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Pacific Scientific OC930 Hardware & Software Reference Manual

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M A 9 3 0
OC930 Hardware & Software Reference Manual
& SC900 Software Reference Manual
Firmware Version 1.5
110 Fordham Road
Wilmington, MA 01887
(978) 988-9800
Fax (978) 988-9940
Part# MA930
List Price $30 U.S.
January, 1999
Rev E

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Summary of Contents for Pacific Scientific OC930

  • Page 1 110 Fordham Road Wilmington, MA 01887 (978) 988-9800 Fax (978) 988-9940 Part# MA930 List Price $30 U.S. January, 1999 Rev E M A 9 3 0 OC930 Hardware & Software Reference Manual & SC900 Software Reference Manual Firmware Version 1.5...
  • Page 2 This document is copyrighted by Pacific Scientific Company. It is supplied to the user with the understanding that it will not be reproduced, duplicated, or disclosed in whole or in part without the express written permission of Pacific Scientific Company.
  • Page 3 Products. Pacific Scientific’s obligation hereunder is limited solely to repairing or replacing (at its option), at its factory any Products, or parts thereof, which prove to Pacific Scientific’s satisfaction to be defective as a result of defective materials or workmanship, in accordance with Pacific Scientific’s stated warranty, provided, however, that written notice of...
  • Page 4 Pacific Scientific’s date of warranty. No person, including any agent, distributor, or representative of Pacific Scientific, is authorized to make any representation or warranty on behalf of Pacific Scientific concerning any Products or Programs manufactured by Pacific Scientific, except to...

  • Page 5: Table Of Contents

    Table of Contents ..........1 Overview 1.1 OC930 Serial Communications Option Card Definition ......1-1 1.2 How to Use this Manual................1-2 1.3 Warranty.......................1-2 2 Getting Started 2.1 Setting Up the Hardware ................2-1 2.2 Installing 930 Dialogue for Windows .............2-4 2.3 Starting 930 Dialogue for Windows............2-4 2.4 Getting Around in 930 Dialogue for Windows...........2-5...
  • Page 6 6.3 Advanced Velocity Loop Tuning ..............6-10 7 Parameter, Variable and Command Reference 7.1 Quick Reference...................7-1 7.2 Keyword Reference..................7-7 Appendix A OC930 Communications Protocol Appendix B Configuring OC930 as Personality Module B-1 Appendix C Control Block Diagrams Appendix D Troubleshooting/Fault Diagnostic Guide MA930 Manual...

  • Page 7: Overview

    Precise readout of motor velocity, position, and other variables using the serial link and 930 Dialogue. • On-board EEPROM which allows the OC930 to be used as a Personality Module with all non-volatile parameters stored on the OC930 (see Appendix B for additional information.)

  • Page 8: How To Use This Manual

    This will give you a feel for using the SC930 and lay the framework for reading the other chapters. Chapters 3 through 7 should be read thoroughly to gain the most from the OC930. If your SC900 is to be used as a slave in electronic gearing or driven by step-and-direction inputs, Chapter 5 should also be read.

  • Page 9: Getting Started

    PC’s serial port. It is strongly recommended that all first time users go through this procedure to become familiar with the OC930 and the 930 Dialogue PC interface software before installing the servo system in a machine.
  • Page 10 The RS-232 cable made by Pacific Scientific (order number CS-232-750) can be used to connect the 9 pin serial port socket on the OC930 to the PC. If this cable is unavailable, a simple 3 wire cable can be made using the wiring diagram shown on page 3-5.
  • Page 11 REGEN R INT REGEN R INCREMENTAL CH B OUT SHAFT POSITION CH B OUT - BUS OUTPUT PACIFIC SCIENTIFIC I/O RTN/+5 VDC RTN BRUSHLESS MOTOR CH Z OUT CH Z OUT PHASE R CH A IN/STEP +/STEP UP + INCREMENTAL...

  • Page 12: Installing 930 Dialogue

    2.2 Installing 930 Dialogue for Windows Procedure To install 930 Dialogue, perform the following: 1. Insert the 930 Dialogue for Windows diskette in your disk drive (A: or B:). Start Windows and choose Run from the File Menu of Program Manager. At the Command Line, type A:\setup (or B:\ setup) and press the enter key (↵...
  • Page 13 2.4 Getting Around in 930 Dialogue 930 Dialogue Once you double-click on the 930WIN icon, the following main menu window will appear: Movement keys 930 Dialogue for Windows is a standard Windows application and the normal cursor movement keys operate the same way as in all windows applications.

  • Page 14: Configuring Your System

    LED should be alternately flashing U C (for unconfigured) after the power up message. Serial Port To specify the PC serial port that is connected to the OC930: 1. Select Port Configuration from the Options Menu and the following dialogue box will appear: 2.

  • Page 15: Configuring Your Drive

    2.6 Configuring Your Drive Procedure • Select Drive Set Up from the Drive menu and press <Enter>. Select Automatic and press ↵. Enter the first four Digits of your Motor Part Number. For example, if the part number on your motor name plate is R32GENC-R2-NS-NV-00, type R32G and press ↵.

  • Page 16: Using The Variables Window

    Enabling Drive The controller can be enabled at this time by closing the switch between the Enable/ input (J4-6) and I/O RTN (J4-5). Once enabled, the status LED display should be an . The commanded motor speed will be the power up default, set to 0 during configuration.
  • Page 17 Variable name Now press the <Tab> key or use the mouse, to get the cursor in completion the Enter a New Value box, enter 100, and press ↵. The motor shaft should now be spinning at 100 RPM in the clockwise direction when facing the motor shaft.

  • Page 18: Reviewing And Editing Parameters

    2.8 Reviewing and Editing Parameters Close the Variables window by clicking on the Close Window Option or by pressing <Alt+F4>. The Off-line Parameter Edit window will be displayed. The parameter values displayed are based upon selections made during Drive set up in Section 2.6. These values are stored in the PC’s RAM.

  • Page 19: Downloading Parameters To The 930

    Select Download to Drive in the Drive Menu and press <Enter>. Select Yes to the question “Are You Sure?” and the parameters will be downloaded to the OC930. Also respond Yes to the question “Do an NVSAVE now?” This will save the parameters in the SC900’s non-volatile memory.

  • Page 20: Uploading Parameters From The Oc930

    2.10 Uploading Parameters from the OC930 It is also possible to upload the current parameter values in the drive’s RAM to the Parameter Edit Window on the PC by using the symmetric Upload from Drive function. 2.11 Saving Parameters on Disk Select the File menu, select Save As and press ↵.

  • Page 21: Oc930 Interfaces And Connections

    3 OC930 Interfaces and Connections Introduction This chapter describes the OC930’s serial port (J31) and provides the information required to interface to it. This chapter also describes the serial port address DIP switch on the OC930. 3.1 Serial Port J31 The serial port (J31), utilizes the 9 contact female D subminiature style connector shown below.
  • Page 22 SC930 to your computer for use with 930 Dialogue (due to the intelligent communications protocol utilized, it is not possible to operate the OC930 with a dumb terminal). Two communication links are available, RS-232 and RS-485. RS-485 allows a single computer to communicate with up to 32 SC930s in multi-axis configurations.

