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Neat 700 Series User Manual

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700 Series
NEAT Servo Amplifier
High
Performance
Brush and
Brushless Servo
Motor Amplifier
700 Series
Users Manual
New England Affiliated Technologies
620 Essex Street, Lawrence, Massachusetts 01841
Tel: 1-800-227-1066
Tel: 508-685-4900
WWW page: http://www.neat.com/users/neat
E-Mail: neat@neat.com
Fax: 1-800-523-8201
Fax: 508-688-8027

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Summary of Contents for Neat 700 Series

  • Page 1 NEAT Servo Amplifier 700 Series High Performance Brush and Brushless Servo Motor Amplifier 700 Series Users Manual New England Affiliated Technologies 620 Essex Street, Lawrence, Massachusetts 01841 Tel: 1-800-227-1066 Fax: 1-800-523-8201 Tel: 508-685-4900 Fax: 508-688-8027 WWW page: http://www.neat.com/users/neat E-Mail: neat@neat.com...
  • Page 2 I can assure you of an immediate response by calling our toll-free num- ber and asking for extension 211. Thank you again for choosing NEAT and we look forward to serving you in the future.

  • Page 3: Table Of Contents

    Table of Contents Release 1.0/0795 Part Number: 1030008 Preface...........................4 Chapter 1 Overview Overview.........................5 Section 1-1 System Descriptions....................5 Section 1-1.1 Single-Axis System..................5 Section 1-1.2 Two-Axis System..................7 Section 1-2 700-Series Classifications..................8 Section 1-2.1 Motor Drive Modes..................9 Section 1-3 700-Series Chassis Types..................10 Section 1-3.1 Single and Multi-Axis Systems..............10 Section 1-4 System Cabling......................11 The Breakout Box........................11 Chapter 2 Unpacking...
  • Page 4 Chapter 4 Installing the Controller Card Installing the Controller Card......................17 Section 4-1 Setting the Base Address..................17 Section 4-1.1 Setting the Default Base Address..............18 Section 4-1.2 Setting a Non-Standard Base Address............19 Section 4-2 Installing the Card....................20 Section 4-3 Installing the Controller Card Software..............21 Section 4-3.1 Installing the COMM Software..............21 Section 4-3.2 Installing the SDK Software...............22 Chapter 5 Putting Your System Together...
  • Page 5 Figure 1-4 Front and Rear Panels of Multi-Axis Unit..............11 Figure 2-1 "Roadmap" for the Various Unpacking Options............12 Figure 2-2 A Typical 2-Axis Positioning Table................14 Figure 2-3 The NEAT-1000 Controller Card (partial chip complement)........14 Figure 2-4 Breakout Box Used with NEAT-1000 Controller Card..........15 Figure 4-1 The NEAT-100 Controller Card.................17 Figure 4-2 Setting the Default Base Address................18...

  • Page 6: Preface

    The Overview in Chapter 1 briefly describes how a NEAT position-control system works and the role that a 700-Series unit plays in that system. Subsequent chapters tell you how to set up, cable together, and operate your system.

  • Page 7: Overview

    This manual describes the various NEAT systems that are available. For a first-time buyer however, the obvi- ous question is: which system will best fit my needs? First-time buyers should discuss their requirements with a NEAT applications engineer before purchasing any equipment.
  • Page 8 The components and their functions are as follows: Controller Card (mounted in an IBM-PC slot) The Controller card mounts into an IBM-PC card slot. It processes the instructions in the user's pro- gram and, from that, continually generates a position command output. This is compared with the position feedback from the motor's position encoder.

  • Page 9: Section 1-1.2 Two-Axis System

    Motor(s) and Positioning Table The motor(s) will most likely be driving a positioning table. Motor travel will be sensed either by: a rotary encoder mounted onto the motor shaft, or a linear encoder mounted onto the positioning table In either case, the encoder signals are fed back to the Controller card to enable it to close the servo positioning loop.

  • Page 10: Section 1-2 700-Series Classifications

    Section 1-2 700-Series Classifications The NEAT 700-Series units are, in fact, a whole class of units. They are classified in two ways: according to the number of axes (1, 2, 3, or 4) according to the type of motor drive (either Linear or Pulse Width Modulation)

  • Page 11: Section 1-2.1 Motor Drive Modes

    Figure 1-3 700-Series Classifications For example, a "703" would indicate that the unit is a 3-axis system and that it has a medium-power, PWM motor drive. Section 1-2.1 Motor Drive Modes There are two modes of motor drive: Linear and Pulse Width Modulation (PWM). In LINEAR drive, power to the motor(s) is varied by controlling the amplitude of the driving waveforms.

