softmc Configurator Technical Training Manual Manual Revision: 1.0

Transcription

1 Technical Training Manual Manual Revision: 1.0

2

3 Revision History Document Revision Date Remarks 1.0 Sept Initial release. softmc FW Copyright Notice Disclaimer Trademarks 2016 Servotronix Automation Solutions Ltd. All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of Servotronix. This product information was accurate and reliable at the time of its release. Servotronix Automation Solutions Ltd. reserves the right to change the specifications of the product described in this manual without notice at any time. All marks in this manual are the property of their respective owners. Contact Information Servotronix Automation Solutions Ltd. 21C Yagia Kapayim Street Petach Tikva Israel Tel: +972 (3) Fax: +972 (3) Website: Technical Support If you need assistance with the installation and configuration of the softmc drive, contact Servotronix technical support: Technical Training Manual 1

4 Contents 1 Introduction 3 2 Procedures 4 1. Install and activate ControlStudio Install device parameter (library) file on PC Create a folder for the ControlStudio machine application Make the cable connections Establish communication between PC and softmc Create a Configurator project Define axis A1 configuration settings Define axis A2 configuration settings Compile project files and send configuration to the softmc Verify the configuration by moving the axes Record a motion Work with softmc controller via Terminal Write and run a program Appendices 23 A. Uninstall previous ControlStudio installation B. Update softmc firmware Technical Training Manual

5 1 Introduction Note: Only essential background information is included in this training manual. For downloads and more information about the softmc hardware and software systems, use the resources available on the Servotronix website. ControlStudio is a PC-based graphical user interface for developing and testing motion applications controlled and/or coordinated by the softmc. ControlStudio contains a programming editor, data recorder, debugger and monitoring tools. Once the application programs are completed, the PC can be removed and the softmc controller can operate standalone or within a network. softmc Configurator is a wizard that is bundled with ControlStudio. The Configurator is used to define the axes and IOs to be controlled in the motion application; it then generate a set of programs and files for initializing the softmc. MC-Basic (Motion Control BASIC) is the proprietary programming language developed by Servotronix for use with the softmc. It is based on standard BASIC programming language, with extensive enhancements for multi-tasking and motion control functionalities. Technical Training Manual 3

6 2 Procedures 1. Install and activate ControlStudio Windows 1A 1B 1C If any previous versions of softmc are installed on the PC, uninstall them. For instructions, refer to Appendix A of this document and/or contact Technical Support. Run CSSetup.exe to install ControlStudio. Accept the default settings during the installation. Four programs are installed. At end of installation, a popup is displayed. It may be hidden behind other windows. Click on Cancel. 1D If not already opened, activate ControlStudio (from the Start menu or desktop icon). 2. Install device parameter (library) file on PC ControlStudio Offline 2A From the ControlStudio menu bar, activate the softmc Configurator. Select: Tools > softmc Configurator Note: Always activate Configurator from ControlStudio (and not from the desktop icon). 4 Technical Training Manual

7 2B When operating offline, the Configurator looks like this. At the bottom of the Configurator screen, click Install Libraries. Note: Libraries is a file that contains the parameters of all devices (such as CDHD, stepim, IOs) that can be controlled by the softmc. An updated Libraries file must be installed on the PC whenever new controller firmware is installed. 2C Browse to the folder containing the file configurator_archive_ bndl This is the Libraries file. Click Open. Wait for the confirmation message. Click OK. 2D Close Configurator. Note: Do not minimize. You must close Configurator. Technical Training Manual 5

8 3. Create a folder for the ControlStudio machine application ControlStudio offline 3A At the bottom of the ControlStudio screen, click to open the File Manager. The File Manager has three panes. In the left pane, select the location where you want to create a folder for your application files. In the middle pane, right click, and select New Folder. Give a name to the new folder: EX01 Note: The motion application (Solution) developed in ControlStudio will contain Project and Subproject folder/s that hold task (program) files, library files, and data files. The PC file system does not reflect the softmc controller file system. 4. Make the cable connections 4A Connect the system cables, if not already connected. Refer to diagrams below. For more instructions, refer to the softmc Installation Guide. ControlStudio Connect the Motion Bus and Ethernet IN ports on the Demo Kit Connect to site s LAN Host computer and softmc must get DHCP IP address from the same DHCP server; therefore they must reside on the same IP subnet. Note: If using ServoStudio for motor setup and/or drive tuning, a Kvaser adapter will be needed to enable serial communication with the PC. Refer to the stepim Technical Training Manual or contact Technical Support. 6 Technical Training Manual

