Crouzet SMI21 User Manual And Safety Notice
  1. Manuals
  2. Brands
  3. Crouzet Manuals
  4. Engine
  5. SMI21 Series
  6. User manual and safety notice

Crouzet SMI21 User Manual And Safety Notice

Dcmind brushless motors
Hide thumbs Also See for SMI21:
Table of Contents

Advertisement

Quick Links

SMI21 DCmind Brushless Motors
Important Notes
•
This manual is part of the product.
•
Read and follow the instructions in this manual.
•
Keep this manual in a safe place.
•
Give this manual and any other documents relating to the product to anyone that uses the product.
•
Read and be sure to comply with all the safety instructions and the section "Before you Begin -
Safety-Related Information".
•
Please consult the latest catalogue to find out about the product's technical specifications.
•
We reserve the right to make modifications without prior notification.
SMI21
User Manual and Safety Notice
1

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the SMI21 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Crouzet SMI21

Summary of Contents for Crouzet SMI21

  • Page 1 SMI21 SMI21 DCmind Brushless Motors User Manual and Safety Notice Important Notes • This manual is part of the product. • Read and follow the instructions in this manual. • Keep this manual in a safe place. • Give this manual and any other documents relating to the product to anyone that uses the product.

  • Page 2: Table Of Contents

    6.1. Preparation for Operating ........................ 22 Product overview ............................. 24 7.1. Description of the Product ....................... 24 7.2. SMI21 Control Electronics ....................... 24 7.3. "DCmind-Soft" PC Parameter-Definition Software ................25 Technical Specifications .......................... 26 8.1. Electrical Data ..........................26 8.2.
  • Page 3 Introduction............................37 10.2. System Required ..........................37 10.3. Installation of the USB Drivers ......................37 10.4. Installation of the Crouzet DCmind-Soft HMI .................. 38 10.5. Description of the Main Window ..................... 41 10.6. Motor Connection ..........................43 10.7. Updating the Firmware ........................44 Application programs ...........................
  • Page 4 SMI21 12.2.1. Types of Inputs in P100 Programs ..................104 12.2.2. Types of Outputs in P100 Programs ..................105 12.2.3. Description of the Different Types of Homing ..............106 12.2.4. Description of the Various Tabs ................... 112 12.2.5. Expert Program P101 ......................118 12.2.6.
  • Page 5 SMI21 About This Manual This manual applies to SMI21 DCmind brushless products: • 801400SMI21, 801495SMI21, 801496SMI21, 801410SMI21 • 801800SMI21, 801896SMI21, 801897SMI21, 801810SMI21 • 802800SMI21, 802896SMI21, 802897SMI21, 802810SMI21 Reference source for manuals The manuals can be downloaded from our website at the following address: http://www.crouzet.com/...

  • Page 6: Introduction

    SMI21 1. INTRODUCTION 1.1. Motor Family SMI21 DCmind brushless motors are brushless DC motors, with a control circuit board integrated in the motor. 1.2. Characteristics SMI21 DCmind brushless motors are intelligent servomotors for speed, position and torque control applications. They can be configured via a Human-Machine Interface (HMI).

  • Page 7: Product Coding

    SMI21 1.5. Product Coding 80 XX XX SMI21: Product family on SMI21 electronic base PRODUCT REFERENCE Motor Type of stator: 14: 30mm brushless stator 18: 50 mm brushless stator 28: 50 mm brushless stator high torque Gearbox adaptation 00: no gearbox...

  • Page 8: Before You Begin - Safety-Related Information

    SMI21 2. BEFORE YOU BEGIN - SAFETY-RELATED INFORMATION 2.1. Personnel Qualifications Only qualified personnel who are familiar with and fully understand the contents of this manual are authorized to work on and with this product. Qualified personnel must be familiar with current standards, regulations and requirements concerning prevention of accidents during work undertaken on and with this product.

  • Page 9: Basic Information

    SMI21 Basic Information 2.3. DANGER DANGEROUS PHENOMENON LINKED TO ELECTRIC SHOCK, EXPLOSION OR EXPLOSION DUE TO AN ELECTRIC ARC • Only qualified personnel who are familiar with and fully understand the contents of this manual are authorized to work on this product. Only qualified personnel are authorized to undertake installation, setting, repair and maintenance.

  • Page 10: Standards And Concepts

    SMI21 WARNING LOSS OF COMMAND CONTROL • When perfecting the command concept, the installation manufacturer must take account of the possibilities for potential failure of command paths and provide, for certain critical functions, the means of returning to safe states during and after the failure of a command path.

