Cleverax1

UserGuideCleverAxSingle-AxisMotionControllerSafetyInformationPersonssupervisingandperformingtheelectricalinstallationormaintenanceofaDriveand/oritsexternalOptionUnitmustbesuitablyqualifiedandcompetentintheseduties.TheyshouldbegiventheopportunitytostudyandifnecessarytodiscussthisUserGuidebeforeworkisstarted.ThevoltagespresentintheDriveandexternalOptionUnitsarecapableofinflictingasevereelectricshockandmaybelethal.TheStopfunctionoftheDrivedoesnotremovedangerousvoltagesfromtheterminalsoftheDriveandexternalOptionUnit.ACsuppliesshouldberemovedbeforeanyservicingworkisperformed.Theinstallationinstructionsshouldbeadheredto.Anyquestionsordoubtshouldbereferredtothesupplieroftheequipment.ItistheresponsibilityoftheownerorusertoensurethattheinstallationoftheDriveandexternalOptionUnit,andthewayinwhichtheyareoperatedandmaintainedcomplieswiththerequirementsoftheHealthandSafetyatWorkActintheUnitedKingdomandapplicablelegislationandregulationsandcodesofpracticeinthecountryinwhichtheequipmentisused.TheDrivesoftwaremayincorporateanoptionalAuto-startfacility.Inordertopreventtheriskofinjurytopersonnelworkingonornearthemotororitsdrivenequipmentandtopreventpotentialdamagetoequipment,usersandoperators,allnecessaryprecautionsmustbetakenifoperatingtheDriveinthismode.TheStopandStartinputsoftheDriveshouldnotbereliedupontoensuresafetyofpersonnel.IfasafetyhazardcouldexistfromunexpectedstartingoftheDrive,aninterlockthatelectricallyisolatestheDrivefromtheACsupplyshouldbeinstalledtopreventthemotorbeinginadvertentlystarted.GeneralInformationThemanufactureracceptsnoliabilityforanyconsequencesresultingfrominappropriate,negligentorincorrectinstallationoradjustmentoftheoptionaloperatingparametersoftheequipmentorfrommismatchingtheDrivewiththemotor.ThecontentsofthisUserGuidearebelievedtobecorrectatthetimeofprinting.Intheinterestsofacommitmenttoapolicyofcontinuousdevelopmentandimprovement,themanufacturerreservestherighttochangethespecificationoftheproductoritsperformance,orthecontentsoftheUserGuide,withoutnotice.Allrightsreserved.NopartofthisUserGuidemaybereproducedortransmittedinanyformorbyanymeans,electricalormechanicalincludingphotocopying,recordingorbyanyinformationstorageorretrievalsystem,withoutpermissioninwritingfromthepublisher.Copyright©November1995ControlTechniquesDrivesLtdAuthor:U79PartNumber:0400-0003IssueCode:CXNU1IssueDate:November1995Contents1Description1-11.1Mainfeatures1-11.2Inputsandoutputs1-11.3Softwaretools1-11.4Controlfunctions1-22Data2-13MechanicalInstallation3-14ElectricalInstallation4-14.1Connections4-15Parameters5-15.1PLCmodule5-15.2SerialLinkmodule5-45.3Motionmodule5-56Commissioning6-16.1Offsetadjustment6-16.2Reset6-16.3Recalldefaultstatus6-16.4Serialports6-16.5Start-upprocedure6-26.6EditingaPLCprogram6-27Diagnostics7-18ConfiguringCleverAx8-18.1Positionloop8-18.2Manualorinternalspeedreferenceselection(Speedmode)8-18.3Internalpositionreference8-28.4DigitalLock8-38.5DigitalLocktriggerandSlaveIndexdetection8-48.6Speedandpositionoffsetmanagement8-58.7Electroniccam8-68.8PIDandpositionloop8-79SoftwareTools9-19.1TerminalEmulationmode—commandsyntax9-19.2PLCprograminstructionsyntax9-19.3HowtousetheCDTprogram9-29.4HowtousetheCMTprogram9-310PIDAlgorithms10-111Applications11-111.1LinearPositionerwithAutoLearning11-111.2Digitallock11-1011.3Digitallockusingtheseriallink11-19CleverAx1-11Description1.1MainfeaturesCleverAxisaprogrammable,closed-looppositioncontrollerhavingthefollowingcontrolfeatures:•Positioncontrolwithtrapezoidalprofiling,oraccelerationanddecelerationS-ramps•Digitallockwithvariableratioandtriggerprogramming•Electroniccam•Useofladderdiagram(PLCtype)programminglanguage•Eurocardformat•24VDCsupplyThecontrolsystemconsistsofthefollowingthreemodules:•PLCmodule•Motionmodule•SerialLinkmoduleSoftwareparametersareusedtoconfigurethecontrolsystem.Theinternalinterfacemeetstherequirementsofstandardapplications.1.2Inputsandoutputs•Differential14-bitanalogoutputfortheDrivespeedreference.•Differentialanaloggeneral-purpose14-bitoutputs.•Twodifferentialanaloggeneral-purpose10-bitinputs.•15generalpurposedigitalinputs.•Threehigh-speeddigitalinputs.•Sevendigitalgeneralpurposeoutputs.•Twoencoderinterfaces(MasterandSlave).•Twostandardserialports(RS232CandRS485).TheRS232serialportallowstheboardtobeconnectedtoaPCforcreatingprogramsandsettingparameters.1.3Softwaretools•Terminalemulatorsoftware•Full-screeneditor•Compiler•Debugger•DownloadfunctiontodownloadtheprogramtotheCleverAxcard•SavecommandtostoretheprogramonaPCdisk•LoadcommandtoloadthedesiredprogramfromaPCdiskCleverAx0123456789ABCDEFConsoleO.E.M.intelligentcardI/OExp.PLCThumbwheelswitchRS485MotorEncoderMasterEncoderRS232cDriveSensorHostPCEnclosureFigure1–1ControlSystemusingtheCleverAxcardCleverAx1-21.4ControlfunctionsPositionloopPositionloopcontrolcanbecarriedoutineitherofthefollowingways:Proportionalandintegralwithfeed-forwardcontrolProportional,integralanddifferentialcontrolThecardcontrolstheDriveusingthetorqueorspeedinputoftheDrive.PositioncontrolTheaxispositioniscontrolledusingtrapezoidalorS-r