1. Manuals
  2. Brands
  3. Servotronix Manuals
  4. Engine
  5. stepIM
  6. Technical training manual

Servotronix stepIM Technical Training Manual

Integrated closed loop stepper motor
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
stepIM
Integrated Closed Loop Stepper Motor
Technical Training Manual
Manual Revision: 1.0
Firmware Version: 0.0.2.89
Software Version: 1.41.6.0

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the stepIM and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Summary of Contents for Servotronix stepIM

  • Page 1 Integrated Closed Loop Stepper Motor Technical Training Manual Manual Revision: 1.0 Firmware Version: 0.0.2.89 Software Version: 1.41.6.0...
  • Page 3 21C Yagia Kapayim Street Petach Tikva 49130 Israel Tel: +972 (3) 927 3800 Fax: +972 (3) 922 8075 Website: www.servotronix.com Technical Support If you need assistance with the installation and configuration of the stepIM drive, contact Servotronix technical support: tech.support@servotronix.com Technical Training Manual...
  • Page 4 Technical Training Manual...

  • Page 5: Table Of Contents

    Contents Introduction to stepIM Demo Kit ________________________________ 5 Cable Connections ___________________________________________ 9 Communication _____________________________________________ 11 Drive Information ___________________________________________ 13 Power Rating ______________________________________________ 14 Limits ____________________________________________________ 15 Enable & Faults _____________________________________________ 16 Basic Operation – Profile Position _______________________________ 18 Basic Operation – Velocity ____________________________________ 20 10 Basic Operation –...
  • Page 6 Technical Training Manual...

  • Page 7: Introduction To Stepim Demo Kit

    The portable unit can be easily carried and used at demonstration and training sites. The stepIM Demo Kit consists of two stepIM motors with integrated servo drive, a motion controller (optional), and a number of elements that emulate external inputs, outputs, and communication interfaces.
  • Page 8 2 green LEDs per stepIM, labeled OUT1, OUT2 Digital Inputs 4 switches with green LED per stepIM, labeled IN1, IN2, IN3, IN4 softMC 3 Terminal Resistor Switch Not used in this training manual. softMC 3 Motion Bus Interface Not used in this training manual.
  • Page 9 Ethernet Interface USB Interface (x2) RS232 Serial Interface Demo Kit – Side Component Description stepIM Demo Kit Terminal Resistor Switch RJ45 CAN In/Out Interfaces D9 CAN In/Out Interfaces softMC 3 Ethernet Interface Not used in this training manual. softMC 3 USB Interface (x2) Not used in this training manual.
  • Page 10 Plug for connecting AC power to unit. Demo Kit – Product Label Note the location of the product label on the back of the stepIM Demo Kit. If you require technical support, you must provide this information to the support team.

  • Page 11: Cable Connections

    Exercise Note the location of the power connector and power switch on the rear side of the stepIM Demo Kit. Before turning on power, make sure all input switches on the front panel of Demo Kit are set to the Off position.
  • Page 12 Hardware. Make sure Kvaser Virtual CAN driver appears in the Devices tab. Make sure the Kvaser adapter PWR green LED is lit.  10. Turn on the Demo Kit power switch. You should now see a blinking green LED on the back of each stepIM. Technical Training Manual...

  • Page 13: Communication

    Communication Exercise Activate ServoStudio software. If the ServoStudio has not yet been installed on the host computer, download and install the software from this link: http://www.servotronix.com/CDHD.html > Software | ServoStudio GUI From the ServoStudio navigation sidebar, click Preferences. Then select the Advanced tab.
  • Page 14 Exercise The stepIMs on the Demo Kit are preset to address nodes 1 and 2. You can establish communication faster by limiting the address range. Disconnect and then reconnect the Kvaser cable from the computer. Change the End Address value to 2, and press Connect.

  • Page 15: Drive Information

    If you require technical support, you must provide this information to the support team. The Download Firmware button in the Drive Information screen allows you to update drive firmware in the stepIM. It is not used in this training manual. Technical Training Manual...