  • Page 23: Setting Up Serial Addresses Using Switch S1

    The ability to select different addresses is used with RS-485 for multi-drop communications. Procedure Looking down at the top of the OC930, the following diagram shows the location of switch S1. Note: Each SC900 subsystem connected to a multi-drop master must have a unique serial address.
  • Page 24 Procedure To change the OC930 Address: 1. Remove power from the SC900 drive. 2. Remove the OC930 from the drive 3. Refer to the table below to set the SC900 to the appropriate address. )@@HAII " & 255* *(factory default) recommended for RS-232 operation 4.
  • Page 25 Cabling diagram A 6 foot (1.8 m) RS-232 Cable with 9 pin connectors and a 9 pin to 25 pin adapter is available from Pacific Scientific. The Pacific Scientific order number is RS-232-750. I/O RTN...
  • Page 26 RS-485/RS-422 Up to 32 OC930s can be connected in parallel to a multidrop Connections master. The OC930s must each have a unique address, set using switch S1 as described above. Once the address is set, the Axis Selection function in 930 Dialogue must be used to select the designated axis address.
  • Page 27 J31-4 as long as the load current on J31-4 and J4-25 both total less than 200 mA. Installation diagram RXD + RS-232 RXD - OUTPUT RS-485 TXD + CONVERTER TXD - I/O RTN OC930 OC930 OC930 MA930 Manual 3 - 7...
  • Page 28 OC930 Serial Communications Transceiver Schematic 2 RS-232 TXD SN75155 3 RS-232 RXD SN75155 1000pF TO UART +5 V 1000pF 6.81 K 8 RS-485 RXD+ 9 RS-485 RXD- 75176 6.81 K 1000pF +5 V 4 +5 VDC 6 RS-485 TXD+ 75176...

  • Page 29: Selecting Motor Control Functionality

    Analog Command • Incremental Digital Pulse Command • Serial Port Command with OC930 The SC930 implements seven of the nine possible combinations from the above list. The eighth possibility, Serial Port command torque block, is implemented indirectly and the ninth possibility, analog command position block is not implemented.

  • Page 30: Torque Block Modes

    4.1 Torque Block Modes 4.1.1 Analog Command Torque Block (BlkType = 0) This mode allows the differential analog voltage between terminals J4-1 and J4-2 to set the motor’s terminal torque current amplitude. Since the actual motor current amplitude (IFB) times times 3 2 is the the motor’s 0-peak line-line torque constant K shaft torque, then the analog input directly controls motor shaft...
  • Page 31 9. And finally through the IlmtPlus and IlmtMinus current command clamp to become the ICmd motor torque current command variable. Although this looks like a large amount of processing, the options are only there to allow tailoring the response to fit a particular application.

  • Page 32: Digital Frequency Command Torque Block (Blktype = 4)

    EncInF0 must be set appropriately. 4.1.3 Serial Port Command Torque Block (BlkType = 0) This mode requires the OC930 to work. It is not possible to directly command the current over the serial port. But, you can use the analog command torque block mode to virtually implement it.
  • Page 33 Command The analog input goes through a number of signal processing processing steps before becoming the actual motor velocity command VelCmdA as shown by Figure 1 in Appendix C. 1. Analog input differential amplifier with 1200 Hz low pass filter. 2.

  • Page 34: Digital Frequency Command Velocity Block (Blktype = 5)

    EncMode and EncInF0 must be set appropriately. 4.2.3 Serial Port Command Velocity Block (BlkType = 8) This mode requires the OC930 to operate. It is the same as the analog command velocity block mode except that the command input is the value of VelCmd set over the serial port. Note that...
  • Page 35 Clutch brake This emulation allows much faster transition times between example (cont’d) braking and running or visa versa than mechanical clutch brakes, has significanty longer life due to near zero mechanical wear, clutch/brake mode transitions are consistently the same, and the run speed regulation is often much better.

  • Page 36: Position Block Modes

    4.3 Position Block Modes 4.3.1 Digital Command Position Block (BlkType = 2) This mode is just a velocity block mode with the VelCmd coming from the position loop. See Figure 3 in Appendix C. In particular, PosError = PosCommand - Position Feedback KVFF ...

  • Page 37: Serial Command Position Block (Blktype = 2)

    4.3.2 Serial Command Position Block (BlkType = 2) This mode is identical to the digital command position block type except that the EncMode parameter is set to 3 to hold the input EncPos variable and the desired position command is sent over the serial port as the PosCmdSet variable.
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  • Page 39: Setting Parameters For Electronic Gearing

    5 Setting Parameters for Electronic Gearing Introduction This chapter provides procedures for setting up the SC900 for use as either as an electronic gearing slave with a master reference encoder or for use with a stepper indexer that generates step and direction signals.
  • Page 40 Procedure 7. Enter the number of motor resolver counts (1/65536 of a rev) (cont’d) that you want the motor to move for the specified number of input encoder quadrature counts. For example: Example If the input encoder line count is 2000 (8000 quadrature counts per encoder revolution) and the motor should make one revolution for every three encoder revolutions, then: 1 rev = 65,536 resolver counts per...

  • Page 41: Controlling The Sc900 With A Stepper Indexer

    5.2 Controlling the SC900 with a Stepper Indexer The following procedure describes how to use 930 Dialogue to easily set up your SC900 for use with a stepper indexer. Procedure 1. Select New Setup from the Files menu. 2. Select Automatic for the Set Up Mode. 3.

  • Page 42: Converting From Another Mode

    At this point, when the drive is enabled, it can be controlled by a stepper indexer feeding it with step and direction signals. The Position Block Step and Direction setup mode sets the following parameters to the values listed below: BlkType = 2 Digital Position EncMode = 1...

  • Page 43: Turning Gearing On And Off

    5.4 Turning Gearing On and Off The VelCmdSrc mappable BDIO input function allows gearing to be turned on or off via a digital input. If VelCmd2 = 0 and VelCmdSrc is active, then the drive does a position hold. Setting VelCmdSrc to inactive returns the drive to normal gearing.
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  • Page 45: Servo Loop Parameters

    6 Servo Loop Parameters Introduction This chapter describes setting parameters associated with the velocity and position loops. In many cases, satisfactory operation is achieved using New Set Up or Drive Set Up menu selections. However, in some cases the user must adjust control loop parameters due to large mismatches between motor and load inertia, mechanical resonances, backlash, etc.
  • Page 46 /amp will work) The motor torque constant is the value of K peak published in the Pacific Scientific Motion Control Solutions catalog. Note: f is the unity gain open-loop crossover frequency of the idealized rigid single mass system. See hardware specifications for maximum f value.
  • Page 47 Load inertia From the formula for bandwidth, it is seen that bandwidth changes inversely with total inertia. If the load inertia equals the motor plus resolver inertia, the velocity loop bandwidth will be half the values shown. If the load inertia is ten times the motor plus resolver inertia, the bandwidths will be one eleventh these values.
  • Page 48 930 Dialogue can also be used to make the calculation. Simply enter the total inertia in place of the motor plus resolver inertia when using the New Setup or Drive Setup utilities and 930 Dialogue will calculate the appropriate value for KVP to achieve 25, 75 or 180 Hz bandwidth depending upon the choice made for system response.
  • Page 49 Resonances Mechanical resonances are caused by springiness between motor inertia and load inertia. This may result from belts, flexible couplings, or the torsional stiffness of shafts. In general, the stiffer the couplings, the higher the resonance frequency and the easier it is to tune the system for good performance. If the velocity loop breaks into an oscillation at a frequency well above the calculated velocity loop bandwidth, a resonance problem may well exist.
  • Page 50 Procedure 1. Set both ARF0 and ARF1 to 400 Hz and set KVP low enough to prevent oscillation. 2. Increase KVP slowly until oscillation at the resonant frequency just begins. Then, reduce KVP slightly until the oscillation just stops. Compute the velocity loop bandwidth using the formula given at the beginning of this section.
  • Page 51 Current ripple The velocity feedback signal in standard SC900 Drives operating with the standard 20 arcmin resolver can have up to 3% p-p ripple. The resulting motor torque current ripple, with no ARF0/ARF1 filtering, can be calculated using the following formula: π...

