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Arcus TITAN-SVX Operation Manual

Servo motor controller-driver
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OPERATION MANUAL
Revision 4.05
TITAN-SVX
SERVO MOTOR CONTROLLER-DRIVER
TITAN-SVX Operation Manual
page 1
Rev 4.05

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Summary of Contents for Arcus TITAN-SVX

  • Page 1 OPERATION MANUAL Revision 4.05 TITAN-SVX SERVO MOTOR CONTROLLER-DRIVER TITAN-SVX Operation Manual page 1 Rev 4.05...
  • Page 2 ARCUS. ARCUS makes no representations or warranties regarding the content of this document. We reserve the right to revise this document any time without notice and obligation.

  • Page 3: Table Of Contents

    3.5. S ....................... 31 TANDALONE ROGRAM OMMANDS 3.6. L ............................31 IMIT OMMANDS 3.7. D IO C ..........................32 IGITAL OMMANDS 3.8. V ..........................32 ARIABLE OMMANDS 3.9. C ........................32 OMMUNICATION OMMANDS TITAN-SVX Operation Manual page 3 Rev 4.05...
  • Page 4 NSTALLATION 4. SOFTWARE OVERVIEW ..........................35 4.2. C ..................38 OMMUNICATION AND ETUP EQUIREMENTS 4.1.1. TITAN Directory ............................37 4.3. S TITAN-SVX UI S .................... 39 TARTING THE OFTWARE 4.4. C ............................40 OMMUNICATION 4.4.1. USB/Serial Communication ........................ 41 4.5. M ................................

  • Page 5: Introduction

    3 Phase Brushless Linear Servo Motor DC Voice Coil Motor In addition to the advanced servo motion control technology, the TITAN-SVX also has a number of advanced control technologies including force control, joystick control, dynamic gains, standalone programming, and many more. Voltage, current, temperature, and position monitoring allow for the TITAN-SVX to examine system trends and allow for preventative measures to reduce system down time.

  • Page 6: T Echnical F Eatures

    • MODBUS-ASCII • MODBUS-RTU 100Mbps Ethernet communication using ASCII over TCP/IP USB communication using VCP Standalone programmable using Arcus A-SCRIPT language with support of 3 multi-thread programs Closed Loop Driver Specifications: • 24-48 VDC • 8.0 Amp max peak current setting •...

  • Page 7: General Operation Overview

    2.1. Pulse Mode In order to use the controller as pulse mode, TITAN-SVX must be configured as Pulse Mode. Please refer to the Configuration section of the TITAN-SVX Windows UI program to set the controller to the Pulse Mode.

  • Page 8: Ontrol

    2.2. Control Mode In order to use the controller in Control Mode, TITAN-SVX must be configured as Control Mode. Please refer to the Configuration section of the TITAN-SVX- Windows UI program to set the controller to the Control Mode. In Control Mode, following digital inputs are used: INPUTS: ...

  • Page 9: Homing

    Speed parameters can be changed to encoder counts/sec in order to achieve slower motion. See the configuration section of the TITAN-SVX software in section 4 to make this setting. The lowest allowable speed setting will be 1. Depending on the mode, this will correspond to 1 RPM (mm/sec) or 1 encoder count/sec.
  • Page 10 Hard stop homing is also available by using a standalone program that senses the motor current or position error. A sample standalone program is included in the TITAN-SVX software installation. The following example shows the example of home search in positive direction using the home input plus encoder index input.

  • Page 11: Limits

    TITAN-SVX will power on with the motor disabled. Settings in the Configuration section of the TITAN-SVX GUI allow for the motor to be enabled on power up. If a stepper motor is being used, an open loop hold option is available to keep the motor steady while idle.

  • Page 12: S Topping

    2.6. Positional Moves The TITAN-SVX can perform moves to a defined position. The target position will be in terms of encoder counts. Use the command X=[target] to perform a positional move. For example, the X=1000 command will move the motor to encoder position 1000.
  • Page 13 2.9. Digital Inputs / Outputs TITAN-SVX module comes with 8 digital inputs and 3 digital outputs. Depending on the mode of the TITAN-SVX, Pulse Mode or Control Mode, digital inputs and outputs are used in various ways. Pulse Control Pulse Mode Description...
  • Page 14 The relationship between the deadband zone and bandwidth can be seen in the figure below. Figure 2.2 The soft limits for joystick control can be implemented using the standard soft limit feature. TITAN-SVX Operation Manual page 14 Rev 4.05...

