time y Power usage in kWH or mWHy。

搞笑：drollness,quip,comedy,comic,droll,jape,funniness,hilariousness混乱的：confused,chaotic,muddle,disarranged,disarrayed,disheveled,disorderly,jumbled Messed,rumpled,sloppy,unkempt,untidy不真诚：insincere,disingenuous,affected,artful,assuming,dishonest,dissembling,guileful费力的：demanding,arduous,burdensome,challenging,exacting,grueling,laborious,onerous Persnickety,taxing,toilsome狭隘的: insular,provincial.parochial,sectarian任意的:aimless,arbitrary,desultory,erratic,scattered,stray,haphazard,capricious离题的：discursive,rambling,desultory,digressional,excursive,meandering,wandering顺从的：acquiescent,nonresistant,resigned,tolerant,unresistant,yielding痛恨：abhor,abominate,detest,dislike,hate,loathe轻视蔑视：defy.despise,disregard,flout颂词：eulogy,encomium,accolade,panegyric,tribute掩盖：belie,conceal,curtain,disguise,mask靠谱的：calculable,reliable,responsible,safe,secure,solid,trustable,trustworthy,dependable阻碍：encumber,shackle,stifle,fetter,handcuff,handicap,hinder,impede, manacle, obstruct, Trammel自主决定：discretionary,elective,voluntary检查：scrutinize,examine,review,scan,survey,plumb,overlook,check(out)揭示：disclosure，divulge，exposure理解：appreciate,apprehend,assimilate,behold,catch,cognize,conceive,discern,grasp,perceive Recognize,savvy,see,seize,sense,understand吸引：allure,appeal.attractiveness,captivation,charisma,enchantment,fascination,glamour, Magnetism,seductiveness合理的：valid,analytic,coherent,consequent,rational,reasonable,sensible,sound,well-founded, Well-grounded不重要的：inconsiderable,insignificant,minor,petty,inconsequential,paltry,trifling驱逐：banish,boot out,cast out,chase,dismiss,drum out,expel,extrude,kick out,throw out,turf out, Turn out放弃：abjure,abnegate,forswear,renege,renounce,repeal,repudiate,retract,withdraw包容的：cosmopolitan,universal,transnational,catholic,global,worldwide,ecumenical喜爱：relish,adore,enjoy,like love rejoice,revel,savor无法忍受的：unbearable,insupportable,intolerable,unendurable,unsupportable,unacceptable Harsh,dreadful,wretched,loathsome,repugnant,crushing,overwhelming,comfortless,Painful,appalling,revolting非传统的：dissentient,heterodox,iconoclastic,maverick复杂的：sophisticated,baroque,byzantine,complicated,convoluted,elaborate,intricate,involved Knotty,labyrinthine,tangled爱交际的：gregarious,sociable,social焦虑：anxiety,misgiving,scruple对立：antipodal,antipodean,antithetical,contradictor,contrary,dichotomous,incongruous,polar躲避：avoid,dodge,circumvent,eschew,evade,sidestep,skirt,get around衰弱：decay,decline,deteriorate,emaciate,fade,fail,languish,sag,waste,wilt,wither不重要的：trivial,insubstantial,negligible,nominal,trifling,minimal自主独立的：autonomous,freestanding,independent,separate,sovereign不明智的：impolitic,inadvisable,indelicate,injudicious,tactless,undiplomatic,unwise极好的：exceptional,extraordinary，sterling未准备的：extemporaneous,ad-lib,impromptu,improvisational,improvised,offhand,unconsidered Unplanned,unpremeditated,unprepared,unrehearsed,unstudied全面的：exhaustive,complete,comprehensive,cyclopedic,embracive,thorough匿名的：anonymous，incognito，unidentified，innominate，unnamed，untitled篡改：belie,color,distort,falsify，garble，misinterpret,misrelate,misstate,pervert笨拙的：clumsy,awkward,ham-handed,heavy-handed,maladroit,unhandy,bungling,inept,maladroit 通用的:generic,inclusive,all-embracing,broad,comprehensive,extensive,pervasive,ubiquitous Wholesale,wide,widespread,aggregate,collective,complete,full,plenary,worldwide分等级的：hierarchical，stratified,graded,graduated，ranked预示：forerun,harbinger,herald,adumbrate,augur,forecast,foretell,portend,predict,prognosticate Prophesy,prefigure节制的：abstinent,abstemious,continent,temperate,ascetic,stoic,spartan,self-denying冷漠的：perfunctory,apathetic,casual,disinterested,incurious,indifferent,insouciant,nonchalantUnconcerned不均衡的：lopsided,asymmetric,disproportional,irregular,off-balance,unbalanced,unequal