SIC184 Manual Stepper motor servo controller

Transcription

1 SIC184 Manual Stepper motor servo controller P.P.H. WObit E.K.J. Ober s.c Pniewy, Dęborzyce 16 tel , fax

2 Contains 1.Safety and assembly rules Safety rules Assembly recommendation Main characteristic of the driver SIC184 driver as simple and cost-effective solution at controlling of stepper motor SIC184 driver independent and synchronous operation of up to 16 motors simultaneously SIC184 driver controlling from external devices by Modbus protocol SIC184 driver- indexer for high-current stepper motor driver SIC184 driver easy and intuitive programming Features: Connectors and controlling lamps description Power supply Stepper motor RS485 connector Driver communication in Modbus-RTU protocol Communication between SIC184 drives at internal protocol Communication between SIC184 controllers in internal protocol USB connector Transistor outputs Inputs Encoder Configuration and description of controlling SIC Exemplary connection of the driver Motor motion parameters Driver configuration by SIC184-KONFIGURATOR program Setting of step division and motor current Setting of default motion parameters Encoder settings Defining initial and final motion position. Homing Diagnostics and controlling Configuration of RS485 Modbus-RTU interface Driver programming by motion commands Update driver firmware Technical parameters Manual -SIC v.1.1 page 2

3 Thank you for selecting our product! This instruction will help you at correct service and accurate exploitation of described device. Information included in this instruction were prepared with high attention by our specialists and is description of the product without any responsibilities within the meaning of the commercial law. Based on the information should not be inferred a certain features or suitability for a particular application. This information does not release the user from the obligation of own judgment and verification. P.P.H. WObit E.K.J. Ober S.C. reserves the right to make changes without prior notice. Please read instructions below carefully and adhere to its recommendation Please pay special attention to the following characters: CAUTION! Not adhere to instruction can cause damage or impede the use of hardware or software. 1.Safety and assembly rules 1.1.Safety rules Prior to first start-up of the device please refer to this manual; Prior to first start-up of the device please make sure all cables are correctly connected, Provide appropriate working conditions, in compliance with the device specifications (e.g.: power supply voltage, temperature, maximum current consumption). Before making any modifications to wiring connections, disconnect the power supply voltage. 1.2 Assembly recommendation In environments with unknown noise levels, it is recommended to follow measures described below to prevent any possible interruptions of the device operation: Ground or reset metal rails, on which are mounted instruments, Do not power devices on the same line as the device without a corresponding high power line filters; Please use screening of the supply, driver and signal cables, with the ground for the screen should be connected only on one side, as close to the device; For motor power supply please use twisted pair cables, and if possible use a ferrite bead assumed on the wire; Please avoid of leading control cables (Signal) parallel or in close to electrical and power wires; Please avoid proximity to devices that generate high levels of electromagnetic interferences and/or pulse (high-power loads, the burden of the phase or power control group). Manual -SIC v.1.1 page 3

4 2.Main characteristic of the driver SIC 184 is a programmable stepper motor driver with controlling current up to 4A. Except power stage has also an indexer and trajectory generator, which enables precisely define position, velocity and acceleration of motor motion. Programmed controller can perform program consist in 300 motion commend. Additionally controller can cooperate with incremental encoder, which allows for better control of stepper motor position. Except start/ stop inputs SIC 184 device has also 2 universal inputs, 2 outputs and dedicated inputs based motor position. It allows completely eliminate PLC driver in some applications SIC184 driver as simple and cost-effective solution at controlling of stepper motor SIC 184 Stepper motor servo controller allows to replace PLC controller and a stepper motor driver in range of 0,2..0,4A. Intuitive software in English facilitate programming of motion commands even by inexperienced user. The controller provides recording up to 300 motion command, which allows to execution even complex motions. Additional digital inputs and outputs enable controlling of external devices. Manual -SIC v.1.1 page 4