  • Page 52: Position Loop

    If the Drive is to be used within a position loop (either with BlkType = 2 or when using an external position drive and BlkType = 1), KVI should be equal to or less than 0.1 times the velocity loop bandwidth. If no position loop is used, KVI can be set to 0.25 times the velocity loop bandwidth (or higher if some ringing can be tolerated).
  • Page 53 KVFF KVFF is the velocity feed forward gain. In the absence of velocity feed forward (KVFF = 0), the commanded velocity is proportional to the position (following) error. This means that the actual position will lag the commanded position by a value proportional to the speed.

  • Page 54: Advanced Velocity Loop Tuning

    Overshoot Setting KVFF equal to 100% can result in position overshoot. Somewhat lower values may be required if this is a problem. KVFF set to 70%-80% typically achieves the fastest step response with no overshoot. However, setting KVFF to less than 100% will give steady state following error when running at constant speed.
  • Page 55 For ARx0 > 0 both roots are real and: ω π For ARx0 < 0 roots are a complex pair and: ω =− π Note: When ARZ0 and ARZ1 are both zero, the numerator of FvelErr s ( ) reduces to 1. If ARZ0 or ARZ1 is individually 0 the VelErr numerator reduces to π...
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  • Page 57: Parameter, Variable And Command Reference

    7 Parameter, Variable and Command Reference In this chapter This chapter includes a quick reference guide to all 930 parameters, variables, and commands as well as detailed descriptions of each. The quick reference indicates the page number of the detailed description. 7.1 Quick Reference The list defines the type of entry, default value, and page number in Section 7.2 where a detailed description can be found.
  • Page 58 Table (cont’d) Name Type Default Value Page # AxisAddr variable (integer R/O) 7-19 BDInx variable (integer R/O) 7-20 BDIOMapx NV parameter (integer) set up 7-21 BDLgcThr NV parameter (integer) set up 7-22 BDOutx variable (integer) 7-23 BlkType NV parameter (integer) set up 7-24 Brake...
  • Page 59 Table (cont’d) Name Type Default Value Page # DM2Gain NV parameter (float) set up 7-40 DM1Map NV parameter (float) set up 7-41 DM2Map NV parameter (float) set up 7-42 DM1Out variable (float R/O) 7-43 DM2Out variable (float R/O) 7-44 ElecRev MF variable (integer R/O) 7-45 Enable...
  • Page 60 Table (cont’d) Name Type Default Value Page # HSTemp variable (float R/O) 7-62 variable (integer R/O) 7-63 ICmd variable (float R/O) 7-64 variable (float R/O) 7-65 ILmtMinus NV parameter (integer) set up 7-66 ILmtPlus NV parameter (integer) set up 7-67 Inputs variable (integer R/O) 7-68...
  • Page 61 Table (cont’d) Name Type Default Value Page # NV parameter (float) set up 7-82 MechRev MF variable (integer R/O) 7-83 Model NV parameter (integer R/O) 7-84 Motor NV parameter (integer R/O) set up 7-85 NVLoad command 7-86 NVLoadOpt command 7-87 NVSave command 7-88...
  • Page 62 Table (cont’d) Name Type Default Value Page # ResPos variable (integer R/O) 7-103 RunStop MF variable (integer) 1 if not mapped 7-104 StopTime NV parameter (float) set up 7-105 UncfgDrv command 7-106 UncfgOpt command 7-107 VBus variable (float R/O) 7-108 VBusThresh NV parameter (float) 7-109...