Uneven强有力的：mighty,powerful,robust,stalwart,stout,strong虚弱的：debilitated,effete,enervated,faint,fragile,frail,infirm,languid,sapped,feeble错误：awry,amiss,aside,astray,erroneous,wrong防御性的:defensive,protective病：affection,ail,ailment,bug，complaint，complication,condition,disorder,distemper Distemperature,fever,ill,illness,infirmity,malady,sickness,trouble敌对的：adversarial,antagonistic,adversary,antipathetic,inhospitable,inimical,jaundiced Mortal,negative,unfriendly,unsympathetic增加：augment,extend,aggrandize,amplify,augment,boost,bugle,balloon,burgeon,sprout Snowball,mushroom,wax,pound,enlarge,escalate,expand,extend,multiplyPump up,swell歌唱：song,strain,tune,warble,croon,melody,euphony对立：antipodal,antipodean,antithetical,contradictory,contrary,dichotomous,incongruous,polar 平凡的：common,mundane,ordinary,prosaic宏大：epic,august,grandiose,imposing,magnificent,majestic,monumental,impressive对立：antipode,antithesis,contrary,counter,negative,obverse,reverse空置的：vacant,bare,blank,clean,devoid,stark,empty,vacuous,void使胆怯：daunting,chill,demoralize,dishearten,dismay,dispirit,frustrate,unman,unnerve不同的：assorted,eclectic,heterogeneous,indiscriminate,magpie,mixed,motley,patchwork,piebald Promiscuous,raggle-taggle,ragtag,varied同质的：homogeneous,monochromatic,monotonous,unvaried早于，先于：antecede,antedate,forego,predate,preexist证明为假：belie,confound,confute,debunk,disconfirm,discredit,falsify,rebut,refute,shoot down 获取：acquire,earn,gain,garner,procure,realize,secure,win,achieve完美：unblemished,faultless,flawless,impeccable,indefectible,irreproachable,perfect,seamless筛选：sift,screen,winnow昏昏欲睡的：somnolent,lethargic,slumberous,dozy,drowsy,soporific欺骗的：spurious,specious,beguiling,deceitful,deceiving,deluding,delusive,delusory,fallacious False,misleading陈腐：banality,bromide,chestnut,cliche,homily,platitude,conventionality超然的：ethereal,heavenly,otherworldly,paranormal,preternatural，transcendental,unearthly Unworldly阻碍：cramp,encumber,fetter,handicap,hinder,hobble,impede,stymie,trammel,control重复：redo,reiterate,renew,repeat,duplicate相关：pertain,appertain,bear,concern,refer,relate无依据的：baseless,foundationless,invalid,unfounded,unreasonable,unsubstantiated,unsupported Unwarranted,groundless混合物：agglomerate,collage,hodgepodge,jumble,jungle,medley,montage,salad,variety,welter许可：access,admission,admittance,door,doorway,entry,gateway,ingress,key,passport,ticket和善的：affable,agreeable,easygoing,genial,good-natured,good-tempered,gracious,mellow Pleasant,sweet,well-disposed易怒的：fractious,crabby,cantankerous,choleric,irritable,peevish,pettish,petulant震惊的：jarring,astounding,blindsiding,jolting,startling,stunning少量：meager,niggardly,poor,scant,scarce,skimpy,slender,slim,sparing,stingy大量：abundant,ample.awash,cornucopian,flush,fraught,lousy,replete,swarming,thick,thronging 授权：accredit，certify,charter,commission,empower,enable,invest,license,qualify,vest,warrant 假名:alias,pseudonym,nom de guerre证明：document,demonstrate,establish,substantiate,validate美：pulchritudinous,aesthetic,attractive,beautiful,comely,gorgeous,handsome,knockout,lovely Ravishing,seemly,stunning,taking赞扬：bless,carol,celebrate,emblazon,exalt,extol,glorify,hymn,laud,magnify,resound初始的：incipient,nascent,primitive,primordial移开：remove,strip away。

Intelligent designs in simplified packagesIncrease uptime and simplify switchgear design by specify-ing one of Eaton’s pre-engineered automatic transfer and intelligent control packages for Magnum DS low voltage switchgear. The packages are designed with features to meet typical customer applications while still maintaining the flexibility to meet specific requirements. The packages are available on front and rear access in standard and arc-resistant designs. Classified by the interface, the automatic transfer and intelligent control packages are as follows:•Eaton ATC-900 