9 softmc 3 with stepim - Training Setup CANopen devices and network 24 VDC Supply User PC ControlStudio CAN 120 Ω 120 Ω softmc 3 Ethernet stepim stepim Switch or Router Server (optional) softmc 7 with CDHD Training Setup EtherCAT devices and network 24 VDC Supply User PC ControlStudio EtherCAT Ethernet softmc 7 CDHD Drive CDHD Drive Switch or Router Server (optional) 4B Turn on the softmc training system. Technical Training Manual 7

10 5. Establish communication between PC and softmc ControlStudio online 5A At the right side of the ControlStudio screen, hover over Controller Monitor. The Controller Monitor pane opens. Click the Refresh button. Wait a few moments until the softmc in your setup is recognized and displayed in the list. (e.g., DEMO ) 5B Select the detected softmc, and click the Connect button. 5C The communication status at the bottom of the screen turns green, indicating that the softmc and ControlStudio are communicating. 5D In the middle of the ControlStudio screen, you will see the Terminal pane. Note: The Terminal is a command line interface to the softmc. It allows you to send commands and queries to the softmc, and receive responses in return. To confirm communication has been established, place the cursor in the Terminal pane. Query the firmware version:?ver Make sure the response to the version query is or later. If necessary, update the softmc firmware. For instructions, refer to Appendix B of this document and/or contact Technical Support. 5E If the training system has not been used previosly, skip to Procedure 6. If the training system has been used previously, program config.prg must first be cleared of all program lines. Contact Technical Support for instructions. 8 Technical Training Manual

11 6. Create a Configurator project. Configurator online 6A Open Configurator. Access through: Tools > softmc Configurator If using CANopen network, the Configurator online screen will look like this: If using EtherCAT network, the Configurator online screen will look like this: If using EtherCAT network, select the option: Use CODESYS 6B Optional: In the MC Name field, enter a name for the softmc; e.g., DEMO_EX Technical Training Manual 9

12 6C Create a Configurator project (called EX01) by saving a file to the softmc folder created previously (Step 3). 6D In ControlStudio (online), go to the File Manager pane at the bottom of the screen. Select folder EX01 in the left pane, and look at the middle pane. If files do not appear, right-click in the middle pane > Refresh List You will see a file named EX01.mcfg = Configurator project file 10 Technical Training Manual

13 7. Define axis A1 configuration settings Configurator online 7A Define Axis A1. If using EtherCAT devices/drives, they will automatically be detected and displayed. Skip to Step 7C. If using CANopen devices/drives, right-click on CANopen in the navigation pane. Select New Device. 7B If using CANopen devices/drives, select Servotronix > stepim or CDHD. Click OK. Technical Training Manual 11

14 7C Depending on the selected device, stepim or CDHD now appears in the Buses section of the navigation pane. Select a drive (stepim or CDHD). Selected device is displayed in blue text. Enter settings as shown below. Initial Active OpMode = 8-Cyclic synchronous position Physical Address = 1 Click Apply. Link Drive to Axis = A1. Click the Link arrow. Note: For proper operation, Initial Active OpMode must be set to 8-Cyclic synchronous position 7D Configurator displays the Axis:A1 screen. The screen has four tabs: General, Properties, Movement and Graph. In the General tab, enter settings as shown below. Axis Type = Rotary Gear Length Units = Degrees (default) Gear Ratio = 1.0 Note: A gear ratio value is usually in the range When using a Servotronix Demo Kit, Gear Ratio value = Technical Training Manual

