派克伺服驱动器安装手册

Compax3 FamilyCompax3Servo Drive SystemsSetting up the Compax3 Multi-Axis UnitsPN 88-029852-01PurposeThe first 4 pages of this document describe the process by which one sets up the Compax3M –the multi-axis version of the Compax3. Theremainder is dedicated to step-by-step setup of a drive withETHERNET Powerlink.There is a new tool that “houses”ServoManager. It is called the Parker Integrated Engineering Tool. This framework will manage the multi-axis nature of Compax3M configuration and is available on the DVD.Step 1: Opening Screen¾The P.I.E.T.’s opening screen is shown below.¾This is the window that will help the user managethe axis configurationsStep 2: Add a Compax3¾Right click on “New Group1”9Click “Add Device”9Click “Servo Drive”9Click “Compax3”¾This process initiates the launch ofServoManager for this first axis¾You can repeat the process to addanother Compax3.Step 3: Launching ServoManager¾As you see in the below screen shot, an instance ofServoManager has been launched¾This is named “Compax3-1”¾If you added a second axis, there would be a third tabnamed, “Compax3-2”Essentially, as you add axes,the P.I.E.T. launchesadditional windows ofServoManager. Youcan change each axisname by clicking on the“Compax3-1”on thetree. This brings up aproperties screen.Enter in a new name, ifyou like.Step 4: Com Port Selection¾Click on the 1st Compax3 Axis Tab 9Click on “Device”in themenu9Find RS232/RS485 row¾This will bring up a box to select theCOM port¾NOTE: Be sure you have installedthe USB driver from the main setup screen at installation¾NOTE: Be sure to also plug in theshort SSK cables on the top of the Compax3 Power Supply (MP) to all the axis units.9Beginning with theCompax3MP, the connection is always made from X30 to X31 of the next device. Onthe first device (X31) and thelast device (X30) in the multi-axis combination, a bustermination plug (BUS07/01)is required. This plug lookslike an Ethernet connector (RJ45) without a cable attached.Step 5: Addressing the Power Supply & Drives ¾Select the available COM Ports¾You need to set the address in the RS485 box 9This is the base address of the Power Supply (see diagram below) plus 19The Compax3 MP unit will automatically address allfollowing axis units by adding “1”to the baseaddress for the first axis, “2”for the second, and soon…9All you need to do is input that number to each ofthe drives through the ServoManager Axis tabs¾Be sure you have put the bus termination plugs (twoneeded) in both the power supply and the last axis unit.S1 –Base Address of Power Supply,automatic addressing of all axis units (Power Supply address + axis number)PS Value = 16axis1 = 17axis2 = 18axis3 = 19axis4 = 20There isn’t a rack associated with the Compax3M. The high voltage and low voltage bus bars are the only structural pieces that connect each module together. These are located under the protective plasticcover on the bottom-front portion of the modules.All fasteners are contained within each unit. Simply loosen these screws on each module and the bus bars slide to intersect the adjacentmodule.Notes on Hardware InstallationX14: Category 3 Safety¾The Compax3M comes with two channels for Cat.3 Safety on this X14 connector¾It is not recommended to IGNORE the safety circuit; however, if you choose not touse this safety technology, the followingmust be wired9X14/1 –24VDC9X14/2 –GND9X14/3 –24VDC9X14/4 –GND¾If you leave these open, the drive will yield a ‘5492 Safe torque off (STO) active’error¾There is detailed information about this circuit in the Help File on the website.1 2 3 4 51 –24VDC2 –24V GND3 –-HV DC4 –PE5 –+HV DCX40: Braking Resistor¾The Compax3MP (power supply) comesready to install a braking resistor for energydissipation across the bus¾If you are not going to use a brakingresistor you MUST place a jumper wirebetween pins 1 and 2¾If you leave this open, the drive will yield a‘4480 C3MP: Temperature of brakingresistor too high’error9If this error is not corrected by eitherconnecting a resistor or wiring ajumper between these two pins, themotor will not enableFor further information, please refer to theHardware installation guide and the PDF manual. You can downloadthese from the Compax3M page on .Device Selection¾Launch Servo Manager¾Double-click on Device Selection Wizard¾This will launch the wizard that allows you toselect the appropriate model9Screen 1: M050D6 (select your power level)9Screen 2: F10 (select your feedback type)9Screen 3: I30 (Choose I30 for EPL)9Screen 4: T11 (Choose T11 for EPL&ACR)9Screen 5: M00 (Choose M00 for no options)¾You will end up with a part number that lookssomething like: M050D6F10I30T11M00and should match what you ordered and what the label reads on the side of your driveIn this section, we will show how to setup a drive. My base model drive is an ETHERNET Powerlink enabled drive, but the steps are virtually the same for other drive models.Setting up the DriveDrive Configuration¾Double-click on “I30T11 Drive Configuration”¾You will not need to change too manyparameters within this section¾The Drive Configuration Wizard opens andyou will need complete 15 steps –though only a few need input for EPL.Step 3: Motor Selection¾You will need to select the motor you areusing¾See the picture below to see how theMPP092 motor is found:¾Click “Next”Parker USMPP092ModelStep 1: Motor Selection¾You will need to select the voltage at whichyou will be running 9230VAC 9400VAC 9480VAC¾Click “Next”Step 2: Reserved for Future UseStep 6: Reserved for Braking Resistor¾At the release of this product, there is only one resistor; the user doesn’t need to selectthis for the driveStep 4: Motor Reference Data / PWM Settings¾This step needs no input from you¾This data is populated from the motor files ¾Click “Next”Step 5: ReservedStep 7: Moment of Inertia¾This is the most important tuning step9The Compax3 uses this toestablish gains9The closer you are to thecorrect inertia of your load, the better your system will be tuned9Suggestion: Use the valuefrom MotionSizer.¾Enter the same load value in both the “Minimum”and the “Maximum”locations.9Only if your load isn’tchanging9If load changes (examplepicking up a box, thenplacing box) enter “Min”and “Max”respectively.¾Do not check the box –if you do, call applications for help with this AutoTuning Feature.¾Click “Next”Step 4: This step is omitted Step 8: Distance / Travel Parameters¾This step needs no input from you for use with the ACR EPL ¾Default values are ok9Make sure that the ratio is 1:1¾Click “Next”The ACR9040/9030 will beresponsible for allscaling. This is done by setting the PPU value in the 9040. However, you must make sure that the value here is has a 1:1 ratio. The units are not important.See the HTML file for moreinformation if using an intelligent drive.Step 9: Machine Zero / Homing¾Make sure “No Homing Mode Used”is selected¾All default values are fine¾ACR9040 will be responsible for allhoming procedures and velocities ¾Click “Next”Step 10: Travel Limits / Settings¾For the ACR90x0: In the first fourrows:9Positive SW: No reaction9Negative SW: No reaction9Positive HW: No reaction9Negative HW: No reaction ¾Make sure all box are unchecked¾If not using an ACR, you canselect how the Compax3 reactsto the varying limit options¾Click “Next”The ACR9040/9030 will beresponsible for allhoming moves.If you are using a drivecontroller, click “HomingMode Wizard”and thatwill guide you throughhoming types.Step 12: Monitoring / Limit Settings¾Current Limit: Select as a percentage of motor continuous¾Following Error –make sure this value doesn’t conflict with your ACR9040 value. If theydiffer, the value in 9040 should be tighter sothe Position Error is registered there and notat the drive.¾Click “Next”Because the Compax3 is a “smart”drive, it hasalgorithms checking thefollowing error. If youare getting followingerrors in the Compax3but not the ACR9040,then this value may betoo tight.Step 11: Jerk / Ramps¾This step needs no input fromyou¾The default data is fine –theACR9040 controls these value ¾If you are using adrive/controller, input what theramps and “s-curve”(jerk)acceleration should be. Forjerk, the higher the number themore linear the acceleration¾Click “Next”¾This can be left in the default state9Select “ON”if you want tosend out the motor encoderthrough the X11 connectoron the Compax3¾The EPL Cable automatically sendsthe encoder/resolver position to the9040Step 14: I/O Assignment¾Make sure the I/O assignment is select “Free”9This gives the ACR9040 power over allI/O9If you are not using an ACR, check userguide for your specific model to see thepin assignment and if you select “free”or “fixed”¾Click “Next”¾There is nothing to be done here¾Click “Next”Step 16: Profile Table¾This is where you would select the variousprofiles called up by a PLC or digital I/O¾There is nothing to be done here because theACR9040 controls all positioning¾Click “Next”Summary Configuration: “Your Part Number”¾The Top Middle should be green –this means that the setup is done¾You can name your configuration¾You can add notes to your configuration¾Click “Finish”Step 17: Other Error Reactions¾Click the box to reveal an arrow to select other options ¾These are the default values. ¾Click “Next”You could download yourconfiguration here, but we have setup theEthernet Powerlink yet. You will save time if you just click “finish”. This will bring you back to the main ServoManager Screen.Hardware Setup¾Values:920921922through 27¾Left is OFF or “0”¾Right is ON or “1”¾An address value of zero is not valid (all off)¾From top to bottom: 100000009Address = 1¾From top to bottom: 010000009Address = 2¾From top to bottom: 110000009Address = 3The Ethernet Powerlink portion of the setup is very simple. There are twosteps:¾Select the address with connector S24 on the front of the drive ¾Select the Ethernet Powerlink ModeEthernet PowerlinkSetupOnce you complete the configuration,ServoManager will show you the address.*M050V6F12I21T11M00 is shownEthernet Powerlink: Step 1¾First Row: Mode Ethernet Powerlink9CN: Velocity Mode 9CN: Position Mode 9CN: Profile Select9CN: Konfiguration via MN ¾Select “CN: Konfiguration via MN”¾Second Row: EPL Error Reaction90 –No Response9 1 –Stop Drive, Energize 9 2 –Stop Drive, Disabled ¾Select “2 –Stop Drive, Disabled”¾Click “Next”You do not need to input the device address you already selected on the S24 connector. When you download the configuration, ServoManager willautomatically obtain this setting and display it for you.Communications: Ethernet Powerlink¾Click on the “+”sign next to the “CommunicationFolder –you will see:9RS-4859Modem Settings 9Ethernet Powerlink¾Double-click on the “Ethernet Powerlink”folderPossible Errors¾Problem 1:9Red Error Screen, check to see ifcorrect COM port is selected¾Problem 2:9Can’t Initiate Download: check tomake sure power is on, correct cable is being used, USB-Serial cable is the recommendedversion (Bafo BF-800 or BF-810 ( ).¾For more information:9To trouble-shoot RS-232communications, visit the FAQ section on and type in BAFO. A write up is available.Step 2: Summary, Download Configuration¾This is where you can now download the entire configuration you went through 9Device Selection 9Drive Configuration9Ethernet Powerlink Settings ¾Click on “Download Configuration Only to the device”¾Click on “Disable controller and begin Drive Configuration download”¾Click “Execute”to start the drive processingYou are now done with ServoManager Configuration.Repeat this process for any other drives you have. If the drives are the same, simply change the address on the S24 connector and download the same configuration.BE SURE TO POWER CYCLE THE COMPAX3 AFTER SETUP IS COMPLETE!Ethernet Powerlink Address: Finishing Up¾Click on the “+”sign next to the “Communication Folder –you willsee:9RS-4859Modem Settings 9Ethernet Powerlink¾Highlight (single-click) on the “Ethernet Powerlink”folder¾On the right side of the screen, scroll down half-way, here you canverify:9Mode Ethernet Powerlink (Enable ACR-C3 communications)9EPL Error Reaction (For application safety)9EPL Node ID (Needed for ACR-View)EPL Setup in ACR-ViewThe section will go over how you can set up a Compax3 EPL axis in ACR-View. Launch ACR-View¾Double-click the ACR-View Icon on yourdesktopStep 1: Create/Name Project¾Select “Create New Project”andgive it a name Step 3: Model Number¾Select the specific part number ofthe ACR purchasesStep 2: Select Controller¾Select ACR9040 (or 9030)Step 4: Name the controller¾Select an alias for the ACR9040(only relevant with multiple ACRs)Configuration Wizard¾The next several steps outline how you set upa Compax3 EPL DriveStep 1: Communications¾Select how you will communicate tothe ACR9040 –I have Ethernetselected and the default IP addressis shown.¾Click “Connect”and wait forcommunications to occureStep 2: Axes¾Select how many EPL Axes will beconnected –this may be a mixtureof Aries and Compax3 drive. Thisrepresents the total number ofdrives (1 = one drive, 5 = fivedrives).¾Input the name of the axis9I will use “X”¾Input the address of this drive9I will use “32”from thereadout on page 15¾Choose “EPL”for Command Output¾Once you click next, “32”will bedisplayed on the Axis SummaryTable in this windowStep 4: Drive/Motor9For Compa3 –select “OtherEPL”¾Select Motor9Only select series of motoryou are controlling¾Gearmotor9Choose whether or not youare using a gearheadintegrated with the motorStep 5: Axis 0 Feedback¾Type:9Select “EPL Feedback”¾Package9Rotary or Linear1000¾Choose “EPL”for Command Output¾Choose the resolution of thefeedback. This is pre-quadrature.Check with motor catalog to verifycounts/rev.