ElmoMC SimplIQ Digital Servo Drives-Bell Getting Started User Manual

SimplIQ for Steppers

SimplIQ for Steppers

SimplIQ for SteppersSimplIQ for Steppers

Getting Started &

Tuning and Commissioning

Guide

Ver 1.1 - June 2009

The SimplIQ for Steppers Getting Started & Tuning and Commissi oning Guide

MAN-BELGS (Ver. 1.1)

Notice

This guide is delivered subject to the following conditions and restrictions:

 This guide contains proprietary information belonging to Elmo Motion

Control Ltd. Such information is supplied solely for the purpose of assisting
users of the Bell servo drive in its installation.

 The text and graphics included in this manual are for the purpose of

illustration and reference only. The specifications on which they are based
are subject to change without notice.

 Elmo Motion Control and the Elmo Motion Control logo are trademarks of

Elmo Motion Control Ltd.

 Information in this document is subject to change without notice.

Document No. MAN-BELGS

Copyright  2009

Elmo Motion Control Ltd.

All rights reserved

2

Revision History:

Ver. 1.0 January 2008 (MAN-BELIG.PDF)
Ver 1.1 June 2009

Elmo Motion Control Ltd.

64 Gisin St., P.O. Box 463
Petach Tikva 49103
Israel

Tel: [phone]
Fax: [phone]

[e-mail]

Elmo Motion Control Inc.

42 Technology Way
Nashua, NH 03060
USA

Tel: [phone]
Fax: [phone]

[e-mail]

The model that is currently available is the
BEL-5/100.

Elmo Motion Control GmbH

Steinkirchring 1
D-78056, Villingen-Schwenningen
Germany

Tel: [phone]
Fax: [phone]

[e-mail]

www.elmomc.com

The SimplIQ for Steppers Getting Started & Tuning and Commissi oning Guide

MAN-BELGS (Ver. 1.1)

Contents

Chapter 1:Introduction...............................................................................................................5

1.1 Qualified Personnel....................................................................................................7

1.2 Working with this Document....................................................................................7

Chapter 2:Elements ...................................................................................................................8

2.1 Establishing Communication with a Drive..............................................................8

2.1.1 Changing the Communication Parameters.......................................................................11

2.2 Application Parameters and Programming...........................................................13

2.2.1 Flash, RAM and Tables.........................................................................................................13

2.2.2 Creating an Application File................................................................................................14

2.2.3 Downloading an Application File.......................................................................................14

2.2.4 Observing the Contents and Editing an Application File................................................15

2.3 Firmware....................................................................................................................15

2.3.1 Version Verification..............................................................................................................15

2.3.2 Normal Firmware Download..............................................................................................16

2.3.3 Abnormal (from Boot) Firmware Download.................................................................... 16

3

2.4 The Conductor Wizard.............................................................................................17

2.4.1 The Conductor Tabs..............................................................................................................17

2.4.2 The Expert List.......................................................................................................................18

2.4.3 Accepting a Change of Parameters..................................................................................... 20

Chapter 3:Getting Started with Sensors and Motion Control Setup................................21

3.1 Introduction...............................................................................................................21

3.1.1 Tune the Drive to the Motor................................................................................................21

3.1.2 Tune the Motion Controller.................................................................................................21

3.1.3 Database Maintenance..........................................................................................................21

3.2 Abort and Enable Switches......................................................................................21

3.2.1 Brakes......................................................................................................................................22

3.2.2 Application Limits ................................................................................................................23

3.3 Set up the Sensors.....................................................................................................25

3.3.1 Setting up Sensor #1............................................................................................................. 26

3.4 Tuning the Drive to the Motor.................................................................................27

3.4.1 Selecting the Motor Type..................................................................................................... 28

3.4.2 Tuning or Checking the Current Control.......................................................................... 29

3.5 Commutation.............................................................................................................30

3.6 Motion Tuning...........................................................................................................32

3.6.1 Torque Drive..........................................................................................................................32

3.6.2 Stepper Drives with no Commutation Sensor...................................................................33

3.6.3 Speed and Position Control.................................................................................................35

3.7 Fine Tuning................................................................................................................45

