Omron CK3W-AX2323 Series Startup Manual
Directpwm interface
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Also See for CK3W-AX2323 Series:
- Hardware user manual (302 pages) ,
- User manual (218 pages) ,
- Application manual (90 pages)
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Summary of Contents for Omron CK3W-AX2323 Series
- Page 1 Programmable Multi-Axis Controller Startup Guide for DirectPWM Interface CK3W-AX1313 CK3W-AX2323 O047-E1-02...
- Page 2 Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. 3. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsi- bility for errors or omissions.
- Page 3 Sections in this Manual Sections in this Manual Summary of Materials Target Equipment and Device Configuration DirectPWM Interface Connection Procedure CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)
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Page 4: Table Of Contents
CONTENTS CONTENTS Sections in this Manual ................... 3 Precautions ......................5 Related Manuals....................... 6 Terms and Definitions....................7 Revision History....................... 8 Section 1 About This Guide Introduction ..........................1-2 1-1-1 Intended Audience ........................1-2 Section 2 Target Equipment and Device Configuration Device Configuration......................2-2 Section 3 DirectPWM Interface Connection Procedure Work Flow..........................3-2... -
Page 5: Precautions
Precautions Precautions • For actual system construction, check the specifications for each device and piece of equipment that makes up the system, use a method with sufficient margin for ratings and performance, and adopt safety circuits and other safety measures to minimize risks even if a breakdown occurs. •... -
Page 6: Related Manuals
“Safety Precautions”, “Precautions for Safe Use”, and other precau- tions related to safety, and then proceed with use. The manuals for OMRON Corporation (hereafter, “OMRON”) and Delta Tau Data Systems Inc. (here- after “DT”) are as shown below. -
Page 7: Terms And Definitions
Terms and Definitions Terms and Definitions Terms Descriptions and Definitions PMAC This is the acronym for Programmable Multi-Axis Controller. Power PMAC IDE This is computer software that is used to configure the Motion Controller, create user programs, and perform monitoring. DirectPWM This is a proprietary interface method developed by Delta Tau Data Systems, Inc. -
Page 8: Revision History
Revision History Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers. O047-E1-02 Revision code Revision Revision date Revised content code July 2019 Original production • Revision due to change of applicable Servo Drives January 2023 •... -
Page 9: About This Guide
About This Guide This section lists a summary of these materials. Introduction ....................1-2 1-1-1 Intended Audience ..................1-2 CK3M/CK5M Series Startup Guide DirectPWM Interface (O047) -
Page 10: Introduction
1 About This Guide Introduction This document describes the connecting procedure and confirmation for an OMRON Programmable Multi-Axis Controller CK£M-££££ (hereinafter referred to as "Controller") and a DirectPWM inter- face-capable Servo Drive. By understanding the setting content and setting procedure points described in Section 3 DirectPWM Interface Connection Procedure on page 3-1, you can configure the Controller to send commands to the DirectPWM interface-capable Servo Drive and control Servomotors. -
Page 11: Target Equipment And Device Configuration
Target Equipment and Device Configuration This section lists the target equipment and system configurations for connections in these materials. Device Configuration ..................2-2 CK3M/CK5M Series Startup Guide DirectPWM Interface (O047) -
Page 12: Device Configuration
Precautions for Correct Use Always secure a Servomotor and encoder. Starting the motor that is not secured leads to a fail- ure. Manufacturer Name Model Version OMRON Programmable Multi-Axis Controller CK£M-CPU1£1 Version 2.5.2 or CPU Unit later OMRON Programmable Multi-Axis Controller CK3W-AX1313£... - Page 13 2 Target Equipment and Device Configuration Manufacturer Name Model Version Windows PC Power PMAC Setting Tool Power PMAC IDE Version 4.3 or later CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)
- Page 14 2 Target Equipment and Device Configuration CK3M/CK5M Series Startup Guide DirectPWM Interface (O047)
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Page 15: Directpwm Interface Connection Procedure
DirectPWM Interface Connection Procedure This section describes the procedures for connecting the Controller and Servo Drive, and operating the motion control equipment with the DirectPWM interface. The de- scription assumes that the Controller is set to factory default. Work Flow ....................... 3-2 Controller Setting Preparations .............. -
Page 16: Work Flow
3 DirectPWM Interface Connection Procedure Work Flow The procedures for connecting the Controller and Servo Drive, and operating the motion control equip- ment with the DirectPWM interface, are shown below. 3-2 Controller Setting Preparations on page Perform the Controller setting preparations. ▼... -
Page 17: Controller Setting Preparations
3 DirectPWM Interface Connection Procedure Controller Setting Preparations Perform the Controller setting preparations. Install the Power PMAC IDE on the PC beforehand. 3-2-1 Creation of a New Project Follow the procedure below to create a new project. Connect the Controller and computer with an Ethernet cable. -
Page 18: Controller Initial Setting
3 DirectPWM Interface Connection Procedure From the File menu, select New ‒ Project. Input a project name and save destina- tion, and select the OK button. 3-2-2 Controller Initial Setting Follow the procedure below to perform the initial settings for the Controller. Precautions for Correct Use Since all memory is cleared by the initial settings, be sure to save any data remaining in the Controller that you may need. - Page 19 3 DirectPWM Interface Connection Procedure Type the save command in the Power PMAC IDE Terminal. • When the save is completed, "Save Completed" is displayed in the Termi- nal. Type the $$$ command in the Power PMAC IDE Terminal. • When the reset is completed, "PowerPMAC Reset complete"...
