Kollmorgen Discussion:
Q1: How do I connect S200 drive to Heidenhain LC183 Endat 2.1 encoder?
Below are the pinouts to wire the encoder to S200 Drive:
Detailed Encoder Cable pin out detail:
Detailed Drive pin out detail:
Q2: Assume I have a number of digital inputs wired to an S200 amplifier. Knowing the amplifier's address, how do I programmatically read those inputs?
For the three available general purpose inputs:
Input[0] = axis.DigitalInGet(RSIMotorGeneralIo.RSIMotorGeneralIo0); //IN0 Pins 12 & 13
For the three available dedicated purpose inputs (Home, NegLimit, and PosLimit.):
DedicatedInput[0] = axis.DedicatedInGet(RSIMotorDedicatedIn.RSIMotorDedicatedInHOME); //HOME Pins 1 & 2
For the only available general purpose output: (See manual 6.7.2.2 for wiring)
axis.DigitalOutSet(RSIMotorGeneralIo.RSIMotorGeneralIo2, false); //OOUT Pins 8 & 9
To see this sample application, click here. and go to S200DriveIO.
For more info on these or any meathod, search for it here: http://www.roboticsys.com/rapidcode/
Below is the pinout for the J13 I/O connector on the SynqNet option card.
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Q3: How do you monitor the motor temp w/ the S200 drives? I see that there is an enum “RSIKollmorgenS200Param.RSIKollmorgenS200ParamMTEMP”, however when I pass it to Axis.DriveMonitorIndexSet I get an exception saying that it is an invalid index. Can I get the temp from this drive?
To access the S200 drive, motor temp parameter. Use the following method:
DriveMonitorAddressSet( )
For more info on this or any meathod search for it here: http://www.roboticsys.com/rapidcode/
The DriveMonitorIndexset method is used to access parameters for another drive.
Q4: I am getting a status LED blink code of 7 on the S200 every time my machine decelerates. What can cause the BUS voltage to exceed the upper threshold?
Are you currently using the S200’s Regen Resistor capability? This will reduce or prevent the over-voltage problems that can occur during motor deceleration which causes the motors to become generators.
See S200 installation manual page 31.
Q5: I am trying to get a motor with a quadrature encoder and halls to spin for the first time. Where do I begin?
Configure the S200 drive via the S200 GUI or RapidSetup
/*********This section is under construction please bear with us...***********/
First wire the motor phases (J2) and the quadrature encoder (J14) to the drive. For pinouts download the datasheet here. Connect the S200 drive to your SynqNet controller and open RapidSetup. Once RapidSetup is connected, click on the axis to see the axis parameters. Then go to the "Drive-Kollmorgen S200" tab on the top right as shown in the image below.
Lets start configuring the system by entering the feedback information. Go to the "Feedback" tab. Since you will be wiring the quadrature encoder to J14 on the SynqNet option card, you should select "Option Card Feedback" for the Feedback Source. Select "Incremental A Quad B + Halls" for the Auxiliary Feedback Type. The value for AuxFBDivisor should be set to 4 x motor resolution.
Now lets open the Gains & Limits tab. Assuming the drive is still at factory defaults, keep CmdF0 to 1457.28Hz. Change ILmtPlus and ILmtMinus to 50. This will protect the motor by limiting the output current to 50% of the max current during setup. Now set KIP using this equation:
KIP = 1500 * (Motor inductance) * (2*π)
KIP = 1500 * 0.00117H * (2 * 3.14) = 11.0214 // in this example I used 1.17mH for the inductance of the motor
Next, go to the "Motor" tab. If you are using one of the motors in the database you should select it now and skip to the configuration tab. If not, leave it as "current". Enter the number of motor poles in DPoles. Then calculate the parameter I2TF0 using this equation:
I2TF0 = 1 / [(2π)*(Motor Thermal Time Constant in sec)]
I2TF0 = 1 / [(2 * 3.14)............