3.7.1 Cogging Compensation........................................................................................................45

3.7.2 Fine Tuning an Analog Encoder.........................................................................................49

3.8 Database Maintenance..............................................................................................51

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Chapter 4:Advanced Control Tuning.....................................................................................52

4.1 Start Step Control......................................................................................................52

4.2 Identification.............................................................................................................52

4.2.1 Identification and Uncertainty............................................................................................53

4.2.2 Identification Results Management....................................................................................53

4.2.3 Identification Work Point.....................................................................................................54

4.2.4 Selecting the Identification Frequencies.............................................................................55

Appendix A: Manual Tuning of Speed and Position Control....................................60

A.1 Scope...........................................................................................................................60

A.2 Safety..........................................................................................................................60

A.3 Make it Simple...........................................................................................................61

A.4 Keep Margins............................................................................................................62

A.5 The Basic Concepts...................................................................................................62

A.5.1 Fixed- vs. Gain-scheduled Controllers...............................................................................62

A.5.2 Resonance and Notch Filters...............................................................................................63

A.5.3 High Frequency Noise and Low-pass Filters....................................................................63

A.5.4 Evaluating a Step Response – Rise Time, Settling Time, and Overshoot...................... 64

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A.6 The Example System.................................................................................................65

A.7 Testing the Response of a Controller......................................................................66

A.7.1 Current Limits .......................................................................................................................66

A.7.2 Recording the Experiment Results......................................................................................66

A.8 Fixed Gain Manual Tuning for a Speed Loop........................................................67

A.8.1 Manual Tuning of a PI Controller....................................................................................... 67

A.8.2 Manual Tuning of a PI Controller and a Low Pass Filte r ................................................72

A.8.3 Manual Tuning of a PI Controller and a Notch Filter......................................................74

A.9 Executing Manual Tuning for a Cascaded Position Controller............................78

A.10 Manual Tuning of Gain Scheduling........................................................................79

A.10.1 Manual Gain Scheduling......................................................................................................79

A.10.2 Automatic Gain Scheduling................................................................................................. 80

Appendix B: A Short Course in Linear Control............................................................82

B.1 Linear Systems and Transfer Functions..................................................................82

B.2 Mathematical Models for LTI Systems...................................................................83

B.3 Motor Systems Models.............................................................................................85

B.3.1 A Simple Model ..................................................................................................................... 85

B.3.2 Model with Flexible Transmission (resonance) ................................................................86

B.4 Feedback Control......................................................................................................90

B.4.1 Why Feedback is Required ..................................................................................................90

B.4.2 Open Loop, Gain Margin and Phase Mar gin, Bandwidth and Stability .......................91

B.4.3 P, PD, PI and PID Controllers..............................................................................................92

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Chapter 1: Introduction

The SimplIQ documentation and support software is divided into the following
areas:

Usage Phase Document Tool

Exploratory Sales documents for SimplIQ and Bell
Planning/configuration SimplIQ for Steppers Sizer configurat ion

tool
Decision/ordering Elmo Catalog and website
Installation/assembly Device specific installation guide, e.g.

Bell Installation Guide
Commissioning and Getting Started This guide

Composer Guide

5

Usage/operation SimplIQ for Steppers Command Reference

Manual

SimplIQ Programming and Language Guide

SimplIQ for Steppers Application Note

DS301 document

DS402 document

The diagram below shows the SimplIQ for Steppers documentation set:

As depicted in the previous figure, this Getting Started & Tuning guide is an
integral part of the Bell documentation set, comprising:

The SimplIQ for Steppers Getting Started & Tuning and Commissi oning Guide

MAN-BELGS (Ver. 1.1)

 The SimplIQ for Steppers Command Reference and the SimplIQ for Steppers

Application Note, which describe in detail each software command used to

manipulate the Bell motion controller.

 The SimplIQ Programmin g and Lang uag e Manua l, which includes explanations of

all the software tools that are part of Elmo’s Composer software environment.

 The Bell Stepper Drive Installation Guide, which describes, in detail, th e dif fe ren ces

that have been introduced by the Bell to SimplIQ to cover 2-phase motors and
steppers.