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Page 20: Connecting Devices
Drive C2 connector. Manufacturer Name Model Length OMRON DirectPWM Cable CK3W-CAAD009A 0.9 m CK3W-CAAD018A 1.8 m CK3W-CAAD036A 3.6 m b. Connection between the Servo Drive and Servomotor Use the following dedicated cables to connect the Servo Drive P2 connector to the Servomotor connector. - Page 21 Use the following dedicated cable to connect CK3W-AX1313£ to the digital quadrature encoder. Manufacturer Name Model Length OMRON Encoder Cable CK3W-CAES03A 3 m Follow the wiring diagram below to connect the dedicated cable (CK3W-CAES03A) to the digital quadrature encoder. CK3W-CAES03A...
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Page 22: Various Controller Settings
3 DirectPWM Interface Connection Procedure Various Controller Settings Perform the settings for the Controller to control the servomotor using the DirectPWM interface and digital quadrature encoder according to the following procedure. Precautions for Correct Use • For items to be written in the global definitions.pmh in step 2 in the following procedure, set appropriate values depending on the motor and Servo Drive used. - Page 23 3 DirectPWM Interface Connection Procedure Write the text on the right to the global Sys.WpKey = $AAAAAAAA definitions.pmh. • Refer to 3-4-1 List of Notes on page //global setting Gate3[0].PhaseServoDir = 0; 3-14 for details on setting items with Notes *1 through *30 shown in the Gate3[0].PhaseFreq = 10000;...
- Page 24 3 DirectPWM Interface Connection Procedure Sys.WpKey=$0 //Motor setting Motor[1].ServoCtrl = 1; //Enable the Motor[1] Motor[1].PhaseCtrl = 1; //Enable the commutat ion task. Motor[1].pPhaseEnc = Gate3[0].Chan[0].PhaseCa pt.a; //*11 Motor[1].PhasePosSf = 2048/(256*2000*4/5); // Motor[1].PwmSf = 13458; //*13 Motor[1].PhaseOffset = 683; //*14 Motor[1].AmpFaultLevel = 1; //*15 Motor[1].pLimits = 0;...
- Page 25 3 DirectPWM Interface Connection Procedure Right click on the Solution Explorer project name at the upper right of the Power PMAC IDE screen, select Build and Download All Programs, and ex- ecute Build and Download. Make sure that there are no errors in the Output Window.
- Page 26 3 DirectPWM Interface Connection Procedure Type the #1out0 command in the Ter- minal. Set Motor[1].IaBias=200 and Motor[1].IbBias=0 in the Terminal. Check the Motor[1].PhasePos value in the Watch window. Set Motor[1].IbBias=200 in the Termi- nal. • Motor[1].IaBias remains 200. Check the Motor[1].PhasePos value in the Watch window.
- Page 27 3 DirectPWM Interface Connection Procedure Type Motor[1].IaBias=0 and Motor[1].IbBias=0 in the Terminal to return the phase A and B bias currents to 0. If the Motor[1].PhasePos value de- creases when values in step 10 and 12 are compared, set the sign of Motor[1].PhaseOffset to + (addition);...
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Page 28: List Of Notes
3 DirectPWM Interface Connection Procedure 3-4-1 List of Notes The following table shows details on notes (description of set items) in step 2. Set item Set value Description EncTable[1].Type Enable EncTable[1] as single-word (32 bits) read. EncTable[1].pEnc Gate3[0].Chan[0].S Assign the digital quadrature encoder data to EncTable[1]. ervoCapt.a EncTable[1].Scale- 1/exp2(8) - Page 29 3 DirectPWM Interface Connection Procedure Set item Set value Description Motor[1].Phase- 2048/ Set a scale factor (Sf) of the commutation position (angle). Use the fol- PosSf (256*2000*4/5) lowing formula to calculate the scale factor if 24 bits digital quadrature encoder (Gate3[0].Chan[0].ServoCapt) is assigned to 32 bits EncTa- ble[1] as this example.
- Page 30 3 DirectPWM Interface Connection Procedure Set item Set value Description Motor[1].MaxDac 28377*3.33/16.25 Set an instantaneous current limit value (root mean square: RMS). Compare those of the Servo Drive and the motor, and use a smaller value. The motor has a smaller value in this example. Use the following formula for calculation.