  • Page 16: Power Rating

    From the ServoStudio navigation sidebar, select Power Rating. The Power Rating screen is displayed. Check the power rating details for each stepIM in the Demo Kit. Note: You should not change any of the values displayed in this screen, even though some of them can be manipulated.

  • Page 17: Limits

    Limits From the ServoStudio navigation sidebar, click Limits. The Limits screen is displayed. View the various tabs in this screen. Right-click in parameter fields, and use the information from Help and/or Details to answer the questions in the following exercises.

  • Page 18: Enable & Faults

    Enable & Faults The Enable & Faults screen graphically shows the conditions required for the drive to be enabled. As long as any light in the diagram is red, the drive remains disabled. When all lights are green, the drive is enabled.
  • Page 19 Gently take hold of the load disk of the motor that is currently communicating with the software, and attempt to turn it back and forth. The disk moves easily when the drive is disabled. Click the Enable|Disable button in the menu bar to enable, and then disable the drive.

  • Page 20: Basic Operation - Profile Position

    An absolute command moves the motor the specified number of counts from the encoder 0 position. The stepIM encoder has a resolution of 4096 counts (pulses) per revolution. Exercise – Incremental Position Command Make sure drive is online and disabled.
  • Page 21 Manually move the motor load disk so that the graphic element is at a clearly defined position, as shown in the image below. This will make it easy to visually detect and count each revolution of the motor. Enable the drive.

  • Page 22: Basic Operation - Velocity

    Basic Operation – Velocity Note: The drive must be disabled whenever the operation mode is changed. Exercise – Velocity Jog Command Make sure drive is online and disabled. From the ServoStudio navigation sidebar, select Motion. Set the Operation mode to 3-Profile Velocity.
  • Page 23 Click the Start button to start motion, and immediately take hold of the inertia load disk, and attempt to hold it in place. Observe the Demand and the Actual current values. Note how the current increases in an attempt to overcome the obstacle and complete the motion.

  • Page 24: Basic Operation - Torque

    10 Basic Operation – Torque Note: The drive must be disabled whenever the operation mode is changed. Exercise – Velocity Jog Command Make sure drive is online and disabled. From the ServoStudio navigation sidebar, select Motion. Set the Operation mode to 4-Profile Torque.

  • Page 25: Velocity Control Loop

    11 Velocity Control Loop Exercise From the ServoStudio navigation sidebar, select Velocity Loop. This screen shows the settings for the PID velocity control loop. These values are predefined by the manufacturer for the Demo Kit. Do not change any of the values in this field, even if they can be manipulated.

  • Page 26: Position Control Loop

    12 Position Control Loop Exercise From the ServoStudio navigation sidebar, select Position Loop. This screen shows the settings for the PID position control loop. These values are predefined by the manufacturer for the Demo Kit. Do not change any of the values in this field, even if they can be manipulated.

  • Page 27: Digital Inputs

    13 Digital Inputs The I/Os screen enables you to configure functionality and polarity of the digital inputs in your application, and to monitor the state of digital inputs Mode defines the functionality of the digital input or output. ...
  • Page 28 Leave the switch off, and select the Inversion option to invert the polarity of the input: The LED graphic turns green.  The drive becomes enabled.  Note that the LED on the Demo Kit input switch does not change states when Inversion is selected.
  • Page 29 In the Motion screen, change the Target Position to a negative value, and press Start. While the motor is in motion, turn on switch IN 3.  Observe the stopping of the motor. It stops immediately.  Turn off switch IN 3. Motion does not resume automatically. You must ...