  • Page 63: Keyword Reference

    7.2 Keyword Reference Introduction This section is an alphabetical reference to SC930 keywords. These keywords give access to: • parameters • variables • commands The name, type of each keyword, and communications protocol code is listed at the top of the page. For additional information on the Serial Communications Protocol, please refer to Appendix The keyword is then described based on the following categories: Purpose...
  • Page 64 AccelLmt (NV Parameter, Float) f276 Units RPM/sec 0 to 1 x 10 9 Range Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 0 (no acceleration limiting). Purpose Slew rate limit on actual velocity command magnitude increases. See VelCmdA for the VelCmd value after slew limiting.
  • Page 65 ADF0 (NV Parameter, Float) f18 Units Hertz 0.01 to 4.17 x 10 7 Range Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 1000. Purpose ADF0 is the first-order low-pass filter corner frequency for the analog input channel on J4-1 to J4-2.
  • Page 66 ADOffset (NV Parameter, Float) f19 Units Volts Range -15 to +15 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 0. Purpose ADOffset adjusts the steady-state value of the analog command input.
  • Page 67 AInNull (Mappable Input Function, Variable, Integer) i283 Range 0 or 1 Default 0 at power up if not mapped to a BDIO point Purpose Function to null the dc in AnalogIn to 0. Guidelines When not mapped to a BDIO, setting AInNull to 1 starts the nulling function by temporarily setting ADF0 to 1 Hz.
  • Page 68 AnalogIn (Variable, Float, Read-Only) f0 Units Volts Range -13.5 to +13.5 Default none Purpose AnalogIn (Analog input) is the digitized value of the analog input channel, which is the differential voltage of J4-1 (+) relative to J4-2 (-) after ADOffset is added and passed through ADF0 low-pass filter.
  • Page 69 AnalogOut1 (Variable, Float) f1 Units Volts Range -5 to +4.961 Default None Purpose AnalogOut1 directly sets the voltage level of DAC Monitor 1 (J4-3) when DM1Map = 0. Guidelines When DM1Map is not equal to 0, AnalogOut1 is not used. MA930 Manual 7 - 13...
  • Page 70 AnalogOut2 (Variable, Float) f261 Units Volts Range -5 to +4.961 Default None Purpose AnalogOut2 directly sets the voltage level of DAC Monitor 2 (J4-4) when DM2Map = 0. Guidelines When DM2Map is not equal to 0 AnalogOut2 is not used. 7 - 14 MA930 Manual...
  • Page 71 ARF0 (NV Parameter, Float) f8 Units Hertz 0.01 to 10 x 10 6 Range -10 x 10 6 to -0.01 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected motor and drive.
  • Page 72 ARF1 (NV Parameter, Float) f9 Units Hertz Range 0.01 to 10,000,000 1 to 100 (Q) Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected motor and drive.
  • Page 73 ARZ0 (NV Parameter, Float) f285 Units Hertz 20 to 1 x 10 5 Range -1 x 10 5 to -35 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 0. Purpose ARZ0 is the first velocity loop compensation zero.
  • Page 74 ARZ1 (NV Parameter, Float) f286 Units Hertz 20 to 1 x 10 6 Range -100 to 100 (Q) Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 0. Purpose ARZ1 is the second velocity loop compensation zero.
  • Page 75 (Variable, Integer, Read-Only) i78 Range 0 to 255 Default Set by hardware DIP switch on OC930 Card Purpose AxisAddr indicates the address of the drive currently selected. Guidelines The axis address must be set in 930 Dialogue to correspond to the address setting of the dip switch of the SC930 option card.
  • Page 76 BDInX (Variable, Integer, Read-Only) i17-i22 Range 0 or 1 Purpose BDIn1 reads the state of BDIO1, J4-7 BDIn2 reads the state of BDIO2, J4-8 BDIn3 reads the state of BDIO3, J4-9 BDIn4 reads the state of BDIO4, J4-10 BDIn5 reads the state of BDIO5, J4-11 BDIn6 reads the state of BDIO6, J4-12 Guidelines BDInX indicates whether BDIOX input voltage is above or below the...
  • Page 77 BDIOMapx (NV Parameter, Integer) i270-i275 Range -2,147,483,648 to 2,147,483,648 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets their values as follows: BDIOMap1 Fault Reset Input Active Low BDIOMap2 CW Inhibit Input Active Low BDIOMap3 CCW Inhibit Input Active Low BDIOMap4...
  • Page 78 BDLgcThr (NV Parameter, Integer) i256 Range 0 or 1 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 0 (5 volt logic). Purpose BDLgcThr sets the switching threshold of all the discrete inputs and the pull up voltage for the BDIOs.
  • Page 79 BDOutX (Variable, Integer) i35-i40 Range 0 or 1 Default none Purpose Allows setting the output logic state of BDIO outputs not mapped to an output function via BDIOMap. BDOut1 sets the state of BDIO1, J4-7 BDOut2 sets the state of BDIO2, J4-8 BDOut3 sets the state of BDIO3, J4-9 BDOut4 sets the state of BDIO4, J4-10 BDOut5 sets the state of BDIO5, J4-11...
  • Page 80 BlkType (NV Parameter, Integer) i85 Range 0, 1, 2, 4, 5 or 8 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to that selected by the user. Purpose BlkType specifies configuration as a position, velocity, or torque block.
  • Page 81 Brake (Mappable Output Function, Variable, Integer, Read-Only) i277 Range 0 or 1 Purpose Output function to indicate when the motor is not powered and a mechanical brake is needed to hold the motor. Guidelines 0 = the motor is powered and the brake should be off 1 = the mechanical brake should engage To insure that a mechanical brake is engaged when a drive’s control power is removed, the Brake function should be mapped active high...
  • Page 82 CCDate (Variable, Integer, Read-Only) i280 Range 0 to 2^31 Default none Purpose OCDate gives the Control card date code. 7 - 26 MA930 Manual...
  • Page 83 CCSNum (Variable, Integer, Read-Only) i279 Range 0 to 2^31 Default none Purpose CCSNum gives the Control card serial number. MA930 Manual 7 - 27...
  • Page 84 CcwInh (Mappable Input Function, Variable, Integer) i164 Range 0 or 1 (0 is normal operation; 1 is function activated) Default 0 at power up if not mapped Purpose CcwInh selects between normal operation and clamping VelCmdA to be only positive. Guidelines When CcwInh = 1, counter-clockwise rotation is inhibited.
  • Page 85 Cfgd (Variable, Integer, Read-Only) i3 Range -32,768 to 0 Purpose Configuration state of the drive’s RAM. 0 is a fully configured drive, -1 is a completely unconfigured drive, and other minus numbers indicate partial configuration. MA930 Manual 7 - 29...
  • Page 86 CmdGain (NV Parameter, Float) f22 ±10 Units, BlkType = 0 Amperes/Volt peak Range ±10 BlkType = 1 KRPM/Volt BlkType = 2 Not Applicable (see PulsesIn, PulsesOut) ±10 BlkType = 4 Amperes/KHz peak ±10 BlkType = 5 KRPM/KHz BlkType = 8 Not Applicable Default Parameter value set before last NVSAVE.
  • Page 87 CmdGain2 (NV Parameter, Float) f323 ±10 Units, BlkType = 0 Amperes/Volt peak Range ±10 BlkType = 1 KRPM/Volt BlkType = 2 Not Applicable (see PulsesIn, PulsesOut) ±10 BlkType = 4 Amperes/KHz peak ±10 BlkType = 5 KRPM/KHz BlkType = 8 Not Applicable Default Parameter value set before last NVSAVE.
  • Page 88 CommEnbl (Variable, Integer) i131 Range 0 or 1 Default Purpose CommEnbl allows/disallows normal commutation. Guidelines 0 disables commutation; commutation angle set only by CommOff 1 enables normal commutation IMPORTANT NOTE CommEnbl must always be 1 for normal operation. Leaving CommEnbl at 0 can overheat and possibly damage the motor. 7 - 32 MA930 Manual...
  • Page 89 CommOff sets the origin for the electrical commutation angle. Guidelines Proper value for standard Pacific Scientific motors is 0. Note: For CommSrc = 1 (incremental encoder commutation) CommOff is set to 0 on every power up, independent of the value in the non-volatile memory.
  • Page 90 CommSrc (NV Parameter, Integer) i265 Range 0 or 1 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 0 (commutate from motor resolver feedback). Purpose CommSrc selects between resolver or incremental encoder feedback for motor commutation.