5 SIC184 enables direct conversion motion parameters to rps and rps 2 which facilitate programming, also economical motor power management, by configurable current reduction SIC184 driver independent and synchronous operation of up to 16 motors simultaneously. - SIC184 controllers can cooperate depending on each other in multi-master and master-slave modes, depends on programming way. On account to that there is a possibility of interdependent operation up to 16 modules simultaneously, which enables complex interdependent motion trajectories. Controllers communicate to each other by internal protocol on RS Manual -SIC v.1.1 page 5

6 SIC184 driver controlling from external devices by Modbus protocol - SIC184 controller can communicate with external devices by RS485 bus in Modbus-RTU protocol, operating then as slave device. Possibility of independent addressing in range provides simultaneous controlling of up to 16 stepper motors from devices such PLC drivers, HMI panels or other master Modbus RTU devices SIC184 driver- indexer for high-current stepper motor driver - SIC184 driver has additional output for external power driver of stepper motor in STEP/DIVISION standard, which allows for controlling of motors with higher current, or for simultaneous controlling of several motors. Manual -SIC v.1.1 page 6

7 SIC184 driver easy and intuitive programming SIC184 -KONFIGURATOR software fast configuration and diagnostics by USB connector - USB connector provides connection of the driver directly to PC. Free of charge SIC- KONFIGURATOR software provides configuration and a fast diagnostics of the driver (controlling input/output signals, online operation of the driver etc.) and direct generate of motion command (position/ velocity). This software enables also programming the driver by motion command created in ML-PROG environment. ML-PROG software creating of motion programs and possibility of simultaneous programming up to 16 drivers by RS485 interface. - SIC184 drives operate at common RS485 bus can be programmed simultaneously by ML- PROG program and USB_RS485 converter. It enables easy creating interdependent motor motion programs multi-master or master-slave type. Manual -SIC v.1.1 page 7

8 2.2. Features: Integrated power stage up to 4A and step division up to 1/64, Possibility of fluent regulation of motor current and current reduction, Programmable motion trajectory generator (position, velocity, acceleration) with indexer (possibility of programming up to 300 motion command), Possibility of cooperation with any incremental encoder, 2 universal inputs (3..24V) and 2 transistor outputs 1A/30VDC, USB interface for configuration, programming and diagnosing of controller + intuitive configurable software (SIC184 CONFIGURATOR), RS485 MODBIS-RTU interface for communication between controllers or controlling form MASTER controller, e.g. PLC driver, HMI panel, Intuitive software in Polish for programming of motion module. Manual -SIC v.1.1 page 8

9 2.3.Connectors and controlling lamps description. Diode Description D1 D2 D3 D4 Signaling diodes Signaling of driver power supply Turn off/blinking-error/ overvoltage of the driver Turn on driver is ready for operation Blinking RS485 communication Turned off- the program is stopped Blinking- the program is withhold Turned on the program is started D1, D2, D3, D4 are turned on while the driver is actualizing the software. Manual -SIC v.1.1 page 9

10 Number Description Annotations Communication (RS485) Default communication parameters 1 RS485 B Baud rate: 57600bps, Bits:8, Stop bit: 2 RS485 A 1, parity: none, Modbus Address:1, Internal address: 0 3 Outputs ground 4 Output Out1 5 Output Out2 6 V+ Universal outputs Transistor outputs, max current: 1A/ 30VDC Power supply 7 Power supply (GND) 8 Power supply (GND) 9 Power supply - +(V+) Inputs 10 START input starting the program 11 STOP input stopping the program 12 IN1 universal input 1 13 IN2 universal input 2 14 HOME1 homing input 1 15 HOME2 homing input 2 16 COM common signal for inputs 17 GND ground Encoder 18 Power supply of the encoder (-) 19 B signal 20 A signal Power supply of the encoder (+5V) Output on external power driver 23 CLK step signal 24 DIR direction signal 25 ENABLE activation signal 26 GND - ground Stepper motor 27 /B 28 B 29 /A 30 A Tab.1. Description of driver connectors. Power supply VDC, max current consumption: 4A depends on voltage supply and set power of the driver All inputs are optically insulated. Input is active if between COM(-) clamp and particular input will given a signal min +3V (max +24VDC) Input filtration: 10ms (a minimal time, while signal must be given on particular input to activate it) Maximal current consumption of encoder(+5v) power supply clamp can reach 300mA. For encoders supplied by VDC voltage should be used an external power supply. Maximal input voltage on A and B clamps against (-) is 24V. Input signals low state : 0V, high state: +5V, CLK signal: pulse width: 20 µs, max signal frequency: 38kHz. 2.4 Power supply Manual -SIC v.1.1 page 10