¾RESOLUTION: a value of 1000 isneeded to scale to revolutions9The resolution of thefeedback from the Compax3to the ACR9040 is 1000pulses per revolution –for allfeedback motor feedbackdevices¾Specify desired units9This will be what youeventually program in¾Transmission9You can select from anumber of popularmechanical transmissiontypes¾Specify any additional reducers inthe system (ie. Bayside, belt andpulley)¾You can manually enter the scalingfactor at the bottom if you didn’tspecify some sort of mechanicalreduction¾Hardware Limit Detection9This will enable your end-of-travel hardware limits. Thisfunction should be turned offin ServoManager¾Software Limit Detection9You can enable or disable thesoftware limits here. Thisfunction should be turned offin ServoManager¾Maximum Position Error Detection9This is the controller findingthe difference between actualand commanded position.Be sure that this value istighter than the one inServoManager (Page 8 Step10)¾Input Type:9Select “EPL Inputs”9This will allow you to chooseto use the inputs on theCompax3 as hardware limits–if desired¾Completely Ignore this screen forthe Compax3¾Use ServoManager OptimizationTool for tuning the motor¾There are many things that can bedone on this screen9Enable Drive9Start EPL Network9Jog the motor9Home the motor¾Be sure everything is wiredcorrectly and that you are ready formotion.The first Compax3 EPL Axis is configured. Gothrough these steps again for the remaining drives.¾You must assign each axis to aMaster. For many applications, youcan assign all three axes to thesame master.9Highlight the three Compax3Axes9Highlight “Master 0”9Click on “Move Axes toMaster”9After you click on “MoveAxes”, all three axes shouldmove from the left side tobeneath “Master 0”9Click “Next”¾You need to assign some acceleration parameters to the Master.9Acceleration Ramp9Initial Velocity9Deceleration Ramp9Stop Ramp9You can enable “s-curve”accel here.¾Input the amount of memory foreach program (aka “task”) that isbeing used9Default for Program 0 is300000k9Enter in other values forother programs if needed.9You can also change thenumber of global variables inthis screenStep 13: Check EPL Network¾This screen allows you to check thestate of the EPL network¾Click on “Start EPL Network”and turn on the communications. Ifall is well, you will see theappropriate message.23¾This screen allows you to setup theCANOpen port9Talk to PIO¾This is where you can download theentire configuration to the ACR¾Make sure the two boxes at thebottom are checked to save anddownload¾If any errors occur in theconfiguration, they will be listedhereConfiguration and download are finished.TESTING MOTION¾On the program tree on the left,click on “Terminal Emulator”¾Type: prog09This takes us to our firstprogram¾Type: period9Make sure it is .001¾Type: eplc on9Turn on EPL network¾Type: drive on x9Enable drive¾Type: x/19Initiate a relative move of 1revolutionI had tochangeperiod to.001 1000EPL in ACR-View TerminalThe section will explain some key ACR commands.Commands¾Period –placed at the beginning of program 9This should be set to .001 for 1-8 axes of Compax39Add .000125 per axis for over 8 axes ofCompax39Example for 5 axes: period .0019Example for 9 axes: period .0011259NOTE: EVERY TIME YOUREDOWNLOAD THE ACR-VIEWCONFIGURATION, THE PERIOD IS SETBACK TO .0005 (As of v5.4 of ACR-View)¾Eplc on9Turns on the Ethernet PowerlinkNetwork¾Eplc off9Turns off the Ethernet PowerlinkNetwork¾Eplc9Checks the status of the PowerlinkNetwork¾Drive on x9Enables the “x”axis¾Drive off x9Disables the “x”axis¾Drive res x9Clears errors from the Compax39NOTE: Try not to enable drive until EPL network is enabled (may be have toissue this command if done too early) 9Feedback Errors require power cycle9SDO Transfer Errors require power cycle Compax3 Parameters and Bits¾P38146 –Master position of additionalfeedback device (add 16 for next axis)9This can be 5V A/B Encoder9SSI Feedback Device9Found in the Numeric Status Panelunder “EPL Parameters”then “EPLDPosition Parameters”¾Inputs –8 available on the Compax39Input0 = Bit33289Input1 = Bit33299Input2 = Bit3330 . . .9Input7 = Bit33359To find the status: Click on “StatusPanels”, “Bit Status”, “EPL Flags”, “EPLDigital Inputs”9NOTE: These are not high-speed inputs ¾Outputs –4 available on the Compax39Output0 = Bit38409Output1 = Bit38419Output2 = Bit38429Output7 = Bit38439To find the status: Click on “StatusPanels”, “Bit Status”, “EPL Flags”, “EPLDigital Outputs”9NOTE: These are not high-speedoutputsCompax3 FamilyPN 88-029852-01PN 88-029852-01。