  • Page 15: P-Gain

    2.12. Closed Loop Control Gains TITAN-SVX has the following simplified gain settings available. • P Gain – Position gain. • V Gain – Velocity gain. • I Gain – integral gain • C Gain – current gain All the gains have range from 0 to 100. The simplified gain values are derived using special formulas that are converted to normalized values ranging from 0 to 100.
  • Page 16 Force (or Torque) = K * Current By monitoring and controlling the motor current, the TITAN-SVX is able to perform various types of force control operations. Titan-SVX has a built-in force control routine with the following steps.
  • Page 17 FCCF – Current used during lift move Motor is moved back to the initial position FCPA – Initial Position FCPA at high speed (FCVC) and acceleration FCVC – Velocity to PA (FCAC). FCAC – Acceleration to PA Table 2.6 TITAN-SVX Operation Manual page 17 Rev 4.05...
  • Page 18 2.15. Standalone Program Specification Standalone programming allows the controller to execute a user defined program that is stored in the internal memory of the TITAN-SVX. The standalone program can be run independent of host communication. Standalone programming can be used in both Pulse Mode and Control Mode. Note that in Pulse Mode, motion commands are not supported since the motion is controlled using the digital inputs.

  • Page 19: Standalone Program Specification

    The TITAN-SVX supports the simultaneous execution of all three standalone programs. 2.15.3. Standalone Subroutines The TITAN-SVX has the capability of using up to 32 separate subroutines. Subroutines are typically used to perform functions that are repeated throughout the standalone program. Note that subroutines can be shared by multi-threads of standalone programs.

  • Page 20: Math Operations

    2.15.7. Storing Standalone Program to Flash Standalone programs need to be stored on the flash of the TITAN-SVX, which allows the program to be preserved after powering down the controller. This is also required if the program is to be started from power up.

  • Page 21: Standalone Command Set

    HMODE Sets the homing mode: HMODE=1 0 – Plus Home HMODE=V1 1 – Minus Home HOMEX 2 – Plus Limit WAITX 3 – Minus Limit 4 – Plus Home Plus Encoder Index TITAN-SVX Operation Manual page 21 Rev 4.05...
  • Page 22 1 – Actual Position PROBECM=5 2 – Actual Velocity 3 – Target Position 4 – Target Velocity 5 – Position Error 6 – Velocity Error 7 – Actual Current 8 – Target Current TITAN-SVX Operation Manual page 22 Rev 4.05...
  • Page 23 Conditions [=, >, <, >=, <=, !=] are available. ENDWHILE X[position] If in absolute mode, move the X motor to [position]. X1000 If in incremental mode, move the motor to [current position] + [position]. Table 2.11 TITAN-SVX Operation Manual page 23 Rev 4.05...

  • Page 24: Conditional Statements

    Digital Input Bit DI2=1 Digital Outputs (bit 0-2) DO=3 DO[val] Digital Output Bit DO1=0 Table 2.13 Example: IF V1 = 1 ENDIF IF EX > 1000 ELSEIF SPDX<100 ENDIF WHILE DI > V2 V1=V1-1 ENDWHILE TITAN-SVX Operation Manual page 24 Rev 4.05...

  • Page 25: Example Standalone Programs

    ;* Set variable 1 to value 0 WHILE V1<10 ;* Loop while variable 1 is less than 10 X1000 ;* Move to zero ;* Move to 1000 V1=V1+1 ;* Increment variable 1 ENDWHILE ;* Go back to WHILE statement TITAN-SVX Operation Manual page 25 Rev 4.05...
  • Page 26 ;* Move to V1 target position V1=V1+1000 ;* Increment V1 by 1000 WHILE DI1=1 ;* Wait until the DI1 is turned off so that ENDWHILE ;* 1000 increment is not continuously done ENDSUB TITAN-SVX Operation Manual page 26 Rev 4.05...
  • Page 27 ;* Home the motor in negative direction ENDIF V1=MSTX ;* Store the motor status to variable 1 V2=V1&7 ;* Get first 3 bits IF V2!=0 DO1=1 ELSE DO1=0 ENDIF ENDWHILE ;* Go back to WHILE statement TITAN-SVX Operation Manual page 27 Rev 4.05...
  • Page 28 WHILE 1=1 ;* Forever loop IF DI1=1 ;* If digital input 1 is on RGB=1 ELSE RGB=2 ENDIF ;* End if statements ENDWHILE ;* Go back to WHILE statement ;* End Program 1 TITAN-SVX Operation Manual page 28 Rev 4.05...