11 For driver power supply it is recommended to use a non-stabilized power supply with output voltage in range V. The power supply must receive return energy of the motor, which is provided by output capacitors with capacity bigger than 4700µF. A minimal current efficiency of power supply should be match according to formula below: Izas= 12/Uzas*Ister Where: Izas-a minimal current efficiency of power supply, Uzas voltage supply, Ister- set driver current. Exemplary values of minimal current efficiency used power supply : Motor current [A] Power supply[v] 12 1A 2A 3A 4A 24 0,5A 1A 2A 3A 36 0,4A 0,8A 1,5A 2,5A Warning! Opposite polarity or exceeding of max voltage supply can cause damage of the driver. To small output capacitors or none capacitors can damage the driver or cause incorrect operation, while operation of the driver with high voltage and a big motor, which operates dynamic (sudden decreasing velocity of the motor). It is recommended to use electrolytic capacitors 1000µF at max driver currents and max rotational velocity (>2 rps). 2.5 Stepper motor Motor should be connect to the driver by 4-pin cable. To reduce noise it is recommended to use twisted cable (A with /A, B with /B), preferably shielded. In case of unipolar motors (with 6 or 8 derivation cables) you should connect them according to examples below. Manual -SIC v.1.1 page 11

12 CAUTION! Never disconnect motor from driver while its operation. It can cause damage of the driver. 2.6 RS485 connector SIC184 driver is equipped in RS485 interface. It can be used for: Programming of the driver using RS485-USB converter and ML-PRG software, Communication between SIC184 divers while synchronic operation, Controlling from external device by Modbus-RTU protocol. Default transmission parameters: Baud rate bps, bits: 8, stop bit: 1, parity: none, Modbus address: 1 (for Modbus-RTU communication) Internal address : 0 (for communication and programming by ML-PROG Transmission parameters can be configured by SIC184-KONFIGURATOR software: Baud rate : 9600, 19200, 38400, 57600, bps Modbus address: Manual -SIC v.1.1 page 12

13 CAUTION! To provide communication with ML-PROG program, baud rate for ML-PROG and SIC184 programs must be the same Driver communication in Modbus-RTU protocol SIC184 driver can operate as slave device in Modbus-RTU communication. While operating as slave device, which can be controlled by motion commands by record of proper registers. Detailed description of registers is located at SIC184-protocol_MODBUS.plf documentation. SIC184-KONFIGURATOR software is used for earlier transmission of proper driver slave address and configuration of baud rate (chapter Configuration of Modbus-RTU interface). It is possible to address up to 16 drivers (addresses 1-16). Picture 2. Example of motors controlling by Modbus-RTU Protocol Communication between SIC184 drives at internal protocol SIC184 driver can communicate through its own protocol by RS485. This protocol allows for programming one and/or many drivers on common RS485 bus by ML-PROG software as well as communication between drivers, while earlier recorded motion program. By sending proper commands from one to another driver, you can accomplish controlling on MASTER-SLAVE principle (one master driver, others slave), or MULTIMASTER (no defined master driver). Communication between drivers is described more detailed at Manual of ML-PROG software. Manual -SIC v.1.1 page 13