  • Page 91 CwInh (Mappable Input Function, Variable, Integer) i163 Range 0 or 1 (0 is normal operation; 1 is function activated) Default 0 at power up if not mapped Purpose CwInh selects between normal operation and clamping VelCmdA to be only negative. Guidelines When CwInh = 1, clockwise rotation is inhibited.
  • Page 92 DecelLmt (NV Parameter, Float) f277 Units RPM/sec 0 to 1 x 10 9 Range Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets it value to 0 (no deceleration limiting). Purpose Slew rate limit on actual velocity command magnitude decreases. See VelCmdA for the VelCmd value after slew limiting.
  • Page 93 DM1F0 (NV Parameter, Float) f17 Units Hertz 0.01 to 4.17 x 10 7 Range Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 1000. Purpose DM1F0 sets the frequency in Hz of a single pole low-pass filter on the DAC Monitor 1 output (J4-3).
  • Page 94 DM2F0 (NV Parameter, Float) f266 Units Hertz 0.01 to 4.17 x 10 7 Range Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 1000. Purpose DM2F0 sets the frequency in Hz of a single pole low-pass filter on the DAC Monitor 2 output (J4-4).
  • Page 95 DM1Gain (NV Parameter, Float) f21 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected motor and drive. Purpose Sets the multiplicative scale factor applied to the DM1Map selected signal before outputting on DAC Monitor 1 (J4-3).
  • Page 96 DM2Gain (NV Parameter, Float) f263 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected motor and drive. Purpose Sets the multiplicative scale factor applied to the DM2Map selected signal before outputting on DAC Monitor 2 (J4-4).
  • Page 97 DM1Map (NV Parameter, Integer) i7 Range 0 to 65,537 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 9 (IFB). Purpose DM1Map selects the signal sent to the DAC Monitor 1 output on J4-3.
  • Page 98 DM2Map (NV Parameter, Integer) i258 Range 0 to 65,537 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 1 (VelFB). Purpose DM2Map selects the signal sent to the DAC Monitor 2 output on J4-4. Guidelines Monitor # Mnemonic...
  • Page 99 DM1Out (Variable, Float, Read-Only) f31 Range Depends on DM1Map selected signal Purpose DM1Out indicates the value of the selected, filtered variable output to DAC Monitor 1 (J4-3). The value is reported in the units of the selected variable. For example DM1Map = 1 selects VelCmdA and the units would be RPM.
  • Page 100 DM2Out (Variable, Float, Read-Only) f256 Range Depends on DM2Map selected signal Purpose DM2Out indicates the value of the selected, filtered variable output to DAC Monitor 2 (J4-4). The value is reported in the units of the selected variable. For example DM2Map = 1 selects VelCmdA and the units would be RPM.
  • Page 101 ElecRev (Mappable Output Function, Variable, Integer, Read-Only) Not accessible over the serial port Range 0 or 1 Purpose Square wave whose frequency is equal to the motor electrical frequency. Guidelines There are PoleCount/2 motor electrical revolutions (cycles) per mechanical revolution. (Shaft RPM) Polecount ElecRev (Hz) = MA930 Manual...
  • Page 102 Enable (Variable, Integer) i10 Range 0 or 1 Default Set to 1 at power up Purpose Enable = 0 prevents power from flowing out of the motor power terminals (J2). 0 (to disable the drive) 1 (to enable the drive) Guidelines Before power can flow to the motor, verify that the following conditions are all true:...
  • Page 103 Enable2 (Mappable Input Function, Variable, Integer) i266 Range 0 or 1 Default 1 at power up if not mapped Purpose Second drive enable function that can be mapped to a BDIO pin with programmable polarity. Guidelines 0 disables the drive 1 allows the drive to enable if other conditions permit For incremental encoder based commutation Enable2 should be mapped to a BDIO and be used to enable/disable motion since the...
  • Page 104 Enabled (Mappable Output Function, Variable, Integer, Read-Only) Range 0 or 1 Purpose Enabled indicates whether power can flow to the motor. 0 (drive disabled) 1 (drive enabled) Guidelines Before power can flow to the motor, verify that the following conditions are all true: 1.
  • Page 105 EncFreq (Variable, Float, Read-Only) f2 Units (if EncMode = 0) Quadrature encoder counts per second (if EncMode = 1, 2) Steps per second Range -3,000,000 to +3,000,000 Purpose EncFreq (Encoder Frequency) is the frequency in quadrature pulses per second of the external encoder, (or steps per second if step-and-direction format is used).
  • Page 106 EncIn (NV Parameter, Integer) i12 Units (if EncMode = 0) Encoder line count (if EncMode = 1) Steps per quarter-revolution Range 1 to 65535 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 1024. Purpose EncIn specifies the line count of the encoder being used, (or one-fourth the steps/revolution if step-and-direction input format is...
  • Page 107 EncInF0 (NV Parameter, Float) f287 Units Hertz Range 4 values depending on EncMode EncMode = 0 EncInF0 (Hz) Max Hardware Quad Min Hardware (Quadrature Count limit (Hz) Pulse Width (usec) decode) 1,600,000 3,333,333 800,000 952,400 400,000 476,200 200,000 238,100 EncMode = 1 or 2 EncInF0 (Hz) Max Hardware Min Hardware...
  • Page 108 EncMode (NV Parameter, Integer) i71 Range 0, 1, 2, or 3 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 0. Purpose EncMode specifies the type of digital command expected at the incremental position command port.
  • Page 109 EncOut (NV Parameter, Integer) i69 Units Emulated encoder line count Range 0, 128, 256, 512, 1024, 2048, 4096, 8192, 16384, 125, 250, 500, 1000, 2000, 4000, 8000, 16000 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 1024.
  • Page 110 EncPos (Variable, Integer, Read-Only) i13 Units EncMode = 0 Quadrature encoder counts EncMode = 1, 2 Steps Range -2,147,483,648 to +2,147,483,647 Purpose EncPos (Encoder Position) indicates the position of the external encoder or the accumulation of step inputs if step-and-direction input format is used.
  • Page 111 ExtFault (Variable, Integer, Read-Only) i133 Range 0-16 Purpose ExtFault provides additional information on FaultCode Blinking 1 (1) or E (14) and Alternating F 3 (243), 0 otherwise. Guidelines In the variables window, poll the value of ExtFault for additional fault information. Values listed below: Value of Description...
  • Page 112 Fault (Mappable Output Function) i286 Range 0 or 1 Purpose Fault indicates whether the drive has faulted and is disabled. Guidelines 0 is not faulted, normal operation 1 is faulted, no power flow to motor See FaultCode and ExtFault for further information. 7 - 56 MA930 Manual...
  • Page 113 FaultCode (Variable, Integer, Read-Only) i14 Range 0 to 255 Purpose FaultCode indicates a fault has occurred. When the status display is not a zero or an eight, a fault has occurred. Reset the drive by asserting the fault reset signal or cycling drive AC power. Guidelines Under HELP menu, see Index topic FAULTCODES for remainder of fault codes.
  • Page 114 Faultcodes (continued) Table (cont’d) Status LED Value Fault Meaning (Blinking) A Bus OV detected by DSP (Blinking) Auxiliary +5V Low (Blinking) C Not assigned (Blinking) D Not assigned (Solid) E* Processor throughput fault (Blinking) E* Power Up Self Test Failure (Alternating) E1 Bus UV, Bus Voltage VBUSTHRESH (Alternating) E2...
  • Page 115 FaultReset (Mappable Input Function, Variable, Integer) i263 Range 0 or 1 Default 0 at power up if not mapped Purpose FaultReset allows drive faults to be reset. Guidelines FaultReset active automatically disables the drive. When not mapped to a BDIO, setting FaultReset to 1 via the serial port will reset the latched fault condition.
  • Page 116 FVelErr (Variable, Float, Read-Only) f30 Units Range -48000 to +48000 Purpose FVelErr is commanded velocity - measured velocity (VelCmdA - VelFB) after being processed by the velocity loop compensation anti-resonant filter section. See also ARF0, ARF1, ARZ0, ARZ1. 7 - 60 MA930 Manual...
  • Page 117 (Variable, Integer, Read-Only) i84 Range 1000 to 65535 Purpose FwV indicates the 930 firmware version number. For example: FwV = 1100 would be version 1.1 MA930 Manual 7 - 61...