  • Page 29: Serial Communicating Commands

    Table 3.0 3.2. LED Commands Command Description Blue LED on the face of TITAN Internal RGB LED Bit 0 – Red LED Bit 1 – Green LED Bit 2 – Blue Table 3.1 TITAN-SVX Operation Manual page 29 Rev 4.05...
  • Page 30 DGUGAIN High speed Dynamic Gain DGLSPD Low speed used for the DGLGAIN DGUSPD High speed used for the DGUGAIN DGTYPE Dynamic Gain Type 0 – Profile velocity 1 – Actual velocity Table 3.3 TITAN-SVX Operation Manual page 30 Rev 4.05...
  • Page 31 Sets action to perform when soft or hard limit is triggered 0 – Disable Motor 1 – Immediate Stop Motor with Servo On SLIMNEG Negative Soft Limit Value SLIMON Enable Soft Limit SLIMPOS Positive Soft Limit Value Table 3.5 TITAN-SVX Operation Manual page 31 Rev 4.05...
  • Page 32 3.7. Digital IO Commands Command Description Digital Inputs. TITAN-SVX has 8 digital inputs. Depending on whether TITAN is set in controller or pulse mode, some digital inputs are designated with special functions. DI1 – Pulse (Pulse Mode) DI2 – Dir (Pulse Mode) DI3 –...

  • Page 33: F Ault M Onitoring C Ommands

    SYSTIME Returns number of seconds since the last power up. RUNTIME Returns number of seconds motor is enabled and moving (velocity non- zero). Value is reset at zero at power up. Table 3.10 TITAN-SVX Operation Manual page 33 Rev 4.05...
  • Page 34 Time duration of the constant force FCMODE Force control mode FCSTAT Force control status FCSTEP Force control step FCENA Enable force control FCCYC Number of cycles to run the force control routine FCCMD Force control command Table 3.12 TITAN-SVX Operation Manual page 34 Rev 4.05...

  • Page 35: Software Installation

    The TITAN-SVX has Windows compatible software that allows for USB, RS485, or Ethernet communication. Standalone programming, along with all other available features of the TITAN-SVX, will be accessible through the software. It can be downloaded from the Arcus Servo website.
  • Page 36 The Options link will display the installation options shown in figure 4.2. The options can be adjusted here if desired. Figure 4.2 Once the options are confirmed, press the Install button from the main install screen. TITAN-SVX Operation Manual page 36 Rev 4.05...

  • Page 37: Titan Directory

    Note that you may get an Account Control Installation Notice to install the TITAN-SVX executable program. Please select “Yes” and proceed with the installation. Once installation is complete, following screen will show to indicate a successful installation. Figure 4.3 4.1.1. TITAN Directory TITAN-SVX software uses a dedicated directory to keep the various application files.

  • Page 38: Titan-Svx Ui S

    4.2. Communication and Setup Requirements TITAN-SVX software can use a serial communication port to communicate with the TITAN-SVX. For most systems a USB to RS485 communication converter will be needed, such as the ACE-USB-485 from Arcus Technology. Figure 4.4 Other RS485 to USB converters can be used as well.

  • Page 39: Oftware

    4.3. Starting the TITAN-SVX UI Software The main screen of the TITAN-SVX GUI is shown in figure 4.6. This screen will allow you navigate back and forth between various configuration and control features of the TITAN-SVX. Important Note: TITAN-SVX software communicates with a single TITAN-SVX controller at a time.