  • Page 12: Section 1-3 700-Series Chassis Types

    Section 1-3 700-Series Chassis Types Section 1-3.1 Single and Multi-Axis Systems The chassis for the multi-axis system is 19" long by 5" high. Figure 1-3, Front and Rear Panels of Multi- Axis Systems shows the front and rear panels. Front Panel There is only one control on the front panel: * the Emergency Stop switch Rear Panel...

  • Page 13: Section 1-4 System Cabling

    Figure 1-4 Front and Rear Panels of Multi-Axis Systems Section 1-4 System Cabling The Breakout Box One component not shown up to this point is the Breakout Box. This is a convenience for making connections between the Controller card, Servo Amplifier, and Motor(s). Use of the Breakout Box is described in Chapter 5.

  • Page 14: Unpacking

    (a controller card manual, Breakout box, and software drivers). The most commonly used controller card belongs to the NEAT-1000 family. Although other controllers are available, this manual lists the associated items for cards of the NEAT-1000 family only.

  • Page 15: Section 2-1 700 Unit And Related Items

    Section 2-1 700 Unit and Related Items The following items have been shipped to you: 700 Unit Servo Amplifier - see Figure 1-4 A power cord for the 700 unit A 700-Series Servo Amplifier manual Now that you have checked your shipment against this list, if you have purchased a 700 unit only, proceed to the next chapter.

  • Page 16: Section 2-2.2 The Cable Set

    You are urged to make certain that every cable referenced in the diagram has been shipped. Section 2-2.3 Controller Card and Related Items If you are using a controller card that does not belong to the NEAT-1000 family, please familiarize yourself with the manual supplied by the controller card's manufacturer.

  • Page 17: Figure 2-4 Breakout Box Used With Neat-1000 Controller Card

    There are three items associated with the Controller card: 1. A manual for the NEAT-1000 Controller card entitled: DMC-1000 Technical Reference Guide 2. The Breakout Box Figure 2-4 shows the Breakout Box used with the NEAT-1000 Controller card. Figure 2-4 Breakout Box Used with NEAT-1000 Controller Card As stated previously, the Breakout Box is used for convenient cable connections between the Controller card, the Amplifier unit, and the Motor(s).

  • Page 18: Initial Power Checks

    Initial Power Checks Certain steps must be taken before power is applied to your 700 unit. Perform each of these steps in the order given. Make sure that the AC power cord is removed from the rear panel AC receptacle before proceeding. 1.

  • Page 19: Installing The Controller Card

    Installing the Controller Card This chapter explains how to install your NEAT-1000 controller card and its supporting software. If you have purchased a different controller card, please call NEAT's Service Department at 1-800-227-1066 for assistance. Section 4-1 Setting the Base Address Before the card can be installed into your machine, the correct base address must be set.

  • Page 20: Section 4-1.1 Setting The Default Base Address

    Please note the locations of these components: the front connector, J2 the top-edge connectors, J3 and J5 the 7 position DIP switch into which we will set the base address All other components are shown strictly for orientation. Before installing the card, you must set the correct base address using the DIP switches. The default base address is 1000 (dec).

  • Page 21: Section 4-1.2 Setting A Non-Standard Base Address

    Section 4-1.2 Setting a Non-Standard Base Address If another device has pre-empted address 1000, then you will have to choose a different number for the NEAT controller card. The permissible choices are (in decimal numbers) 512, 516, 520, ... 1020, etc. in steps of four.

  • Page 22: Section 4-2 Installing The Card

    Section 4-2 Installing the Card Turn the power off! If you do not intend to install an Auxiliary Connector Adapter then you may install the controller card in any, unused slot. If you do intend to install an Auxiliary Connector Adapter then you must find a pair of adjacent, unused slots.

  • Page 23: Section 4-3 Installing The Controller Card Software

    Section 4-3 Installing the Controller Card Software Accompanying your controller card are two disks of supporting software (either 3.5" or 5.25"): COMM disk which contains the software that enables communication between your keyboard and the controller card disk which contains the software used for tuning the card's servo characteristics Section 4-3.1 Installing the COMM Software 1.