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Page 31: Confirmation Of Settings
3 DirectPWM Interface Connection Procedure Confirmation of Settings Follow the procedure below to check that the settings up to here are correct. Type the Motor[1].PhaseFindingStep=1 com- mand from the Terminal to perform a phase search. • The Motor[1].PhaseFindingStep value changes to 1, 6, 7, and 0. When the phase search succeeds, the Motor[1].ClosedLoop and Motor[1].PhaseFound values... - Page 32 3 DirectPWM Interface Connection Procedure The following shows some examples of set value adjustment when a phase search fails. • If the Motor[1].New[0].Pos value is smaller than the Motor[1].AbsPhasePosOffset set value after phase search, increase the Motor[1].PhaseFindingDac value. In addition, check that the Motor[1].PhasePosSf set value is appropriate.
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Page 33: Motor Tuning
3 DirectPWM Interface Connection Procedure Motor Tuning Follow the procedure below to use Power PMAC IDE tuning tools for tuning the motor. 3-6-1 Open Loop Test Follow the procedure below to operate the motor in an open loop, and check that each setting is cor- rect. -
Page 34: Current Loop Gain Setting
3 DirectPWM Interface Connection Procedure Click the Open Loop Step Test button. • The motor is performing reciprocating operation and the test result on the right is displayed. • If the motor does not rotate, change the Test Amplitude parameter to a large value. -
Page 35: Bandwidth Automatic Setting
3 DirectPWM Interface Connection Procedure Click the Do A Current Loop Step but- ton. • The current step response is dis- played. Adjust the IliGain, IpfGain, and IpbGain parameters to achieve the de- sired response characteristics. • If the startup response is slow, in- crease the IliGain parameter. - Page 36 3 DirectPWM Interface Connection Procedure In the Tune screen, select Position Loop Auto-tune ‒ Advance Auto- tune. Set the following parameters. Amplifier Type: Direct PWM Auto Select Bandwidth: Select the check box. Encoder Resolution: 8000 cts/rev Excitation Magnitude: 8.0% Iteration No.: 2 *1.
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Page 37: Manual Setting Of Bandwidth
3 DirectPWM Interface Connection Procedure If the screen on the right appears, click the Implement button. Check that the Recommended Gains values are applied to Current Gains, and then click the OK button. 3-6-4 Manual Setting of Bandwidth Follow the procedure below to set a more appropriate bandwidth, while monitoring the step response characteristic. - Page 38 3 DirectPWM Interface Connection Procedure Click the Step Move button. Check the step response characteristic. If the target position has not been reached, return to the Advance Auto- tune screen, and set an even larger value for Bandwidth. Click the Recalculate button. If the screen on the right appears, click the Implement button.
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Page 39: Feed-Forward Value Setting
3 DirectPWM Interface Connection Procedure Check that the Recommended Gains values are applied to Current Gains, and then click the OK button. Return to step 1 and repeat the proce- dure until the desired responsiveness is obtained. 3-6-5 Feed-Forward Value Setting Follow the procedure below to set a more appropriate bandwidth, while monitoring the step response characteristic. - Page 40 3 DirectPWM Interface Connection Procedure If the screen on the right appears, click the Implement button. Check that the Recommended Gains values are applied to Current Gains, and then click the OK button. Select Position Loop InteractiveTuning ‒ Parabolic Vel. and set the following parameters.
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Page 41: Checking Of Operation And Creation Of Tuning Parameter Project
3 DirectPWM Interface Connection Procedure If Following Error has a positive corre- lation to the velocity, make Kvff larger. If it has a reverse correlation, make Kvff smaller. Click the Parabolic Velocity Move but- ton again. • Repeat this until the correlation of Following Error to the velocity dis- appears. - Page 42 3 DirectPWM Interface Connection Procedure Type the Motor[1].PhaseFindingStep=1 com- mand from the Terminal to perform a phase search. • The Motor[1].PhaseFindingStep value changes to 1, 6, 7, and 0. • When the phase search succeeds, the Motor[1].ClosedLoop and Motor[1].PhaseFound values change from 0 to 1.
- Page 43 3 DirectPWM Interface Connection Procedure Open the global definitions.pmh under PMAC Script Language ‒ Global Includes in the Solution Explorer. Add the gain values obtained from tun- Motor[1].IiGain = *** ing to the global definitions.pmh. Motor[1].IpfGain = *** Motor[1].IpbGain = *** Motor[1].Servo.Kp = *** Motor[1].Servo.Kvfb = *** Motor[1].Servo.Kaff = ***...
- Page 44 3 DirectPWM Interface Connection Procedure Select the project and execute Build and Download. • Refer to step 3 through 6 in 3-4 Vari- ous Controller Settings on page 3-8 for the Build and Download method. • As shown in step 5 and 6, gains can be downloaded on PMAC as a pro- gram if you write gains in the global definitions.pmh.
- Page 46 Tel: (31) 2356-81-300 Fax: (31) 2356-81-388 Tel: (1) 847-843-7900 Fax: (1) 847-843-7787 ©OMRON Corporation 2019 - 2023 All Rights Reserved. OMRON ASIA PACIFIC PTE. LTD. OMRON (CHINA) CO., LTD. In the interest of product improvement, 438B Alexandra Road, #08-01/02 Alexandra Room 2211, Bank of China Tower, specifications are subject to change without notice.