15 7E Guidelines Most robotic applications are programmed in units of degree/second, that is, 360 deg = 1 revolution. Therefore: 6 deg/sec = 1 rpm 120 deg/sec = 20 rpm 360 deg/sec = 60 rpm The instructions in this document use the following calculations and values, which are typical for a brushless DC motor: Rated / Typical Value Maximum Value Velocity rpm 3,000 5,000 Velocity deg/sec 18,000 30,000 Range (0.5 to 1) x ACCmax Acc/Dec 0.8 x ACCmax 30 x Vmax Acc/Dec deg/sec 2 720, ,000 Range (0.5 to 1) x ACCmax (10 to 50) x Vmax Jerk 0.8 x JERKmax 30 x ACCmax Jerk deg/sec 3 2,160,000 2,700,000 Range 0.5 to 1 x JERKmax (10 to 50) x ACCmax Use the same value for both acceleration and deceleration. However, if the Load to Motor Inertia Ratio ratio is less than 10 (optimal LMJR value), a higher acceleration can be used. 7F In the Properties tab, click on the Limits bar to access Limit parameters. Change the values of the following parameters: Position Error Max = 10 Velocity Max = Acceleration Max = Deceleration Max = Jerk Max = After typing in a value, be sure to press Enter. Technical Training Manual 13

16 7 Save Configurator project (EX01.mcfg) 8. Define axis A2 configuration settings Configurator online 8A Define the parameters for Axis A2 by repeating the steps in Step 7. Save Configurator project (EX01.mcfg) 9. Compile project files and send configuration to the softmc Configurator online 9A In the Configurator menu bar, click the Build & Run button. 14 Technical Training Manual

17 9B The Configurator generates files on the PC and sends them to the softmc. When complete, click Close. 9C Save Configurator project (EX01) Technical Training Manual 15

18 9D ControlStudio online Note: Configurator generates a ControlStudio project file called EX01.APJ file. Configurator generates a folder called EXO1_Files In ControlStudio, go to the File Manager pane at the bottom of the screen. Select folder EX01 in the left pane, and look at the middle pane. If files do not appear, right-click in the middle pane > Refresh List Note: Files in the right pane reside in the softmc. Do not click on these files, or attempt to manipulate them. If using an EtherCAT network and devices and Use CODESYS option was selected, the EX01_Files folder will contain an additional file called softmc.devdesc.xml 10. Verify the configuration by moving the axes Configurator online 10A Select Axis A1, and open the Movement tab. 16 Technical Training Manual

19 10B Refer to the units of motion table in Step 7. Change the values of the following parameters: Set Target = 360 (1 revolution) Set Velocity = 120 Set Acceleration and Deceleration = Set Jerk = Make sure Absolute option is not selected. Move the switch to Enabled. Click the Run button. Watch motor 1 load disk it will rotate once. Enable the Absolute option. Set Target to 0. Click Run. When motor stops, note the Actual Position. It will show C Select Axis A2, and in the Movement tab, and enter the same settings as above. Click the Run button. Watch motor 2 load disk it will rotate once. Enable the Round Trip option. Click Run. Watch motor 2 load disk it will rotate once in each direction. 10D 10E Disable both axes. Save the Configurator project. 11. Record a motion Configurator online 11A 11B Select Axis A1, and open the Movement tab. Change the values of the following parameters: Target = 360 (1 revolution) Velocity = 360 (60 rpm) Acc/Dec = deg/sec Jerk = deg/sec Clear the Absolute option. Clear the Round Trip option. Technical Training Manual 17

20 Enable the option Display Graph After Recording Select Variables: VCMD and VFB. Clear all other variables. Make sure drive is Enabled. Click Record &Move button 11C In a few moments, the recorded plot appears in the Graph tab. Note: The recorded plot is saved in a A1.rec (A2.rec) file in a temp folder. The last recording always overwrites the previous recording. The Configurator recording function is only intended to provide initial confirmation of the axis configuration. For complete testing and adjustment, use the Recording function within ControlStudio. 11D 11E In the Movement tab, disable the axes Save the Configurator project. Exit Configurator 18 Technical Training Manual