  • Page 11: Precautions For Use Concerning The Mechanics

    SMI21 3. PRECAUTIONS FOR USE CONCERNING THE MECHANICS 3.1. Data specific to the motor shaft 3.1.1. Press-fit force WARNING MOTOR MECHANISM Exceeding the maximum permissible forces on the shaft leads to rapid bearing wear, a broken shaft or damage to any accessories (encoder, brake, etc.)

  • Page 12: Options

    3.2. Options 3.2.1. Holding brake SMI21 DCmind brushless motors can be equipped as standard with a failsafe electromechanical brake. The holding brake is designed to lock the motor shaft in a de-energized state. The holding brake is not a safety function.

  • Page 13: Installation

    SMI21 5. INSTALLATION Installation must, as a general rule, be performed in accordance with good practice. WARNING HEAVY WEIGHT AND FALLING PARTS The motor can be extremely heavy. • When mounting, take the weight of the motor into account. • Mounting (screw tightening torque) must be performed in such a way that the motor cannot become detached, even if subjected to strong accelerations or constant jolting.
  • Page 14 SMI21 WARNING HOT SURFACES The product's metal surface can heat up to more than 70°C in certain types of use. • Avoid all contact with the metal surface. • Do not place flammable or heat-sensitive components in the immediate vicinity.

  • Page 15: Overview Of The Installation Procedure

    SMI21 5.1. Overview of the Installation Procedure The installation procedure is described in the following sections: • Electromagnetic Compatibility (EMC) • Prior to Mounting • Mounting the Motor • Electrical Installation • Connecting the USB cable to Set the Motor Parameters Check that these sections have been read and understood, and that installation has subsequently been executed correctly.

  • Page 16: Prior To Mounting

    SMI21 Equipotential bonding conductors If using shielded cables, differences in potential can generate unauthorized currents on the cable shielding. Use equipotential bonding conductors to minimize currents on the cable shielding. 5.3. Prior to Mounting Look for any damage Damaged drive systems must neither be mounted nor used.

  • Page 17: Mounting The Motor

    SMI21 5.4. Mounting the Motor DANGER HOT SURFACES The motor's surface can heat up to more than 70°C in certain types of use. • Avoid contact with hot surfaces. • Do not place flammable or heat-sensitive components in the immediate vicinity.

  • Page 18: Electrical Installation

    SMI21 Mounting position The motor can be mounted in any position. Mounting When mounting the motor on the flange, the motor must be aligned precisely in both the axial and radial directions. All the fixing screws must be tightened to the tightening torque stipulated by the application, taking care not to generate any warping.
  • Page 19 SMI21 WARNING VOLTAGE SURGES During braking phases, the motor generates voltage surges. • Check that these voltage surges are acceptable to other devices connected on the same power supply. • If possible, use an external circuit to limit voltage surges.

  • Page 20: Connecting The Holding Brake (Optional)

    SMI21 5.5.1. Connecting the Holding Brake (Optional) WARNING LOSS OF BRAKING FORCE DUE TO WEAR OR HIGH TEMPERATURE Engaging the holding brake while the motor is running leads to rapid wear and loss of braking force. • Do not use the brake as a service brake.

  • Page 21: Usb Connector

    SMI21 5.6. USB Connector Stopper Housing The motor is equipped with a USB B to USB A micro connector, which can be accessed by removing the stopper from the housing. The stopper prevents penetration of foreign bodies or fluids inside the motor.

  • Page 22: Operation

    SMI21 6. OPERATION 6.1. Preparation for Operating Prior to operating:  Check that the mechanical installation is correct.  Check that the electrical installation has been carried out professionally: pay special attention to the protective conductor connections and the grounding connections. Check that all the junctions are correct, properly connected and that the screws are fully tightened.
  • Page 23 SMI21 CAUTION HOT SURFACES The motor's surface can heat up to more than 70°C in certain types of use. • Avoid contact with hot surfaces. • Do not place flammable or heat-sensitive components in the immediate vicinity. • Assemble components in the best way for heat dissipation.

  • Page 24: Product Overview

    (Parameter definition via HMI) Figure 7.2. SMI21 Control Electronics The SMI21 electronic control card contains the control electronics for a brushless motor, integrated in the motor body. This electronics is used for: • Power switching of the motor in sine mode (field-oriented control (FOC)).

  • Page 25: Dcmind-Soft" Pc Parameter-Definition Software

    SMI21 7.3. "DCmind-Soft" PC Parameter-Definition Software This software can be downloaded from the Internet at the following address: http://www.crouzet.com/. It can also be supplied as a kit, see "Programming Kit" section. This "DCmind-Soft" software is needed the first time the motor is used and for debugging.

  • Page 26: Technical Specifications

    SMI21 8. TECHNICAL SPECIFICATIONS 8.1. Electrical Data Maximum Product Specifications Parameters Value Unit Supply voltage V DC MAX Maximum current I DC MAX Maximum input voltage V IN MAX Maximum output voltage V OUT MAX Maximum output current I OUT MAX...