  • Page 40: C Ommunication

    4.4. Communication The Communication screen can be accessed by clicking the Communication button. This screen will allow you to open communication to a TITAN-SVX, search the network for existing TITAN-SVX, and update communication settings. Figure 4.7 TITAN-SVX Operation Manual page 40...

  • Page 41: Usb/Serial Communication

    2. Network ID: The default Network ID is 1. If a different network ID has been setup on the TITAN-SVX, the appropriate ID can be selected. 3. Network ID Probe: You can see the list of all TITAN-SVX that are connected to the RS485 network by clicking on the Network ID Probe button. The software will probe network ID’s 1 to 24 and list any TITAN-SVX that are found.
  • Page 42 D. Power Cycle: Power cycle will perform a soft power cycle of the controller. Important Protocol Notes:  TITAN-SVX software uses TITAN ASCII protocol without CRC to communicate with the TITAN controller. If any other protocol is selected, TITAN software will NOT be able to communicate with the TITAN-SVX controller.
  • Page 43 In the event that the Master sends a command and does not release the RS485 line fast enough before the TITAN-SVX sends the reply, the TX delay parameter can delay the response from the TITAN-SVX to avoid RS485 conflicts.

  • Page 44: Ethernet Communication

    The Ethernet communication section is only applicable to the TITAN-SVX-ETH model. Figure 4.10 1. IP Address: Ether the IP address of the TITAN-SVX-ETH. The factory default IP address is 192.168.1.100. 2. Port: The port of the TITAN-SVX-ETH is fixed to 5000 3.

  • Page 45: Otor

    4.5. Motor Figure 4.11 Figure 4.12 TITAN-SVX Operation Manual page 45 Rev 4.05...

  • Page 46: Motor Information

    5. Rated Voltage: 24VDC to 48VDC voltage of power supply that is used to power the TITAN-SVX 6. Max Current: Set the maximum allowable current from the TITAN-SVX to the motor. The motor specification should be referenced for value. The TITAN-SVX allows a maximum of 8A.

  • Page 47: Motor Electric Parameters

    4. Motor Bias Angle: the bias angle of the motor 4.5.4. Motor Mechanical Parameters Figure 4.16 1. Maximum Speed: The maximum allowable speed the TITAN-SVX will be able to move the connected motor. a. Enable FWC: enable/disable the field weakening condition. If enabled the motor will be able to move at faster speeds with reduced torque output.

  • Page 48: Motor Database Wizard

    Arcus Technology supplies various TITAN motors that already come with the motor database file ready to be used with the TITAN-SVX. For these motors, Motor Database Wizard is not needed since the motor database files are already generated and available to use with the TITAN-SVX.
  • Page 49 Step 2A – Motor Type Selection (Stepper Motor) Once the TITAN-SVX reset is complete, you will see following screen. The stepper motor option is selected by default. Figure 4.18 1. Select Motor Type: Select the motor type connected to the TITAN-SVX 2.
  • Page 50 For a 3 Phase Rotary motor, you will see following screen: Figure 4.19 1. Select Motor Type: Select the motor type connected to the TITAN-SVX 2. Motor Information: Type the motor name, supply voltage, and maximum current setting for the motor.
  • Page 51 For a 3 Phase Linear Motor, you will see the following screen: Figure 4.20 1. Select Motor Type: Select the motor type connected to the TITAN-SVX. 2. Motor Information: Type the motor name, supply voltage, and maximum current setting for the motor.
  • Page 52 For Voice Coil DC motor selection, following screen will show: Figure 4.22 1. Select Motor Type: Select the motor type connected to the TITAN-SVX 2. Motor Information: Type the motor name, supply voltage, and maximum current setting for the motor.
  • Page 53 4. Auto Detect will start the auto detection routine. This will involve moving the motors. Extreme caution should be taken. Note: For Rotary Motor Auto Detect, make sure that the motor is free and not connected to any mechanism. TITAN-SVX Operation Manual page 53 Rev 4.05...
  • Page 54 4. Motor Mechanical Parameter Detection (if applicable). This detection process will be done twice and the second set of parameters will be used. This routine will detect the following parameters: a. Motor Inertia b. Viscous Friction c. Coulomb Friction TITAN-SVX Operation Manual page 54 Rev 4.05...
  • Page 55 Once Motor Parameter Detection is done successfully, the found motor parameters will be automatically downloaded to the TITAN-SVX. Proceed to the next step of the Motor Database Wizard. Figure 4.25 TITAN-SVX Operation Manual page 55 Rev 4.05...
  • Page 56 C:\Users\Public\Documents\TITAN-SVX-V3\MotorDB If a save of motor database file is not desired, the Motor Data Summary dialog box can be closed. TITAN-SVX Operation Manual page 56 Rev 4.05...