14 For earlier assigning proper slave address of the driver and baud rate configuration you can use SIC- KONFIGURATOR software (chapter Configuration of RS485 Modbus-RTU interface). It is possible to address up to 16 drivers (1-16). Picture2. Example of motor controlling through Modbus RTU protocol Communication between SIC184 controllers in internal protocol SIC184 driver can communicate by its internal protocol through RS485. This protocol allows programming of one and/or many drivers on common RS485 bus by ML-PROG software as well as communication between drivers, while earlier recorded motion program. By sending proper commands from one driver to another you can accomplish master-slave controlling (one master controller, others slave), or multimaster (no defined master controller). Communication between drivers is described more detailed at Manual of ML-PROG software. Manual -SIC v.1.1 page 14

15 Picture3. Communication between modules by RS USB connector USB connector is used for communication between driver and SIC-KONFIGURATOR software. After connecting driver to PC you don t have to install drivers. Detailed description of SIC- KONFIGURATOR software is located at Driver configuration by SIC-KONFUGURATOR chapter. Manual -SIC v.1.1 page 15

16 CAUTION! While driver operation with high currents and voltages it is recommended to disconnect USB connector from PC or to use opt insulated HUBs between computer and controller. 2.8 Transistor outputs SIC184 has two transistor outputs with load up to 1 A. Scheme of outputs is shown on picture below. On clamp no. 6(+) is available voltage supply of the driver, which can be used for activation of external circuits. Picture 4. Internal construction and way of connection external devices to transistor outputs Inputs The device has 6 opt insulated inputs. - Start and Stop inputs for activation and deactivation of the program. - Home1 and Home2 inputs for determine of edge motion position and based position (Home1). - Multipurpose inputs In1 and In2 used by ML-PROG software High status for input is giving a voltage in range of V by at least 10 ms. Manual -SIC v.1.1 page 16

17 Picture 5. Exemplary way of connection and controlling opt insulated inputs supplied from external source. Picture 6. Example of using 5V voltage (22 pin) for controlling of inputs Encoder SIC184 controller has quadrature input for connection of position sensor, which could be : - Incremental encoder couple directly with stepper motor shaft, - Incremental encoder mounted indirectly e.g. with gearbox of stepper motor, - Magnetic linear sensor mounted on executed element powered by stepper motor. Encoder, which cooperate with stepper motor provides better control of motor position and protects against loosing of position (steps) by motor in case of its overvoltage or unexpected stop. Max. frequency of encoder input: 50kHz Encoder resolution: from 16 (4 bit) up to 4092 (12 bit) pulses per revolution or mm. Depends on encode type it should be connected according to scheme below: Picture7. Connection of encoder 5 V TTL type. Picture 8. Connection of encoder 24V Push-Pull Manual -SIC v.1.1 page 17

18 CAUTION! Due to noise, which can be generated by operating stepper motor it is recommended to use encoder wit shielded cable. Encoder should be connected from controller side to GND. For configuring encoder and for control of correct the connection is designed tab Encoder In SIC184- KONFIGURATOR software (chapter: encoder settings). 3. Configuration and description of controlling SIC Exemplary connection of the driver Picture 9. Exemplary scheme of connection external devices Detailed description and way of connection particular external elements is described in chapters: - Power supply - Stepper motor - RS485 connector - USB connector - Transistor outputs - Inputs - Encoder Manual -SIC v.1.1 page 18