 The SimplIQ for Steppers Getting Started Guide, which describes how to set up and

tune the stepper drive.

Note that this documentation does not contain all the information for all product
types and cannot take into account every possible aspect of installation, operation,
or maintenance.

Support Software

This Getting Started manual relies heavily on the Composer and Conductor tools.
The Composer is a support program by Elmo for SimplIQ.

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The Composer supplies the basic services for communicating wi th driv es and
collecting data from them.

The Conductor is a tuning tool developed by Digi tal Feedback Technol ogies. The
Conductor enables the SimplIQ parameters to be tuned.

The Conductor is normally called from the Composer environment.

Audience and Objective

This document is intended for machine manufacturers, commissioning engineers,
and service personnel who use the SimplIQ drive system.

It is intended to make you familiar with the software environment provided for
SimplIQ. With this environment, you will be able to set up your drive with relative
ease.

This manual is intended to give you a solid starting point. Once you understand the
environment's core logic, you can work efficiently by referring to the online help. In
addition, there is a lot of relevant information in other the manuals of the
documentation set.

Prerequisite

This manual assumes that you installed the drive correctly according to the Bell
Stepper Drive Installation Guide.

Danger and Warning Symbols

The following danger and warning notices are used in this document:

Danger:
This symbol indicates that death, severe personal injury, or
substantial property damage may result if proper precau tions are not
taken.

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MAN-BELGS (Ver. 1.1)

Caution (With or without a warning triangle, according to severity):
This symbol indicates that minor personal injury or property damage
may result if proper precautions are not taken.
Note:
This symbol highlights supplementary information
This symbol indicates that the topic is normally handled
automatically by support software, and the material is only given for
enhanced understanding.

1.1 Qualified Personnel

For this document, Qualified Personnel means:

 For devices that are 60 V or less: someone familiar with the drive, following a

training course, after reading material, and with adequate technical education.

 For higher voltage drives it has the additional meaning of someone licensed to

deal with electricity of the relevant voltage and power, according to local
regulations.

Up-to-date information about our products can be found on the Internet at the
following address:

www.elmomc.com

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ESD Notices

Caution:
The SimplIQ drives are Electrostatic-Sensi ti ve Devices (ESD). Thi s
means that handling them incorrectly may damage them. Please
carefully read the ESD precautions in the Installation Guide.
Danger:
All the devices must be installed according to the device-specific
Installation Guide. Special attention must be given to earth
grounding and for high voltage connections and insulations.
Before dealing with a device, verify it is in the proper condition, and
that it is not damaged mechanically or electrically.

1.2 Working with this Document

We recommend new users to:

 Thoroughly read Chapter 2: Elements
 Go through Chapter 3: Getting Started

Chapter 4: Advanced Control Tuning

can exploit the extra flexibility of the SimplIQ environment beyond the "Getting
Started" level.

.

.

is for experienced control practitioners, who

The appendices give more general data on the linear system and on manual tuning.

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Chapter 2: Elements

This section deals with the most basi c concepts of dr iv e commi ssi oning:

 Communication
 Application programming
 Firmware
 The Conductor Wizard

2.1 Establishing Communication with a Drive

When you open the Composer it tries to communicate wit h the driv e. The
communication may be one of the following:

 RS-232
 CANopen

The Composer application can be connected simultaneously to more than one
drive. In this manual we focus on single drive connections.

8

The Composer can communicate with multiple drives and define a network

setup. For further details, refer to the Composer online help.
When you open the Composer, the following window opens:

Figure 1: Starting the Composer

Click Open Communication Directly. The following window opens:

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Figure 2: Composer connecting window

Ignore the Application Name field.
Look at Last Successful Communication Properties. If the properties listed there

are as required, click Finish. Otherwise, click Properties:

 For RS-232 you need to set the number of the COM port in use, the baud rate

and the parity. The communication is always 8 bits in a byte, and it has one stop
bit.

 For CAN you need to set the ID and the baud rate. In addition, you will have to

select the CAN adapter from the supported types.