  • Page 57: Uning

    4.6. Tuning Figure 4.27 Figure 4.28 TITAN-SVX Operation Manual page 57 Rev 4.05...
  • Page 58 The TITAN-SVX uses the following three parameters in the closed loop control algorithm. Inertia: System Inertia is also known as the mass of the system being controlled. This includes the motor inertia and the mechanical system inertia. For example, if the motor is connected to the belt drive linear axis that moves a 1kg mass, system inertia value include the motor inertia, belt and pulley inertia, bearing carriage inertia, and the 1kg mass inertia.

  • Page 59: Mechanical Parameters

    System Mechanical Parameters: three system mechanical parameters. These values should be equal or higher than the motor parameters, especially the inertia value. Viscous and Coulomb friction values may be lower than the motor friction values. TITAN-SVX Operation Manual page 59 Rev 4.05...

  • Page 60: Mechanical Parameter Auto Detect Wizard

    Step 1 – Mechanical Parameter Estimation Acknowledgement After the Auto Detect button is selected, following screen will show. Figure 4.31 Check the acknowledgement checkbox to proceed to the next screen. TITAN-SVX Operation Manual page 60 Rev 4.05...
  • Page 61 Newly detected parameters will show after the auto detection routine is successfully performed. Once new parameters are detected, user can use the new values by selecting the Apply button. Once the Apply button is TITAN-SVX Operation Manual page 61 Rev 4.05...
  • Page 62 Note: Anytime during the auto detect routine, the Abort button can be pressed to stop the motion and auto detect routine. Once the auto detect mechanical system parameter estimation is done successfully, the new values will show on the New Detected fields. Figure 4.34 TITAN-SVX Operation Manual page 62 Rev 4.05...
  • Page 63 If you manually decrease the inertia than the actual, control loop will assume a lighter mass and may result in lighter and slower response. TITAN-SVX Operation Manual page 63 Rev 4.05...

  • Page 64: Onfiguration

    4.7. Configuration Figure 4.36 Figure 4.37 TITAN-SVX Operation Manual page 64 Rev 4.05...

  • Page 65: Mechanical Parameters

    4.7.1. Mechanical Parameters Figure 4.38 1. Pulse Mode / Control Mode: TITAN-SVX can be set as Controller Mode or Pulse Mode. In Controller Mode, the motion control and motion profiling is done via RS485 communication. In Pulse mode, the TITAN-SVX will accept pulse/direction or CW/CCW signals to determine motion.

  • Page 66: Pulse Mode Setup

    4.7.3. Pulse Mode Setup If the TITAN-SVX is being set up in Pulse Mode, various controller settings can be made. Figure 4.40 1. Pulse Mode: In Pulse Mode, one clock or two clock mode can be set. One Clock mode is Pulse/Dir mode and Two Clock Mode is CW/CCW mode.

  • Page 67: Special Configurations

    1. Open Loop Applied Current: This setting applies only to the stepper motors. When this is enabled and set to a value other than Disable, TITAN-SVX goes to open loop control when motion is not being performed. When moving, closed loop servo control is performed.

  • Page 68: Analog Input Joystick Related Parameters

    If the motor is in position, the “inpos” status will be set and the “inpos” digital output can be activated for the pulse mode. 2. Motor Direction: The direction polarity of the motor can be set. TITAN-SVX Operation Manual page 68 Rev 4.05...

  • Page 69: Ethernet Socket Communication Settings

    4. MAC Address: The MAC address is displayed here. This is a read only value. 4.7.9. Power Up State Figure 4.46 1. Power Up State: When TITAN-SVX is powered, following can be enabled: a. Servo On b. Standalone programs 0, 1, and 2...