19 3.2 Motor motion parameters SIC184 allows to controlling of driver operation in velocity and position modes. Velocity mode cause setting of set velocity Vmax [rps]. Motor starts with Vmin [rps] velocity. Increasing or decreasing of motor rotation up to set value is made by set Amax [rps 2 ] acceleration parameter. Position mode causes setting of set number of rotation [revolutions]. Motor starts with minimal velocity Vmin [rps]. It accelerate and decelerate with Amax [rps 2 ] acceleration. While operation motor does not exceed Vmax [rps] velocity. Velocity and position can be set with fraction values. Picture 10. Motor motion parameters. Exemplary for motion parameters Vmin: 0,01; Vmax: 1; Amax: 1 and set position 10 revolutions, motor will speed up to 1rps velocity at 1 sec. time, will made next 8 revolutions, then will slow down to 0rps velocity at 1 sec. 3.3 Driver configuration by SIC184-KONFIGURATOR program For configuration of SIC184 drives is designed SIC184-KONFIGURATOR program, which allows to: - Set default parameters of motor motion (minimal and maximal velocity, acceleration) - Set parameters of power controller (step division, maximal current, current reduction) - Testing of set motion parameters (set velocity, position), set based position - Inputs and outputs diagnostics - Encoder configuration (activated, deactivated, resolution, testing of encoder connection) Manual -SIC v.1.1 page 19

20 - Configuration and diagnostics of MODBUS interface (baudrate, slave no.) - Programming of the driver by motion scripts *.mlp created in ML-PROG program. - Actualization of internal driver software. Driver should be connected with PC by USB cable A-B type. Installation of drivers is not necessary (except driver software actualization mode). SIC184-KONFIGURATOR program should automatically connect with driver after connecting to USB socket and turning on power supply of the driver. Requirements of operation system for SIC184-KONFIGURATOR program: - Executive system: Windows XP, Windows Vista, Windows 7, 32-bit, 64-bit (software actualization only for 32-bit version) - Processor 1 GHz, RAM memory 256 Mb Setting of step division and motor current SIC184-KONFIGURATOR -> Tab Default settings - Motor current should be set in dependence on used stepper motor. Setting to high current for weaker motor cause its quicker heating or damage. - Automatic current reduction cause automatic reduction of the current to set value, while motor is not operating. - Step division of built-in power driver provides division of standard step (200 steps/motor revolution) for smaller parts, which provides smoother motion and more precision positioning. For example selecting 1/16 division allows to set stepper motor shaft with accuracy 1/200/16=0, revolution. Manual -SIC v.1.1 page 20

21 Setting of default motion parameters SIC184-KONFIGURATOR -> Tab Default settings - Default motion parameters defines motor motion parameters after turning on power supply. Parameters are saved in non-violate memory of the driver. Motion parameters can be changed while driver operation (by MODBUS- RTU protocol or proper commands of executed by controller motion program). - User can set following default motion parameters: minimal velocity Vmin, maximal velocity Vmax, acceleration Amax Encoder settings SIC184-KONFIGURATOR ->Encoder and Homing Tab - Encoder connected to controller requires its configuration by setting encoder resolution (number of pulses per revolution). - To correct correctness of encoder connection to controller you should use test function (test button). - If encoder is connected with motor indirectly (e.g. through gearbox) or its resolution is unknown you also can use test function. This function makes full motor revolution and reads out number of pulses generated by encoder, which then should be written to encoder resolution window Defining initial and final motion position. Homing The controller has two limit switch inputs, which serves for setting of initial and final motion position of element powered by motor and protects from exceeding those positions. Giving a signal on each of inputs cause stopping of the motor in dependence on its motion direction: - Motor turns left (set negative velocity) -> stop by signal from HOME1 input - Motor turns right (set positive velocity) -> stop by signal from HOME2 input Manual -SIC v.1.1 page 21

22 Picture 11. Way of operation limit switch inputs on example of drive based on ball screw with two proximity sensors. At exemplary drive from picture 11, motor after reaching left edge position will be automatically stopped. Its motion will be possible only into the right direction (after setting positive position or velocity). By analogy to movement into the right direction. For correct operation of the driver it is not required connecting of both limit switch sensors. The most important is sensor connected to HOME 1 input. Homing Homing (defining of initial position) can be made based on signal from Home 1 input or by encoder. Accomplishment of homing cause zeroing of internal driver position counter. Since this time set position (number of revolution made by motor) will be related to this position. In the driver there are motion commands used for homing. This commands can be given by Modbus- RTU or executed motion program inside the controller (GoHome command). Homing can be called from SIC184-KONFIGURATOR program. Configuration of Homing mode SIC184-KONFIGURATOR -> Encoder and Homing tab The driver can be configured to following configuration modes: -Simple homing after detecting signal form Home1 input, motor is automatically stopped and is set 0 position. -Precise homing - after detecting signal form Home1 input, motor is automatically stopped, then is moving back with 0,05 rps velocity up to disappearing signal from Home1 input (brushing aside limit switch). -Adaptive homing Connecting of limit switch to Home1 input is not required. Homing uses signal from encoder. The position is automatically zeroing after mechanical stopping of the motor. Manual -SIC v.1.1 page 22