21 12. Work with softmc controller via Terminal ControlStudio online 12A If softmc has been power cycled, this step is required. Otherwise, skip to Step12C. In the Terminal pane, enter the command reset all Note: The command reset all does the following: Removes all system variables and tasks from controller RAM. Removes all files from controller RAM. Runs the CONFIG.PRG task 12B If softmc has been power cycled, this step is required. Otherwise, skip to Step12C. In the Terminal pane, enter the command load startprg.prg Note: The command load startprg.prg loads all configuration data from controller Flash (non-volatile) memory to RAM. Data remains in Flash memory. Look at the messages in the Message Log pane. The system is now ready to receive commands. 12C In the Terminal pane, enable the axes. Enable axis 1: -->a1.en=1 Enable axis 2: -->a2.en=1 Gently grasp the motor load disk and try to move them. Strong resistance indicates the motor is enabled. 12D Note: The Move executes a point-to-point move from the current position to the target position of a single axis or a group of axes. Note: Use F3 as a shorcut to repeat last command entered In the Terminal pane, execute Move commands, and observe the response of the motors. Move A1 and A2 to absolute position PFB 0: -->move a1 0 abs=1 -->move a2 0 abs=1 Move A1 and A2 to absolute position PFB 3600 (10 revolutions from 0): -->move a abs=1 -->move a abs=1 Move A1 one revolution counterclockwise: -->move a1-360 abs=0 Move A2 two revolution clockwise: -->move a2 720 Move A1 and A2 to absolute position PFB 7200 at different speeds: -->move a abs=1 vcruise=720 -->move a abs=1 vcruise=240 Technical Training Manual 19

22 12E Note: Jog moves the axis at a constant velocity. Use the Stop command to stop a Jog motion. In the Terminal pane, execute Jog commands, and observe the response of the motors: -->jog a >jog a2 240 Allow both motors to run simultaneously. Then stop the motion: -->stop a1 -->stop a2 Disable the axes: -->a1.en=0 -->a2.en=0 13. Write and run a program ControlStudio online 13A To begin writing a program for your motion application: In ControlStudio, select: File > New > File 13B In the New dialog box, do the following: Select Motion Controller Program File. Enter a name for your program (e.g., MYPROG1). Note: A program name cannot exceed 8 characters. Browse to and select the path/folder containing your application files (e.g., EX01) 20 Technical Training Manual

23 13C The Program Editor pane opens in ControlStudio. The pane has a tab for the new program, containing a blank program template. 13D 13E Insert the cursor in the line below program. Enter the following program lines: program attach a1 attach a2 a1.en=1 a2.en =1 move a1 720 abs=1 vcruise= 360 move a abs=1 vcruise= 360 delay a delay a move a1 0 abs=1 vcruise=360 move a2 0 abs=1 vcruise= 360 delay a1 10 delay a2 10 a1.en=0 a2.en=0 detach a1 detach a2 Print "End of MYPROG1" end program Save the program: File > Save Alternately, click the Save button on the toolbar. Check the File Manager pane at the bottom of the screen. Refresh if necessary. You now see the program in the application folder. Technical Training Manual 21

24 13F Send program MYPROG1 to the controller. Click the Save and Load button in the ControlStudio menu bar. 13G Run the program. Click the Continue Task button in the ControlStudio menu bar. Observe the motion of the two motors. When motion stops, note the message in the Message Log pane: 13H Run the program one line at a time. Click the Step by Step button in the ControlStudio menu bar. Continue clicking and observing the motion of the two motors. 22 Technical Training Manual

25 3 Appendices A. Uninstall previous ControlStudio installation Windows A1 Uninstall all previously installed softmc programs. You can identify and uninstall the programs to be removed according to the publisher name: Servotronix. Note: Do not uninstall ServoStudio by Servotronix. B. Update the softmc firmware ControlStudio online B1 To update the firmware: Tools > Firmware Update B2 At the prompt, click Update. B3 Browse to the folder containing the firmware zip file. Select the file and click Open. Technical Training Manual 23

26 B4 B5 Follow the prompts. During the firmware update, the controller power cycles automatically. The Communication status indication turns yellow. Wait for the yellow LED on the front of the Demo Kit to turn off. To reestablish communication, use the Reset Communication button in the Controller Monitor pane (or Ctrl+D). When finished, check the version again. If it does not appear to be updated, turn the controller off and then on again. Make sure Communication status in indicates Connected. 24 Technical Training Manual

27

28 Technical Training Manual