Then click Finish. The Composer opens to the main window:

Figure 3: The main Composer window

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The Smart Terminal lets you enter commands manually – please refer to the
SimplIQ for Steppers Command Reference Manual. To send a command, type it
in the Enter Command field and click Send.

Notes:

 At the connection step you need to know the drive communication param eters.

It is possible to change the drive communication parameters only later, after
communication is established.

 If you do not know the CAN ID, you may either:

o Connect first with RS-232, then ask for PP[13] (can ID) and PP[14] (CAN

baud rate).

o Use the DSP 305 protocol to find out the drive parameters (you will need

your own CAN application for that).

The drive stores a lot of information about itself internally and this enables
the Composer to interact with a multitude of drive types. When a Composer first
meets a drive version it uploads this internal information. You will see the
following window:

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Figure 4: Uploading personality data

The next time you contact the same drive version, the Composer already has all
its personality data stored and will not ask you to wait again.

If the drive lost its software, for example by a power-down during firmware
downloading, it will withdraw to a very limited default, or "boot" software. With
this boot, it is only possible to download the new firmware version. The
communication parameters in the "boot" state are fixed (not affected by any user
setting):

 Baud rate of 57600 and no parity for RS-232.
 Baud rate of 500000 and CAN ID of 127 for CAN.

After you set the correct communication parameters, you will see the following
message:

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Figure 5: Boot software message

Click Yes to open the windows related to downloading the firmware.

2.1.1 Changing the Communication Parameters

2.1.1.1 Changing the RS-232 Communication Rate and
Parity

First set the desired parameters in the Composer smart terminal:

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PP[2] RS-232 baud rate.

5: 115,200;
4: 57,600
3: 38,400
2: 19,200
1: 9,600
0: 4,800

PP[4] RS-232 parity. 0: None

1: Even
2: Odd

Setting PP[2] and PP[4] alone does not change the communication setting, so the
Composer can continue communication with the drive.

Write, for example, PP[2]=5. This is a requirement for a baud rate of 115200/sec.
Next write PP[2]=1. This is a command to accept the new setting. Almost

immediately, you will see:

Figure 6: Communication disconnect message

This is because you changed the baud rate so the communications from the
Composer fail. Click Yes to disconnect, than re-open communication by clicking
Connect.

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Figure 7: The Connect button, circled in red

Next select the new baud rate using the Properties button (See Figure 2).
When the Composer Smart Terminal re-opens, you may use the SV command to

make the new baud setting permanent.

2.1.1.2 Changing the CAN Communication Rate and ID

First set the desired parameters in the Composer smart terminal:

Parameter Description Range

PP[13] CANopen device ID. 1 – 127

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PP[14] CAN baud rate. 0: 1,000,000

1: 500,000
2: 250,000
3: 125,000
4: 100,000
5: 50,000
6: 50,000
7: 50,000
8: 800,000

Setting PP[13] and PP[14] alone does not change the communication setting, so
the Composer can continue communication with the drive.

Write, for example, PP[13]=5. This is a requirement for the node ID of 5. Next write
PP[2]=1. This is a command to accept the new setting. Almost immediately, you will
see:

Figure 8: Communication disconnect message

This is because you changed the baud rate so the communications from the
Composer fail. Click Yes to disconnect, than re-open communication by clicking
Connect.

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Figure 9: The Connect button, circled in red

Next select the new baud-rate using the Properties button (see Fi gure 2).
When the Composer Smart Terminal re-opens, you may use the SV command to

make the new baud setting permanent.

2.2 Application Parameters and Programming

When you commission a drive, you create an Application. An Application refers
to the entire data set you download and store into the drive. The application
includes:

 Parameters to store permanently in the drive, such as controller coefficient s.
 User programs: please refer to the SimplIQ Programming and Language Guide.

13

The Composer packs all the non-volatile parameters and the User Program in a
single file, with the .dat extension.

The Composer can later use this .dat file to program many amplifiers to the same
parameters and User Program.

2.2.1 Flash, RAM and Tables

The drive contains the following memory types:

Memory Type Used for

Serial Flash Non-volatile This flash stores all the non-volatile

parameters, as well as the User Program

Table Flash Non-Volatile This high speed flash stores the motion

correction tables for real-time use.
The data in the Table Flash must be an

identical copy of the data in the serial flash.