  • Page 118 HSTemp (Variable, Float, Read-Only) f269 Units Degrees Centigrade Range -10 to +150 Purpose HSTemp indicates the drive heat sink temperature. Guidelines The drive heat sink temperature is monitored to determine if the drive is within a safe operating region for the power electronics. This variable can be used to see how much thermal margin remains for a given application.
  • Page 119 (Variable, Integer, Read-Only) i130 Range > 0 Purpose HwV indicates the drive’s control electronics hardware version number. Guidelines 12 = first production control card version MA930 Manual 7 - 63...
  • Page 120 ICmd (Variable, Float, Read-Only) f28 Units Amperes Range -Ipeak to +Ipeak Purpose ICmd indicates the commanded motor torque current. Note: ILmtMinus and ILmtPlus limit the range of this variable. 7 - 64 MA930 Manual...
  • Page 121 (Variable, Float, Read-Only) f29 Units Amperes Range -Ipeak to Ipeak Purpose IFB indicates the measured motor torque current value. Guidelines IFB can be monitored to observe the actual torque current flowing in the motor. IFB should equal ICmd. MA930 Manual 7 - 65...
  • Page 122 ILmtMinus (NV Parameter, Integer) i4 Units % (Percentage) of peak current rating of drive Range 0 to 100 Default The default value, for New Set Up and Drive Set Up menu picks, is based upon the selected motor and drive. Purpose ILmtMinus (Counter-Clockwise Current Limit) sets the maximum allowable torque current amplitude in the counter-clockwise direction.
  • Page 123 ILmtPlus (NV Parameter, Integer) i5 Units % (Percentage) of peak current rating of drive Range 0 to 100 Default The default value, for New Set Up and Drive Set Up menu picks, is based upon the selected motor and drive. Purpose ILmtPlus (Clockwise Current Limit) sets the maximum allowable torque current amplitude in the clockwise direction.
  • Page 124 Inputs (Variable, Integer, Read-Only) i33 Range 0 to 63 (6 BDIOs) Purpose Inputs reads the state of BDIO inputs in parallel. This variable is determined by the voltage levels applied to the BDIO input pins J4-7 to J4-12. Guidelines Inputs’ value is weighted so that BDIO 1’s individual value is x1, BDIO 2’s is x2, BDIO 3’s is x4, etc.
  • Page 125 Ipeak (Variable, Float, Read-Only) f20 Units Amperes Range single value (see Default below) Default Model Number peak 15.0 30.0 60.0 Purpose Ipeak is the drive’s maximum 0-peak current rating. MA930 Manual 7 - 69...
  • Page 126 (Variable, Float, Read-Only) f270 Units Amps Purpose IR is the measured current flowing in Motor Phase R, J2-4. 7 - 70 MA930 Manual...
  • Page 127 (Variable, Float, Read-Only) f271 Units Amps Purpose IS is the measured current flowing in Motor Phase S, J2-3. MA930 Manual 7 - 71...
  • Page 128 (Variable, Float, Read-Only) f272 Units Amps Purpose IT is the measured current flowing in Motor Phase T, J2-2. 7 - 72 MA930 Manual...
  • Page 129 ItF0 (NV Parameter, Float) f11 Units Hertz Range Lower limit set by Model Upper limit > 10 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value based on the selected drive. Purpose ItF0 specifies the corner frequency of the low-pass filter implementing the I*t drive thermal protection circuit.
  • Page 130 ItFilt (Variable, Float, Read-Only) f25 Units % (Percentage) of drive peak current Range 0 to 100 Purpose ItFilt is the drive’s output current amplitude low pass filtered by ItF0 and normalized by Ipeak to a percentage. ItFilt is the input to the drive’s I*t thermal protection fault. Guidelines ItFilt provides a means of evaluating the I*t protection circuit.
  • Page 131 ItThresh (NV Parameter, Integer) i82 Units % (Percentage) of drive peak current Range 0 to 100 (Actual upper limit depends on Model) Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected motor and&...
  • Page 132 ItThreshA (Variable, Float, Read-Only) f316 Units percent Range 0 to 100% Default none Purpose ItThreshA is the maximum continuous output current, as a percentage of Ipeak, trip level for the I*T thermal protection fault. Guidelines ItThresh sets the desired value for ItThreshA and the two are equal for lower heat sink temperatures, i.e.
  • Page 133 (NV Parameter, Float) f264 Units Hertz Range 0 to 2546 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 50 Hertz. Purpose Kii sets the integral gain of the current loops. Guidelines Kii is the current loop’s integral gain.
  • Page 134 (NV Parameter, Float) f257 Units Volts/Ampere Range 0 to 161,712/Ipeak Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected motor. Purpose Kip sets the proportional gain of the current loop. Guidelines 930 dialogue automatically sets Kip as long as the motor being used is in 930 Dialogue’s motor database or the motor inductance is...
  • Page 135 (NV Parameter, Float) f14 Units Hertz Range 0 to 159.4 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected system response. Purpose Kpp sets the proportional gain of the position loop. Guidelines Kpp is defined by the following relationship: KPP PosError (radians)
  • Page 136 Kvff (NV Parameter, Float) f16 Units % (Percentage) Range 0 to 199.9 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 0. Purpose Kvff sets the proportion of velocity feed forward signal added to the velocity command from differentiated position command.
  • Page 137 (NV Parameter, Float) f10 Units Hertz Range 0 to 636.6 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected velocity loop bandwidth. Purpose Kvi sets the integral gain of the velocity loop. Guidelines Kvi is the velocity loop integral gain.
  • Page 138 (NV Parameter, Float) f15 Units Amperes/(Radians/Second) Range 0 to Ipeak * 12.6 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected velocity loop bandwidth. Purpose Kvp sets the proportional gain of the velocity loop. Guidelines Kvp is defined by the following relationship: Kvp = Commanded motor torque current / Velocity Error;...
  • Page 139 MechRev (Mappable Output Function, Variable, Integer, Read-Only) Not accessible over the serial port Range 0 or 1 Purpose Square wave whose frequency is equal to the resolver’s electrical frequency which is typically equal to the mechanical Rev/sec. Guidelines Resolvers can have multiple electrical cycles per mechanical revolution and this is usually specified as the resolver speed.
  • Page 140 Model (NV Parameter, Integer, Read-Only) i77 Range 932, 933, 934, 935 Purpose Model indicates the drive model number (power level). 7 - 84 MA930 Manual...
  • Page 141 Motor (NV Parameter, Integer, Read-Only) i134 Range Up to any 4 ASCII characters Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected motor. Purpose Motor indicates the first 4 characters of the motor part number used to determine the Signature Series current waveshape used to eliminate torque constant ripple.
  • Page 142 NVLoad (command) 256 Purpose NVLoad loads all NV Parameters to working memory (RAM) from the control card non-volatile memory. Guidelines Use NVLoad to update all NV parameters. This might be useful if you have changed one or more parameters using the serial link and now wish to restore the original values (assuming the NVSave command was NOT issued after changing parameters).
  • Page 143 NVLoadOpt (command) 258 Purpose NVLoadOpt loads all NV Parameters to working memory (RAM) from the option card non-volatile memory. Guidelines Use NVLoadOpt to update all NV parameters from the Option Card. This might be useful if you have changed one or more parameters using the serial link and now wish to restore the original values (assuming the NVSaveOpt command was NOT issued after changing parameters).
  • Page 144 NVSave (command) 257 Purpose NVSave stores all NV parameters from RAM (working memory) to the control card non-volatile memory. Use NVSave when you wish to save all parameters in non-volatile Guidelines memory. The 930 will then utilize these values even after the power cycles.