controller•Eaton programmable logic controller (PLC)with Eaton touch screen •Power Xpert TdashboardMagnum DS T low voltage switchgear Automatic transfer and intelligent controlEaton ATC-900 controllerMain-Main, Main-Generator or Generator-GeneratorThis controller can be utilized for transfer in a lineup with Main-Main, Main-Generator or Generator-Generator application (no tie breaker present). This option will include selector switches for Auto/Manual as well as Generator Start/Stop/Exercise.Include the optional 7" human-machine interface (HMI) remote annunciator controller (RAC), a color touch-screen display for an easy-to-use interface to monitor and control up to eight ATC-900 controllers. The remote annunciator supports serial RS-485 Modbus T RTU and Modbus TCP/IP natively and can connect to ethernet via a serial to ethernet gateway.Control pushbuttons•Go-to-emergency/cancel go-to-emergency •Start/stop engine test •Alarm silence •Bypass timers •Manual retransferStatus indicators•S1/S2 available •S1/S2 preferred •S1/S2 connected•S1/S2 status (under-/overvoltage, under-/overfrequency, etc.)•Emergency inhibit •Lockout/monitor mode •Closed on emergency •Go-to-emergency active •Engine test active •Transfer in progress •Source 1 voltage metering •Source 2 voltage metering•Load voltage metering (includes current if direct current-current transformer (DCT) module is installed)•Waiting for manual retransfer •History of eventsFor detailed information on the features of the ATC-900 and the remote annunciator, refer to documentation, TD140001EN and IB140012EN .2EATON Magnum DS low voltage switchgear—automatic transfer and intelligent controlIn terface f rom the Remote Annunciator Controller (RAC)ATC-900 controller displayEaton PLC with Eaton touch screenThe Eaton PLC and Eaton touch screen can provide automaticmain-tie-main transfer to increase uptime and efficiency. The desired sequence of operation can be selected with the following features:• Open and closed retransfer•Customer selectable retransfer (PLC program will have both open and closed)• Select to trip via HMI • Preferred source selection•Basic generator control (start signal, cool down timer, 81 O/Urelays, run/auto/switch)Eaton programmable logic controllerEaton XP-503 panel PCAutomatic main-tie-main transfer sequence of operation Open transition•Loss of power at main breaker #1 (52-1)• Voltage device detects loss of normal voltage• Adjustable time delay (default 5s, settable range 1–60s)• Main breaker 52-1 opens• Adjustable time delay (default 2s, settable range 1–10s)•Tie breaker 52-T closes•Loss of power at main breaker #2 (52-2)• Voltage device detects loss of normal voltage• Adjustable time delay (default 5s, settable range 1–60s)• Main breaker 52-2 opens• Adjustable time delay (default 2s, settable range 1–10s)•Tie breaker 52-T closes•Loss of power at main breaker #1 (52-1) and main breaker #2 (52-2)•No action is taken•Return of power at main breaker #1 (52-1) after loss of power at main breaker #1 (52-1)• Voltage device detects normal voltage• Adjustable time delay (default 10s, settable range 1–300s)• Tie breaker 52-T opens• Adjustable time delay (default 2s, settable range 1–10s)•Main breaker 52-1 closes•Return of power at main breaker #2 (52-2) after loss of power at main breaker #2 (52-2)•Voltage device detects normal voltage• Adjustable time delay (default 10s, settable range 1–300s)• Tie breaker 52-T opens• Adjustable time delay (default 2s, settable range 1–10s)•Main breaker 52-2 closesOptional closed transition—return to normal (follows same sequence as open transition for 1–3)•Return of power at main breaker #1 (52-1) after loss of power at main breaker #1 (52-1)• Voltage device detects normal voltage• Adjustable time delay (default 