  • Page 24: Section 4-3.2 Installing The Sdk Software

    4. Select the C: drive for installation. Type ENTER. Your screen will display this window: Install Install Programs and Source Code Install Install Programs only Install Install Source Code only Exit now 5. Choose Install Programs and Source Code (the default selection). 6.

  • Page 25: Putting Your System Together

    Putting Your System Together Section 5-1 System Cabling Figure 5-1 shows a fully-assembled system. However, please follow the assembly instructions in the order given. Figure 5-1 System Cabling Figure 5-1 illustrates connections using only one motor. In this case, there can be up to five (5) cables. These cables are: No.

  • Page 26: Section 5-2 System Assembly Procedure

    Section 5-2 System Assembly Procedure Turn the power off! 1. Cable the amplifier unit to each motor: Do not attach any of the encoder feedback cables at this time! cable the amplifier XMOTOR connector to the DB9M connector of the X-axis motor mount cable the amplifier YMOTOR connector to the DB9M connector of the Y-axis motor mount...
  • Page 27 To do this, grasp the shaft (but do not attempt to stall the motor) and check that the motion is smooth rather than jerky. If it is not smooth, it may indicate a fault in the Hall-sensor feedback. Please contact NEAT's Service Department at 1-800-227-1066.

  • Page 28: Tuning The Servos

    Tuning the Servos Section 6-1 Theory The servo that controls the motion on each axis is a PID servo (proportional, integral, derivative). This means that the control action is based on three different terms: the proportional term is based upon the error signal (which is the difference between the commanded position and the actual position) the derivative term is based upon the time derivative of the error signal the integral term is based upon the time integral of the error signal...

  • Page 29: Section 6-2 Tuning Procedure

    If any unexpected instability is encountered, begin the tests again but with reduced initial values. If you con- tinue to have difficulties, call NEAT's Service Department at 1-800-227-1066. Section 6-3 System Operation Your system is ready for operation. We urge you to study the DMC-1000 Technical Reference Guide in order to master the controller card's programming language.

  • Page 30: Connector Pinouts

    Connector Pinouts This chapter gives the connector pinouts for the rear panel connectors: the 25-pin connector that links the amplifier to the Breakout Box (and thus to the controller card) each of the 9-pin or 15-pin connectors that link an amplifier unit to a motor REMOTE CONNECTOR DB-25-S Mates with DB-25-P...
  • Page 31 MOTOR CONNECTOR DE-9-S Mates with DE-9-P PIN NUMBER PIN NAME FUNCTION PIN NUMBER PIN NAME FUNCTION Motor Phase 1 Motor Phase 3 Motor Phase 2 + 5 Volts Ground M Fault Input Hall Input 1 Hall Input 3 Hall Input 2 MOTOR CONNECTOR DA-15-S Mates with DA-15-P...

  • Page 32: Chapter 8 Customer Service

    REQUEST AND FILL OUT A CUSTOMER RETURN FORM. INCLUDE A PURCHASE ORDER (PO) NUMBER AND A CONTACT NAME. Before shipping any equipment to NEAT for repair, please fill out a Customer Return Form. Please make sure that the mandatory Return Authorization and Purchase Order numbers are supplied as well as a complete, detailed description of the problem(s) with the equipment.

  • Page 33: Section 8-2 Shipping Procedures

    Section 8-2 Shipping Procedures THIS EQUIPMENT HAS BEEN PACKAGED CAREFULLY. THE FOLLOWING PROCEDURES MUST BE FOLLOWED WHEN RETURNING EQUIPMENT TO NEAT. SHIPPING STOPS If the product you have purchased is equipped with one or more shipping stops, they must be re- installed before packaging to prevent damage to the bearings and nut assembly.
  • Page 34 NEATNESS REPORT This manual has been reviewed for errors. However, mistakes can be overlooked. If you should happen to find an error within this manual, please fill out this form and mail (or fax) it back to us. We will make the correction(s) and send you a revised copy when it becomes available.
  • Page 35 New England Affiliated Technologies 620 Essex Street, Lawrence, MA 01841 Tel: 1-800-227-1066 Fax: 1-800-523-8201 Tel: 508-685-4900 Fax: 508-688-8027 WWW page: http://www.neat.com E-Mail: neat@neat.com Rel 1.1 2/97 Part Number: 1030008...

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