  • Page 30: Recording

    14 Recording ServoStudio provides extensive recording and data graphing capabilities. Recording can be set up to be triggered when a specified event or condition occurs. In addition, ServoStudio enables continuous data recording or a one-time recording. ServoStudio also allows execution of a motion command during recording.
  • Page 31 Pre-Points: 10  Record variables. Select the following two variables:  Following Error Actual Value  Velocity Actual Value  Make sure drive is enabled, then click the Move Record and Plot button in the toolbar. The plot soon appears:...
  • Page 32 Improve the clarity of the plot by changing the color of one of the traces: Right-click on the trace of Following Error Actual Value, and define a different color for the trace. Trace Properties > Set Trace Color. Sometimes, you may need to change the scaling of a recorded variable because its trace may be too small to view properly (because the graph is scaled to the largest value of another variable).

  • Page 33: Save / Generate Report

    15 Save / Generate Report The Backup & Restore screen allows you to save and load parameters to and from files on the host computer. Exercise – Generate a Report The Report Generator is a ServoStudio utility that allows you to save a copy of all system settings.

  • Page 34: Canopen Operation

    16 CANopen Operation A stepIM integrated motor typically functions as a slave of an external controller or PLC on a CAN (Controller Area Network) bus. This chapter serves to demonstrate the commands and status messages that are exchanged between the controller and stepIM using CANopen protocol.
  • Page 35 6040h – Controlword – State Transition Command Bits Controlword Bit Fault Enable Quick Enable Switch Reset Operate Stop Voltage Command Transition to State Ready to Shut Down 2, 6, 8 Switch On Switched Switch On Disable Voltage 7, 9, 10, 12...
  • Page 36 Place the cursor in the Find Object field, and enter 6040. Select object 0x6040-Controlword, and press Enter. Then click Edit Object. You can now manipulate the value of the Controlword. Note that values are entered in decimal format. Refer to the table below, and do the following, in sequence: Place the cursor in the Value field, type 128, and press Enter.
  • Page 37 Gently take hold of the motor load disk of the motor, and check for the resistance indicating that the drive is enabled. Exercise – Generate Motion Perform the following steps to generate a motion of one revolution at 20 rpm, and then generate a motion of ten revolutions at 200 rpm.

  • Page 38: Motion Triggered By Digital Inputs

    17 Motion Triggered by Digital Inputs Digital inputs can be used to start, execute and stop pre-defined motions. Object 20E0h is used to configure the digital input motion triggers. Objects 2F90h—2F99h are used to configure motion segments. Object 2F90h is motion segment 0, object 2F91h is motion segment 1, and so forth.
  • Page 39 Exercise – Object 2FC8h = 1: Input Triggers a Predefined Motion If the value of object 2FC8h=1 (input triggers motion), each of the four stepIM digital inputs can trigger one predefined motion segment (0, 1, 2 or 3). In this exercise, each of the 4 digital inputs will trigger a different motion segment, meaning 4 different speeds.
  • Page 40 Make sure the drive is disabled, and the drive is communicating (online) with ServoStudio. Make sure all input switches on the Demo kit are in the Off position. In the ServoStudio Drive Objects table, set the value of object 2FC8h to 1.
  • Page 41 A rising edge on digital input 4 triggers execution of motion segment 3,  as defined in Object 2F93h. Exercise – Object 2FC8h = 0: Binary Value of Selected Inputs Triggers a Predefined Motion If the value of object 2FC8h=0 (input binary value triggers motion), the combined binary value of three inputs determines the predefined motion segment to be executed.
  • Page 42 Check the values of Object 20E0 sub-indices. Make sure values are updated and now appear as follows. Switch on inputs 1, 2 and 3. Then switch on input 4. The motor rotates at the highest speed setting. Switch off inputs 1, 2 and 3. Then switch input 4 off and on again.

  • Page 43: Answers To Exercise Questions

    18 Answers to Exercise Questions 18.1 Power Rating What is the DC voltage that is being applied to the motor?  (24.4 V) What is the temperature of the control board?  Can vary: 38°C – 42°C Refer to the User Manual. What is the temperature value that will result in ...
  • Page 44 Technical Training Manual for stepIM...

Table of Contents