Set I2T Trip to 0 and CommOff to 0. Earlier in the feedback tab you selected Option card Feedback, this prevents you from changing CommMode. It will be set to SetupS2-2.
Now click "Set & Save all Parameters to Drive", this will save all of the settings you just entered in the drive.
Confirm that the controller is getting a correct feedback signal
Click on the "Motion and Tuning" tab. Do NOT Enable the motor or AutoTune. Click the "Zero Position" button on the bottom left of the Motion and Tuning tab. You should see the Actual and Command positions of the motor go to 0. (They may be jumping around a little depending on how high the resolution of the motor is.) Next turn the motor shaft by hand exactly one revolution. In RapidSetup, the actual position in the "Position and Trajectory Status" tab should display a number close to the resolution of the motor. If it doesn't see Question 3. Now turn the shaft backward one revolution to the original spot and the actual position should go back to near 0. If this test failed, you probably missed something in drive setup or you have incorectly wired the feedback device. Go back and check the information you previously entered in the Drive - Kollmorgen S200 tab and check the wiring. If both of these tests pass, you are ready to begin applying current to the motor.
Go to the "Limits and Actions" tab and under Position Error change the trigger value to about 10x motor resolution and set the action to ABORT. Go back to the "Motion and Tuning" tab. In "Tuning Parameters" shown in the red box below make sure that all of the gains are set to 0.
Verify the motor phases are wired correctly
In this same red box there is an offset value. Enter an offset of 1 and press enter. Next, hit "Clear Faults".
*****************Warning! Please read this Entire message before you continue*****************
When you enable the motor, you should see the actual position move in a positive direction. If it doesn't move at all, increase the offset by increments of 1until the motor begins to "free spin". Be careful not to add to much offset because you could burn up the motor. Earlier, I had you set the position error trigger value to 10x the resolution of the motor. This will protect the motor from running away because it will only allow the motor to "free spin" for 10 revolutions. If the motor begins to vibrate or "buzz" as you increase offset yet doesn't spin, the motor phases are probably not wired correctly. You may want to double check your U, V, W and Gnd. If you acheive a "free spin" make sure you are getting a positive direction for the actual position with a postive offset. If not, you need to check your motor and feedback wiring again. Now perform this same test again using a negative offset. Make sure that the actual postion goes in the negative direction.
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Tune the Axis
Finally, it is time to Tune the axis. See our instructions on Tuning.
Q1: For the AKM42G motor, would it be possible to use the S30301 amplifier? At 480VAC input, our current requirements should be less. We used the AKM42G on 240VAC input previously and we want to keep the motor but move up to 480VAC. What do you think?
The AKM42G requires 4.87 Arms Continuous in order to reach its continuous potential. The S30301 supplies only 3 Arms
Continuous. You would receive a reduced continuous Torque by switching down.
Please note that the motor you specified has a peak current of 19.2 Arms while the drive supplies only 12 Arms. I take it your motion profiles were not going to stress the motor in a way where it needed to match peak current conditions.
If we switched down a winding from AKM42G to AKM42E, we could make this Drive switch and have increased torque at speed. Other factors would change though such as Max Rated speed (3500 down from 6000), Inductance, Resistance, etc.
Q2: I am trying to get the motor to spin for the first time. I have downloaded the S300 GUI to configure the drive. What do I do next?
Configure the S300 drive via the S300 GUI
After downloading the S300 GUI from the Kollmorgen website, you must connect the drive to the GUI using a serial cable. Once the GUI is connected, enter all of the motor parameters such as feedback, poles, inductance, continous current etc. It is important to enter this information carefully. If the motor you are using is a standard Kollmorgen motor, you should be able to select it from the database in the "Motor" tab. Under the Units / Mechanical window shown below, be sure enter the resolution of the feedback device in the mechanical conversion box. In this example, the feedback device has a resolution of 65536 counts in 1 motor revolution. Set the OPMODE to Digital Torque as shown in the image below.
Once all of the parameters are entered, Click the Save to EEPROM at the top of the GUI.