23 3.3.5 Diagnostics and controlling SIC184-KONFIGURATOR -> Control tab -Inputs/Outputs status allows to preview current status of inputs and outputs of the driver. - Drive status shows driver operation status (ON, OFF, operation) - Controlling allows for homing and setting velocity/position for motor motion with default parameters or set in Motion parameter box Configuration of RS485 Modbus-RTU interface SIC184-KONFIGURATOR -> RS485 tab - Baudrate (9600, 19200, 38400, 57600, bps) allows to define baudrate of RS Device address MODBUS (1..16) allows to define SIC184 address on Modbus-RTU bus. - Preview of Modbus-RTU transmission allows to preview Modbus frames comes to driver. Incorrect frames are not interpreted Driver programming by motion commands Manual -SIC v.1.1 page 23

24 SIC184 controller can be programmed to execute proper motion program. Motion program is made in external application ML-PROG (description of creating motion commands is enclosed in separate documentation for ML-PROG program). ML-PROG program creates scripts (files with *.mlp extension) in build catalogue. This file can be send to the driver by SIC184-KONFIGURATOR program. SIC184-KONFIGURATOR -> Program tab - Open file allows opening of *.mpl file with motion script generated in ML-PROG program. - Module number This command allows to select proper motion program from script (ML- PROG program allows for creating programs for 16 drivers simultaneously and records it in one script). - Send to SIC184 sends earlier readied out program to driver. Program is recorded in nonviolate memory of the driver. - Receive from SIC184 enable read out program from driver memory. - Save to file saves to file program readied out from the driver. - Run, Stop, Pause allows to control program located in the driver Update driver firmware Update of driver firmware is made by external application FirmwareUpdater_WOBIT.exe. Manual -SIC v.1.1 page 24

25 4. Technical parameters Description Parameter Power supply VDC Current consumption Max. 4 A Transistor outputs OC type (NPN) Max. 1 A/ 30 VDC Opt insulated inputs (IN1, IN2, VDC (low state max. 1V) RUN,STOP,Home1, Home2) Input filtration: minimal duration of signal 10 ms Max. current per phase of stepper motor for 4 A built in power driver Step division for built in power driver ½, 1/5, 1/8, 1/10, 1/16, 1/20, 1/32, 1/40, 1/64 Max. rotational speed of the motor ½ step -> 95 rps 1/5 step -> 38rps 1/8 step -> 24 rps 1/10 step -> 22 rps 1/16 step -> 19 rps 1/20 step -> 9 rps 1/32 step -> 6 rps 1/40 step -> 5 rps 1/64 step -> 3 rps Trajectory generator Control of position, velocity and acceleration CLK, DIR, EN output signals for external power Low state: 0V, high state: 5V driver Max. frequency: 38 khz, pulse width: 20us Encoder Input A,B signals: low state: 0V, high state: 3-24V Max. input frequency: 50 khz Resolution: from 16 (4 bit) up to 4092 (12 bit) pulses per revolution (encoder) or millimeter (magnetic path) Program memory 300 commands Communication RS485, default parameters 38400bps, 8:n:1, internal protocol, Modbus-RTU protocol, USB 1.1, 2.0 Operation temperature range -5C +50C Housing Dimensions: 120x101x23mm Protection degree: IP20 Mounting: handle for DIN rail Manual -SIC v.1.1 page 25