RAM Volatile Stores a volatile copy of the serial-flash

parameters for real-time high-speed use.
When the drive powers-on, it loads the RAM as a copy of the table flash.
It also compares the Table Flash with the Serial Flash. If the contents are not-

equal, you will not be able to start the motor until the situation is corrected.
When you communicate with the drive the parameters you modify are in the

RAM. When you write, for example, KI[1]=1, you update the copy of KI[1] in the
RAM. The parameter KI[1] has a copy in the serial flash which remains as is.

When you want to synchronize the RAM and the serial flash, you can:

 Use the SV command to copy the entire RAM contents into the serial flash (for

example, after you tuned some parameters).

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 Use the LD command to copy the entire Serial Flash contents into the RAM.

When you want to synchronize the Table Flash and the Serial Flash, use the SI=1
command.

Notes:

 The SV, LD, and SI commands work on an entire data set. There is no way to

save some of the parameters and not save others.

 SV does not automatically synchronize the Tabl e Flash because Tab le Fl ash

synchronizations take a long time. Table Flash synchronizations are carried out
very rarely.

2.2.2 Creating an Application File

In this Section we will create an application file in the PC computer.
From the menu select File>Save Application.
The Composer will prepare to pack all the parameters and the User Program into

an application file. It displays the following message:

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Figure 10: Save application message

The Composer uploads the parameters directly from the serial flash. It enables
you to synchronize the parameters in the Serial Flash to the copy in the RAM
<Yes>, or to skip synchronization <No>.

After this enter a file name.

2.2.3 Downloading an Application File

In order to distribute an application from a data file to a driver, do the following:
From the menu select File>Open Application. The following wind ow opens:

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Figure 11: Open Application window

Upon selection, look at the Communication Info data box. Verify that the
communication parameters there are correct, or click Change to edit them.

Then click Download to complete the downloading.
After downloading, the Serial Flash and the Table Flash may become non-

synchronized, and in this case you need to enter SI=1 at the smart terminal in
order to complete the synchronization.

2.2.4 Observing the Contents and Editing an Application
File

The Composer has a tool called the Application Editor.

2.3 Firmware

This section deals with keeping the drive software version up-to-date.
The drive must be loaded with the correct software to operate. You will normally

receive the drive loaded with the correct software from the dealer. Firmware
upgrades are, however, available from time to time. You can download the latest
firmware from the Elmo web site. It is a text file with the .abs extension.

2.3.1 Version Verification

For version verification, use the VR command. It should return something like
Bell 2.02.07.21 10Dec2007. You can compare this string with the latest available

firmware at the Elmo web site.

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2.3.2 Normal Firmware Download

In the Composer Smart Terminal, select Tools>Firmware Download. The
following window opens:

Figure 12: Download firmware window

Use the Browse button to select the firmware .abs file, and then click OK.
The firmware starts to load, and you can watch the progress bar:

16

Figure 13: The Firmware progress bar

The firmware is internally divided into a few sections, and you can observe the
part that is currently being loaded. The first part is "Firmware downloading" and
the last part is "Extended firmware downloading".

When it has finished loading, a message asks you to reboot the drive by
disconnecting it from the electricity.

2.3.3 Abnormal (from Boot) Firmware Download

If the drive lost its software, for example by a power-down during firmware
downloading, it will withdraw to a very limited default, or "boot" software. With
this boot, it is only possible to download the new firmware version. The
communication parameters in the "boot" state are fixed (not affected by any user
setting):

 Baud rate of 57600 and no parity for RS-232.
 Baud rate of 500000 and CAN ID of 127 for CAN.

After you set the correct communication parameters, you will see the following
message:

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Figure 14: Firmware message

2.4 The Conductor Wizard

2.4.1 The Conductor Tabs

The Conductor is the main tool for tuning the SimplIQ control functions.

17

Figure 15: The Conductor window

The Conductor manages some experiments for the tuni ng curr ent and mot ion
controls. You have a lot of flexibility in managing the experiment, but you do not
need to be an expert.

A color code defines which parameter fields you may leave as is, and which require
your attention and understanding – refer to the figure below.