10s, settable range 1–300s)• Device 25 verifies synchronism • Main breaker 52-1 closes•Adjustable time delay (default 2s, settable range 1–10s)•Tie breaker 52-T opens•Return of power at main breaker #2 (52-2) after loss of power at main breaker #2 (52-2)• Voltage device detects normal voltage• Adjustable time delay (default 10s, settable range 1–300s)• Device 25 verifies synchronism • Main breaker 52-2 closes• Adjustable time delay (default 2s, settable range 1–10s)•Tie breaker 52-T opensSystem requirements3EATON Magnum DS low voltage switchgear—automatic transfer and intelligent controlPower Xpert dashboardThe Power Xpert dashboard provides a view of intelligent devices installed in a switchgear assembly. It allows continuous monitoring and control of various parameters.The dashboard can be integral to the switchgear assemblyor remotely mounted offering a monitoring and control option outside the arc flash zone.Features:•Remotely open/close circuit breakers through control mode •Initiate a transfer scheme in a main-tie-main switchgearfor uninterrupted power supply•Ability to configure/monitor alarms for various devices •Provides a rich interface to monitor parameters of all devicesand study the trends of those parametersOne line view•The one line view shows the lineup of all the configured devices with their top five parameters in the widget; it graphically repre-sents the power flow between various configured devices•Clicking on a widget provides the top 16 parameters of the device; this again is programmable•Clicking on the more button in the top parameter’s sidebar opens the device details page•Device details page allows user to customize the top parameters, alarms, trends, etc.•The navigator at the bottom can be used to move between various sections of the lineup•The timeline is highlighted if any alarm is active Elevation view•The elevation view shows a physical front view of the switchgear lineup with the status of breakers and buses•Any alarm or fault causes the corresponding compartmentto be highlighted•The navigator shows the visible portion of the lineup; clickingon a widget provides the top 16 parameters of the device Control feature•Control mode allows user to open/close breakers remotely; control mode can be entered from one line or elevation view•For breakers equipped with remote operation via communication, users can enable the Arcflash Reduction Maintenance System™and see a visual indication on screen symbolized by blue hatchedbus lines4EATON Magnum DS low voltage switchgear—automatic transfer and intelligent controlTimeline view• Clicking on an alarm opens the sidebar as follows; the alarm can be acknowledged by clicking the tab• Clicking on view alarm details opens the alarm details page; this page lists the alarm information, such as: time of occurrence, value of occurrence and all the instances of the same alarm T ransfer view•The dashboard allows user to configure how a transfer will take place in case of a power failure•User can set the transfer to be automatic or manual; this typeof transition can be configured as open/closedDocs view•Docs from the menu list the support documents provided with the switchgear; one can navigate between various documents using the right arrow at bottom•On entering the edit mode, more documents can be added under switchgear or manualsectionsSystem requirements5EATON Magnum DS low voltage switchgear—automatic transfer and intelligent controlEaton is a registered trademark.All other trademarks are property of their respective owners.Eaton1000 Eaton Boulevard Cleveland, OH 44122United States © 2015 EatonAll Rights Reserved Printed in USAPublication No. PA019005EN / BC-227July 2015Follow us on social media to get thelatest product and support information.。