Confirm that the controller is getting a correct feedback signal
Connect the S300 to your SynqNet controller and open RapidSetup. Make sure that the S300 drive (Node 0) and the Axis 0 underneath it is displayed in the tree view on the left. If it is not, reset the controller. (Reset Controller kills power to the PCI slot. This essentially restarts the controller.)
Now click on Axis 0 but do NOT Enable the motor or AutoTune. Click the "Zero Position" button on the bottom left of the Motion and Tuning tab. You should see the Actual and Command positions of the motor go to 0. (They may be jumping around a little depending on how high the resolution of the motor is.) Next turn the motor shaft by hand exactly one revolution. In RapidSetup, the actual position in the "Position and Trajectory Status" tab should display a number close to the resolution of the motor. If it doesn't see Question 3. Now turn the shaft backward one revolution to the original spot and the actual position should go back to near 0. If this test failed, you probably missed something in the drive GUI setup or you have incorectly wired the feedback device. Go back and check the information you previously entered in the GUI and the wiring. If both of these tests pass, you are ready to begin applying current to the motor.
Go to the "Limits and Actions" tab and under Position Error change the trigger value to about 10x motor resolution and set the action to ABORT. Go back to the "Motion and Tuning" tab. In "Tuning Parameters" shown in the red box below make sure that all of the gains are set to 0.
Verify the motor phases are wired correctly
In this same red box above there is an offset value. Enter an offset of 1 and press enter. Next, hit "Clear Faults".
*****************Warning! Please read this Entire message before you continue*****************
When you enable the motor, you should see the actual position move in a positive direction. If it doesn't move at all, increase the offset by small increments until the motor begins to "free spin". Be careful not to add to much offset because you could burn up the motor. Earlier, I had you set the position error trigger value to 10x the resolution of the motor. This will protect the motor from running away because it will only allow the motor to "free spin" for 10 revolutions. If the motor begins to vibrate or "buzz" as you increase offset yet doesn't spin, the motor phases are probably not wired correctly. You may want to double check your U, V, W and Gnd. If you acheive a "free spin" make sure you are getting a positive direction for the actual position with a postive offset. If not, you need to check your motor and feedback wiring again. Now perform this same test again using a negative offset. Make sure that the actual postion goes in the negative direction.
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Tune the Axis
Finally, it is time to Tune the axis. See our instructions on Tuning.
Q3: How do I change the resolution of the motor that is being displayed in RapidSetup when I turn the motor shaft one revolution?
Go to the Terminal in the S300 GUI. In the Terminal type PRBASE and then press enter. The value in PRBASE should be the number of bits of resolution that your motor's feedback device has. So for example if you have a motor with a resolver and it has a resolution of 65536 (2^16) then the value in PRBASE should be 16. If you have an encoder with a resolution of 1048576 (2^ 20) then PRBASE = 20.
In order to change the value in PRBASE, (or any parameter) you must type the parameter "PRBASE" then a "space" and then the value you want to change it to "new value". Then hit enter. Just to make sure that the new value was entered correctly, type the parameter again and hit enter. The new value should be displayed.
Click the Save to EEPROM at the top of the GUI.
Q4: I am having trouble configuring the home, hardware positive, and negative limits in RapidSetup. They are triggering in the S300 GUI, but I can't get RapidSetup to respond. What could be wrong?
In RapidSetup, under the "Motion and Tuning" tab, on the bottom right open the "Dedicated I/O" tab. You should be able to see all of the dedicated inputs available through SynqNet. Now check the status of the "Pos. Hw Limit" and "Neg. Hw Limit". Go to the machine and manually trigger these hardware switches, you should see the status of the switch toggle in RapidSetup. If it does, make sure that you have the trigger state and action type configured correctly under the "Limits and Actions" tab. If this test fails, you should double check your wiring. Make sure that you have all of the hardware switches connected to the X21A connector on the synqnet option card. Download the S300 manual here and go to page 119 section 10.7.5 for the wiring diagram.