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Figure 16: User editable fields in a tuning experiment

2.4.2 The Expert List

The Expert list is a tool for observing and editing the drive parameters. It gives
extra flexibility for the experienced user, and it lets you track which drive
parameters you changed and how.

Expert lists and the Conductor wizards work with the parameters in RAM
only. Your work is volatile (will disappear at the next power-on or LD
command), until you click Save in Flash in the Database tab.

When you open the Expert List using the Expert list button
following:

, you see the

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Figure 17: Expert list window

Here you see, and may edit (simply by clicking the value), each of the parameters
that this wizard pad controls.

The Expert List finds which parameters relate to a given Conductor tab using a
keyword; Conductor tabs use keywords that are delimited by $ signs at both
ends.

You can, however, select another keyword from the list, or type a keyword
manually. Then click Search

.

If the Expert List detects a change when you exit, it will display:

Figure 18: Expert List exit comparison

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2.4.3 Accepting a Change of Parameters

When you change drive parameters with the Conductor, and you exit a tab, the
conductor displays an exit comparison, as in Figure 18.

After confirmation, the parameters are accepted and cannot be restored by the
Conductor.

Expert lists and the Conductor wizards work with the parameters in RAM only.
Your work is volatile (will disappear at the next power-on or LD command),
until you click Save in Flash in the Database tab.

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Chapter 3: Getting Started with

Sensors and Motion Control Setup

3.1 Introduction

Tuning a SimplIQ drive to a motor is an ordered, step-by-step process. In this
"Getting Started" chapter, we go through the setup process step by step.

Note that this chapter does not contain all the detailed information for all product
types and cannot take into account every possible aspect of the drive setup.

3.1.1 Tune the Drive to the Motor

All motor and application types:

 Set the switch functions for limits; enable functions, brakes, etc. This will create

the initial conditions for the motor to work.

 Set the application limits for current, speed, and position. This will prevent

system constraints being violated later on.

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 Defining the sensors.
 Selecting the motor type (DC, Stepper, Brushless).
 Tuning the current controller.

Brushless motors only:

 Commutation tuning (finding how to power the stator so that the motor will

develop maximum torque in the desired direction).

3.1.2 Tune the M otion Control l er

For open loop stepping applications, you only need to set few parameters.
If you have a motion sensor, you may want the following:

 Tune speed and position controls.
 Set corrections for motor cogging and define the speed-dependent corrections

to the current loop.

3.1.3 Database Maintenance

All the steps until now have manipulated variables in the drive's database. The
last step is to check database validity, and to save the outcome in a permanent
(flash) memory.

3.2 Abort and Enable Switches

First, set the enabling switches.
The drive has several digital inputs (depending on the drive type). There are

several automatic functions that may be assigned to drive digital inputs.
It is important that at this stage you define which switches are used to abort or to

stop motion, as well as limit switches when applicable.

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For this purpose, use the Input Logic tab in the Smart Terminal.

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Figure 19: Defining input logic

For a detailed description of the functions that may be assigned to digital inputs,
refer to the IL[N] command in the Sim pl IQ for St eppers Com mand Reference
Manual.

Correct digital input definitions help to guarantee that the drive
generates only safe motions in the course of the tuning pr ocess.
Incorrect digital input settings may prevent drive motion or tuning.

3.2.1 Brakes

If a brake is installed and you want to operate it automatically when the motor
starts, set it up now.

First select the brake engage and release delays. For this purpose select the
Protections>Brake tab in the Composer’s Smart Terminal:

Figure 20: The Brake tab

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Do not specify brake delays greater than you actually need.
Next, define the digital output for use as brake control; use the Output Logic tab

of the Composer's Smart Terminal.
For a detailed description of the functions that may be assigned to digital

outputs, refer to the OL[N] command in the SimplIQ for Steppers Command
Reference Manual.

You can test brake operation by programming the brake control temporarily
as a general purpose output, and manipulate it using the OB[N] command.

23

Figure 21: The Output Logic tab

3.2.2 Application Limits

Next, set the application current, speed and position limits. This will h elp to ke ep
the motor within its safe operation range.