  • Page 145 NVSaveOpt (command) 259 Purpose NVSaveOpt stores all NV Parameters from RAM (working memory) to the option card non-volatile memory. Guidelines Use NVSaveOpt when you wish to save all parameters in non-volatile memory on the option card. Saving the parameters to the option card non-volatile memory allows the drive control card to function with a removable Personality Module (the option card), when the drive control card non-volatile memory is not configured.
  • Page 146 OCDate (Variable, Integer, Read-Only) i282 Range 0 to 2^31 Default none Purpose OCDate gives the Option card date code. 7 - 90 MA930 Manual...
  • Page 147 OCSNum (Variable, Integer, Read-Only) i281 Range 0 to 2^31 Default none Purpose OCSNum gives the Option card serial number. MA930 Manual 7 - 91...
  • Page 148 Outputs (Variable, Integer) i47 Range 0 to 63 (6 BDIOs) Purpose For BDIO outputs not mapped to an output function via BDIOMap, allows setting their output logic state in parallel. Guidelines Outputs’ value is weighted so that BDIO 1’s individual value is x1, BDIO 2’s is x2, BDIO 3’s is x4, etc.
  • Page 149 PoleCount (NV Parameter, Integer) i72 Units Motor poles Range 2 to 65534 (even #’s only) 1 to 65535 Encoder Counts per electrical cycle Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected motor. Purpose PoleCount matches the drive for the appropriate motor pole count or encoder quadrature counts per motor electrical cycle.
  • Page 150 PosCmdSet (Variable, Integer) i257 Units Counts (same units as position feedback) Range -2,147,483,648 to +2,147,483,647 Purpose PosCmdSet (read/write commanded position) can be used to change the commanded position and therefore allows position control over the serial link. Guidelines PosCmdSet can be used to change the commanded position, PosCommand, and therefore allows position control using the serial link.
  • Page 151 PosCommand (Variable, Integer, Read-Only) i54 Units Counts (same units as position feedback) Range -2,147,483,648 to +2,147,483,647 Purpose PosCommand (position command) is the position loop command input. Guidelines PosCommand can be used to determine the position being commanded. It is a read-only variable; it cannot be used to change the commanded position.
  • Page 152 PosError (Variable, Integer, Read-Only) i55 Units Counts (same units as position feedback) Range -134,217,728 to +134,217,727 Purpose PosError (Actual Position Error) is equal to the difference between the position command (PosCommand) and the actual position (Position). When RemoteFB = 0, PosError is in resolver counts. When RemoteFB = 1 or 2, PosError is in EncPos units.
  • Page 153 PosErrorMax (NV Parameter, Integer) i285 Units Counts (same units as position feedback) Range 0 to 294,912,000 (4500 revs) Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 4096. Purpose PosErrorMax sets the maximum value in position feed back counts for the position loop following error fault.
  • Page 154 Position (Variable, Integer, Read-Only) i57 Units Resolver Counts Range -2,147,483,648 to +2,147,483,647 Purpose Position indicates the measured resolver position, including integral resolver cycles since power up. Guidelines Position is always the measured resolver position. 7 - 98 MA930 Manual...
  • Page 155 PulsesFOut (NV Parameter, Integer) i292 Units resolver counts Range 0 to 65535 Default Parameter value set before last NVSave. Powering up an unconfigured drive sets this parameter to 0. Purpose PulsesFOut specifies the fractional number of resolver counts the motor will move for each PulsesIn number of EncPos command counts.
  • Page 156 PulsesIn (NV Parameter, Integer) i58 Units (if EncMode = 1) Steps (if EncMode = 0) Quadrature counts of encoder input Range 1 to 32,767 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 1. Purpose PulsesIn specifies the number of steps, or quadrature encoder counts, used for selecting an exact gear ratio.
  • Page 157 PulsesOut (NV Parameter, Integer) i59 Units Resolver counts Range -32,768 to +32,767 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to 1. Purpose PulsesOut specifies the number of resolver counts the motor will move for each PulsesIn number of EncPos command counts.
  • Page 158 RemoteFB (NV Parameter, Integer) i267 Range 0, 1, or 2 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets it value to 0 (all loops closed around resolver). Purpose RemoteFB selects the source of the feedback signal for the loops. Guidelines 0 Resolver velocity and resolver position feedback 1 Resolver velocity and encoder position feedback...
  • Page 159 ResPos (Variable, Integer, Read-Only) i56 Units Resolver Counts Range 0 to 65535 Purpose ResPos (Resolver Position) is the absolute mechanical orientation of the resolver relative to the motor housing. Guidelines ResPos varies from zero to maximum range and then back to zero as the motor rotates clockwise through one complete resolver electrical cycle.
  • Page 160 RunStop (Mappable Input Function, Variable, Integer) i264 Range 0 or 1 Default 1 at power up if not mapped Purpose RunStop selects between normal operation and setting the velocity command to zero and then disabling the drive once VelFB goes to 0. Guidelines This mappable function is a specialized form of mechanical clutch brake emulation where the shaft is left with no holding torque, e.g.
  • Page 161 StopTime (NV Parameter, Float) f262 Units seconds Range 0.002 to 65.534 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets it value to 0. Purpose Maximum time out to disable the drive for the RunStop mappable BDIO function.
  • Page 162 UncfgDrv (command) 260 Purpose UncfgDrv sets the control card non-volatile memory to the unconfigured state. 7 - 106 MA930 Manual...
  • Page 163 UncfgOpt (command) 261 Purpose UncfgOpt sets the option card non-volatile memory to the unconfigured state. MA930 Manual 7 - 107...
  • Page 164 VBus (Variable, Float, Read-Only) f275 Units Volts Range 0 to 1000 Purpose VBus is the voltage of the high voltage DC supply, rectified from the AC line, used to power the motor. Guidelines Monitoring this variable can be used to detect the presence of the AC line power for the motor DC supply.
  • Page 165 VBusThresh (NV Parameter, Float) f274 Units Volts Range -1 to +1000 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets its value to -1 (fault is disabled). Purpose VBusThresh is an adjustable parameter to allow the drive to fault if the AC line power for the motor DC supply is low.
  • Page 166 VdCmd (Variable, Float, Read-Only) f320 Units % (percentage) Range -300 to 300 Purpose Motor terminal voltage PWM duty cycle amplitude command of the torque producing current control loop. Guidelines VdCmd is a fraction of the motor power dc bus voltage. See VBus. 7 - 110 MA930 Manual...
  • Page 167 VelCmd (NV Parameter, Float) f26 Units Range VelLmtLo to VelLmtHi -21,000 to +21,000 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets it value to 0. Purpose VelCmd is the net desired velocity loop command input. See VelLmtHi, VelLmtLo, AccelLmt, DecelLmt, and VelCmdA.
  • Page 168 VelCmdA (Variable, Float, Read-Only) f268 Units Range VelLmtLo to VelLmtHi Purpose Actual velocity loop command. Guidelines VelCmdA is VelCmd (or VelCmd2 if VelCmdSrc = 1) after being slew limited by AccelRate, DecelRate and potentially clamped by CwInh and/or CcwInh. 7 - 112 MA930 Manual...
  • Page 169 VelCmd2 (NV Parameter, Float) f267 Units Range VelLmtLo to VelLmtHi Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets it value to 0. Purpose Non-volatile second velocity command selected when VelCmdSrc = Guidelines This parameter allows easy emulation of mechanical clutch brake functionality.
  • Page 170 VelCmdSrc (Mappable Input Function, Variable, Integer) i276 Range 0 or 1 Default 0 at power up if not mapped Purpose VelCmdSrc controls whether VelCmd source is determined by BlkType or is set to VelCmd2 Guidelines 0 has VelCmd selected by BlkType 1 sets VelCmd to VelCmd2 for all BlkTypes This parameter allows easy emulation of mechanical clutch brake functionality.