  • Page 70: Arameters

    4.8. Parameters Figure 4.47 TITAN-SVX Operation Manual page 70 Rev 4.05...
  • Page 71 Figure 4.48 All setup and parameters on the TITAN-SVX are displayed in this screen. This includes all the motor parameters and mechanical system parameters. All configuration values are displayed as well. Note that all the values are read only. System Parameter files are located in the following directory by default.

  • Page 72: Drive

    4.9. Test Drive Figure 4.49 The Test Drive screen will change depending on whether the TITAN-SVX is configured for Controller Mode or Pulse Mode. Note that in pulse mode, all motion control is disabled. TITAN-SVX Operation Manual page 72 Rev 4.05...

  • Page 73: Control Mode

    Figure 4.51 1. Position: Target position counter. 2. Encoder: Actual encoder position counter. 3. Error: The difference between the target Position and Encoder counter. 4. Speed: The target speed derived from of the motor TITAN-SVX Operation Manual page 73 Rev 4.05...
  • Page 74 1. Enable: Motor servo on 2. Disable: Motor servo off 3. Clear: Fault condition is cleared 4. Open Loop Hold: The open loop position hold is disabled or enabled at the chosen percentage value. TITAN-SVX Operation Manual page 74 Rev 4.05...
  • Page 75 3. Moving: Indicates whether the motor is moving or not from the encoder position change 4. Fault: The TITAN-SVX is in fault state. The fault description is listed if applicable. 5. Error Check: Enable of disable the following error conditions a.
  • Page 76 6. Current Gain (if the current gain box is checked) Update Current Gain: Include the current gain when using the preset firmness options. The current gain can also be updated independently through the Motion option. TITAN-SVX Operation Manual page 76 Rev 4.05...
  • Page 77 Figure 4.57 In this Motion Monitor screen, following can be done: a. Motion graphs can be saved to CSV file b. Motion program can be run c. Dual motion movement test can be done TITAN-SVX Operation Manual page 77 Rev 4.05...
  • Page 78 Start Probe can be done d. Probe data sets can be stored to CSV file. e. Program control can be done f. Gain settings can be done. Display settings can be configured. TITAN-SVX Operation Manual page 78 Rev 4.05...
  • Page 79 Trend values are reset at power cycle. Trend values can be saved to a CSV file g. System Time shows the total time TITAN-SVX power was one and total time motor was enabled and moving. h. Trigger time for the Fault is shown with respect to the System Time Trend of Power or Temperature can be set.
  • Page 80 The Upload button will pull to current Force Control values off the TITAN-SVX and populate the corresponding fields. A Force Control routine can be saved to the flash memory of a TITAN-SVX with the Store Flash button. TITAN-SVX Operation Manual page 80 Rev 4.05...
  • Page 81 Upper gain, lower gain, upper speed, and lower speed can be defined in this window. Speed value that will be used for dynamic gain can be either the profile velocity or the actual encoder velocity. Upload and download the dynamic gain parameters. TITAN-SVX Operation Manual page 81 Rev 4.05...
  • Page 82 Pause will pause the program that is running. Continue will continue the program that is paused. 3. Debug: TITAN-SVX has program debugging capability. Note that only one program can be debugged at a time. When the Debug button is pressed, the program that is open will be compiled and downloaded for debugging.
  • Page 83 4. Variable Monitor: Variable Monitor is selected, following screen will show. Figure 4.65 Variables can be added, deleted, and edited from the variable monitor list. 5. File: Program files can be saved, opened, and cleared for new program. TITAN-SVX standalone programs are stored in the following directory: C:\Users\Public\Documents\TITAN-SVX-V3\MotionPrograms...

  • Page 84: Pulse Mode

    7. Store/Restore: Programs can be compiled and stored in the flash memory for permanent storing of the program on the TITAN-SVX. Program can also be uploaded from the flash memory and decompiled to the program editor.
  • Page 85 Arcus Servo, Inc. 3159 Independence Drive Livermore, CA 94551 925-373-8800 www.arcusservo.com The information in this document is believed to be accurate at the time of publication but is subject to change without notice TITAN-SVX Operation Manual page 85 Rev 4.05...
  • Page 86 TITAN-SVX Operation Manual page 86 Rev 4.05...

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