Current Limits

Use the Limits>Current tab in the smart terminal:

Figure 22: The Current tab

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Notes:

 The MC command returns the current limit of the drive peak.
 You may set the current limits in the Conductor wizard as well.
 Refer to the CL[1],PL[1], and PL[2] commands in t he Sim plI Q for St eppers

Command Reference Manual.

3.2.2.1 Speed Limits

Use the Limits>Velocity tab in the smart terminal:

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Figure 23: Setting the speed limits

In the Speed Limits tab, you can select RPM as the speed units. For correct
translation between RPM and sensor counts, you need to set the CA[18]
parameter (sensor counts per motor revolution) properly. Take care before you
change CA[18] because if you enter an incorrect value, brushless and stepper
motors cannot work.

3.2.2.2 Position Limits

Open the Protections>Position tab in the smart terminal:
The position command limits apply for open loop stepper applications as well as

for position feedback applications. They do not apply to speed-only or current­only applications.

The SimplIQ for Steppers Getting Started & Tuning and Commissi oning Guide

MAN-BELGS (Ver. 1.1)

Figure 24: Position command limits

Notes:

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 This tab does not set the counting range (modulo limits). You can define the

modulo limits in the setup window of the feedback sensor in the Conductor
Wizard. In an open loop stepping application the relevant modulo limits are
XM[1],XM[2].

 The command limits must always be stricter than the feedback limit.
 If the command limits are beyond the modulo limits they will be ignored.

3.3 Set up the Sensors

The drive may accept two sensors. Sensor #1 is for speed feedback and possibly
position feedback. The second feedback serves for position feedback, or as a
source for ECAM.

To set up the sensor, open the Conductor tool:
From the Composer, select the Wizard from the tools menu, or use the Wizard

button:

Figure 25: The Wizard button, encircled in red

This will open the Conductor window.

The SimplIQ for Steppers Getting Started & Tuning and Commissi oning Guide

MAN-BELGS (Ver. 1.1)

3.3.1 Setting up Sensor #1

Skip this section for open loop stepper applications.

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Figure 26: Sensor #1 tuning window

Select the type of motion sensor #1.
For a detailed explanation of each of the fields in the tab, click the Help button.
If the motor is small and you can move it by hand, you can observe that the

position readout behaves correctly – either by observing the online position
display, or by taking a record.

Setting up Sensor #2

You need to set up sensor #2 if you are going to use it for load feedback, ECAM,
or as PWM input.

The SimplIQ for Steppers Getting Started & Tuning and Commissi oning Guide

MAN-BELGS (Ver. 1.1)

27

Figure 27: Sensor #2 setup

Sensor #2 can also be configured as a PWM input, or as a PWM output – refer to
the online help.

3.4 Tuning the Drive to the Motor

The next step is to define the motor type. After this step, the digital current
control of the motor will work, at least at the basic level.

The motor tuning will not be complete after this stage. Additional stages are
required, as will be explained, before going to the final fine tuning.

The SimplIQ for Steppers Getting Started & Tuning and Commissi oning Guide

MAN-BELGS (Ver. 1.1)

3.4.1 Selecting the Motor Type

The SimplIQ drive can drive DC, 2-phase steppers, or brushless motors.

Notes:

 Check that the motor leads are connected correctly. DC motors connect between

M1 and M2. Brushless 3-phase motors connect between M1, M2, and M3, the
phase order does not matter. Steppers connect one phase between M1 and M2,
and the other phase between M3 and M4.

 You do not need to know any of the motor parameters (resistance, inductance,

torque sensitivity, etc.) in advance.

 You probably do not need to edit the current limiting values, as this was done

at the protections stage.

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Figure 28: Selecting the motor type

The SimplIQ for Steppers Getting Started & Tuning and Commissi oning Guide

MAN-BELGS (Ver. 1.1)

3.4.2 Tuni ng or Checki ng the Current Control

In the same window, select the automatic current control tool.

Figure 29: Entering the current control tuner

The following window opens:

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Figure 30: Current tuning window

In general, you do not have to change anything in this window, just click Start.
When tuning is over, you will see a graph of the resulting current controller
response.