  • Page 171 VelErr (Variable, Float, Read-Only) f27 Units Range -48000 to +48000 Purpose VelErr is commanded velocity - measured velocity (VelCmdA - VelFB). MA930 Manual 7 - 115...
  • Page 172 VelFB (Variable, Float, Read-Only) f34 Units Range -48,000 to +48,000 for resolver -30,000 to +30,000 for encoder Default none Purpose Instantaneous value of the velocity feedback. Guidelines For normal operation, RemoteFB = 0 or 1, VelFB is the resolver velocity. For RemoteFB = 2, VelFB is based on delta EncPos at position loop update rate.
  • Page 173 VelLmtHi (NV Parameter, Float) f279 Units Range -21,039 to +21,039 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected motor and drive. Purpose Sets the highest VelCmdA value allowed and a VelFB overspeed fault threshold.
  • Page 174 VelLmtLo (NV Parameter, Float) f280 Units Range -21,039 to +21,039 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up calculates its value based on the selected motor and drive. Purpose Sets the smallest VelCmdA value allowed and a VelFB overspeed fault threshold.
  • Page 175 Velocity (Variable, Float, Read-Only) f6 Units Range -30,000 to +30,000 Purpose Velocity is VelFB passed through a 3.5 Hz low pass filter. Guidelines When the measured velocity exceeds Velocity’s range Velocity’s value will be incorrect. See VelFB for an instantaneous indication of measured velocity that is accurate to higher speeds.
  • Page 176 ZeroSpeedThresh (NV Parameter, Float) f324 Units Range 0 to 16,000 Default Parameter value set before last NVSAVE. 930 Dialogue New Set Up or Drive Set Up sets this parameter to 30. Purpose ZeroSpeedThresh sets the threshold speed for turning the ZeroSpeed output on or off.
  • Page 177 Communications Protocol Introduction This section describes the communications protocol that governs communications between the OC930 and any host device, typically a PC. This is the same protocol that 930 Dialogue uses for communicating with the OC930. Message Format To the Drive:...
  • Page 178 Header The message header sequence delimits the beginning of every message and every response. It is always the two characters ^A^B (<01><02>). Target Address / The address field contains the ASCII Hex number corresponding Drive Address to the address of the drive that the message is being sent to. For response messages, the address field contains the ASCII Hex number corresponding to the address of the drive generating the response.
  • Page 179 Message Data The message data field is message dependent. Read Messages and Write Messages are described below. Checksum The checksum field contains the ASCII Hex number corresponding to the modulo-256 sum of the ASCII values of all characters in the message. An example checksum calculation for a Read Message is shown below: Header ^A^B...
  • Page 180 Response Data The data field for a Read Message Response consists of eight characters. The meaning of these characters is different depending upon whether the variable is integer or floating point. If the variable being read is an integer variable then the eight bytes are the ASCII hex representation of the 32 bit value for the variable.
  • Page 181 Examples Read FaultCode from the Drive. FaultCode is an Integer Variable (D). FaultCode’s Identifier Number is 000E. For this example, let’s assume the value of FaultCode is 3. Message: ^A^B FF 05 0005 D 000E D2 Response: ^A^B FF 00 0008 03 00 00 00 3A Read Velocity from the Drive.
  • Page 182 Examples Restore Parameters from NV Memory (cont’d) NVLoad’s Identifier Number is 256, which corresponds to 0100 in hexadecimal. Message: ^A^B FF 0B 004 0100 86 Response: ^A^B FF 00 0002 00 11 A - 6 MA930 Manual...
  • Page 183 SC900 Servo Drive. All non-volatile parameters are stored on the control card of the SC900. The OC930 is not required in order to operate the drive. In the Personality Module configuration, all non-volatile parameters are stored on the OC930, and the NV memory on the SC900 control card is unconfigured.
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  • Page 185 Appendix C Control Block Diagrams Figure 1 MA930 Manual C - 1...
  • Page 186 Figure 2 C - 2 MA930 Manual...
  • Page 187 Figure 3 MA930 Manual C - 3...
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  • Page 189 Appendix D Troubleshooting and Fault Diagnostic Guide Introduction The following table of problems, causes and appropriate actions complements the list of SC900 fault codes found in Section 7 (page 7-56). Problem & Status Possible Cause Action Display Velocity Feedback Loose or open circuit wiring to the Check connections.
  • Page 190 Problem & Status Possible Cause Action Display Drive Over Temperature High drive ambient Lower ambient Fault (Blinking 3) temperature. temperature to below 50°C (60°C if I is derated) Note: See HSTemp, ItFilt, ItThresh , Restriction of cooling air Provide sufficient cooling and ItF0 for information due to insufficient space space.
  • Page 191 Problem & Status Possible Cause Action Display Control ± 12V Supply Insufficient control ac Check voltage with meter. voltage on voltage on J1-5 Under Voltage Fault to J1-6. (Blinking 6) Internal drive failure. Contact distributor. Output Over Current or Motor power wiring (J2-2, Check for short.
  • Page 192 Problem & Status Possible Cause Action Display Bus Over Voltage Actual bus over voltages are usually, but not always, Detected By DSP detected and displayed as a blinking 7 fault, see that (Blinking A) entry for more information. Drive improperly set up in Contact distributor.
  • Page 193 2.0 (J4-6). second alignment. Firmware Version OC930-001-01 (drive Re-install OC930-001-01 Incompatible with NV software upgrade card) (drive software upgrade Memory Version was used to set up an old card).
  • Page 194 Problem & Status Possible Cause Action Display Excessive Position Motor is either stalled or Ensure motor is not Following Error Fault partially jammed. jammed. (Alternating F, 1) PosErrorMax is set too Increase the value of sensitive. PosErrorMax. Parameter Checksum Error Glitch while last saving the Download parameters Fault...
  • Page 195 CommOff 7-33 AnalogOut2 7-14 CommSrc 7-34 Applying AC Power Communications ARF0 6-5, 7-15 Protocol ARF1 2-10, 6-5, Configuring an OC930 as a 7-16 Personality Module ARZ0 7-17 Configuring Drive ARZ1 7-18 Configuring System AxisAddr 7-19 Connection diagram Control block diagrams...
  • Page 196 DecelLmt 7-36 Fault 7-56 Default bandwidths FaultCode 7-57 DM1F0 7-37 FaultReset 7-59 DM1Gain 7-39 Features DM1Map 7-41 File Menu 2-12 DM1Out 7-43 FVelErr 7-60 DM2F0 7-38 7-61 DM2Gain 7-40 DM2Map 7-42 DM2Out 7-44 Downloading to drive 2-11 Getting Help 2-5, 2-9, Drive Set Up 2-10 Editing parameters...
  • Page 197 7-70 Model 7-84 7-71 Motor 7-85 7-72 Motor Part Number ItF0 7-73 Movement Keys ItFilt 7-74 ItThresh 7-75 ItThreshA 7-76 NVLoad 7-86 NVLoadOpt 7-87 NVSAVE 2-7, 2-11, 7-88 J31 Serial Port NVSaveOpt 7-89 7-77 OCDate 7-90 7-78 OCSNum 7-91 6-7, 7-79 Opening a Disk File 2-12 Kvff...
  • Page 198 Position Block Modes Digital Command Serial Command Position Loop Saving Parameters Problems Selecting Motor Control w/high load inertia Functions PulsesFOut 7-99 Serial Port Configuration PulsesIn 7-100 Servo Loop PulsesOut 7-101 Parameters Slaving to a Master Encoder Setting up Hardware Setting Up Serial Addresses using S1 Read Messages definition...
  • Page 199 Velocity scale factor accuracy Voltage UncfgDrv 7-106 UncfgOpt 7-107 Warranty Write Messages Variables Window VBus 7-108 VBusThresh 7-109 VdCmd 7-110 VelCmd 7-111 ZeroSpeedThresh 7-120 VelCmd2 7-112 VelCmdA 7-113 VelCmdSrc 7-114 VelErr 7-115 VelFB 7-116 VelLmtHi 7-117 VelLmtLo 7-118 Velocity 2-9, 7-119 Velocity Block Modes Analog Command Velocity Block...

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