  • Page 27: Control Logic Bundle

    SMI21 8.3. Control Logic Bundle This consists of a UL approved cable Style 2464 80°C 300 V, 500 mm long as standard, fitted with a 12-pin MOLEX connector part number 43025-1200: Figure Type Wire Color (AWG24) Input no. 1 – Digital Green Input no.

  • Page 28: Power Supply Cable

    SMI21 8.4. Power Supply Cable Type Wire Color (AWG16) Power supply: 12 VDC → 48 VDC Brown Power ground: 0 VDC Blue The power supply cable is UL approved Style 2517 105°C 300 V, 500 mm long as standard. When a cable extension is used, the cable cross-section size should depend on the current drawn and the...

  • Page 29: Motor Electrical Connection

    SMI21 9. MOTOR ELECTRICAL CONNECTION 9.1. Power Connection We recommend grounding the motor housing. Power connection diagram. Figure Include capacitors to smooth out inrush currents. Recommended value 1000 µF/A drawn. Optional. The ballast circuit eliminates voltage surges produced when braking. See next section.
  • Page 30 SMI21 9.1.1.1. Proposed Ballast Circuit Diagram The diagram below allows the braking energy to be dissipated into a resistor, thus limiting voltage surges at the motor terminals. Figure 9.1.1.2. Determining the Size of the R12 Resistor (R Ballast The higher the braking current, the lower the resistor value. Typical values are around several Ohms.

  • Page 31: Emc Protection

    SMI21 It should be noted however that this is a simplified and somewhat pessimistic calculation since it does not take account of the energy stored in the capacitors, nor that lost during friction, the gearbox, etc. 9.1.1.3. Voltage Breaking Capacity Selection...

  • Page 32: Protection

    SMI21 9.2. Protection DANGER PROTECTION The product has internal protection devices that switch off the motor power supply when activated. As the motor is no longer controlled, driving loads can decrease. • The system manufacturer is responsible for complying with all the applicable safety rules in the event of product failure.

  • Page 33: Usb Connection

    SMI21 9.3. USB Connection USB connection requires a type B micro-USB socket on the motor. The cable must be less than 3 m long. Possible cable part number: MOLEX 68784-0003. Connection procedure • Carefully remove the black stopper from the motor to reveal the Micro USB-B connector. The stopper has a retainer to keep it attached to the motor.
  • Page 34 SMI21 Incorrect stopper fitting Figure Figure Correct stopper fitting Figure Figure...

  • Page 35: Input/Output Connection

    SMI21 9.4. Input/Output Connection 9.4.1. Equivalent Input Diagram NPN digital inputs Figure Analog/PWM/digital inputs Figure...

  • Page 36: Equivalent Output Diagram

    SMI21 9.4.2. Equivalent Output Diagram PNP outputs with max. 50 mA open collector. Include a pull down resistor (recommended value 4.7 kΩ). Figure Caution: The output level is the same as the motor supply voltage: if V DC = 48V then Out1/Out2/Out3/Out4 = 48 V.

  • Page 37: Installation Of The Dcmind-Soft Hmi

    10.1. Introduction To configure motors in the SMI21 DCmind Brushless range, Crouzet provides a user-friendly HMI that is easy to use. By means of a communication interface, the HMI establishes the connection between the PC and the motor and can be used to configure the motor and adapt its operation to the application.

  • Page 38: Installation Of The Crouzet Dcmind-Soft Hmi

    SMI21 10.4. Installation of the Crouzet DCmind-Soft HMI Run the "Setup_DCmind_Soft_Vxxx.msi" file and follow the instructions: N.B.: - When installing the "DCmind-Soft" HMI, check that Bluetooth is disabled on the PC. The USB drivers must always be installed upstream. Figure...
  • Page 39 SMI21 Note: For PCs running Windows XP, the version of Framework may not be recent enough to be able to install the "DCmind-Soft" HMI. On launching the setup, the HMI automatically informs the user of this problem by displaying the following window: Figure We recommend that you download the latest available version of Framework from the Microsoft website.
  • Page 40 SMI21 Figure Figure Once installation of Framework 3.5 is complete, try again to install the "DCmind-Soft" HMI, referring to the "Installation of the Crouzet DCmind-Soft HMI" section in this document.

  • Page 41: Description Of The Main Window

    SMI21 10.5. Description of the Main Window Once all the installations are complete (drivers + HMI), connect the motor to the PC and launch the HMI by double-clicking on the icon below: Figure The HMI home page appears: Main menu bar...
  • Page 42 Open: Loads a parameter file Save As: Saves a parameter file Exit: Closes the HMI Figure "Motor Information" window Figure The "Help" tab contains the SMI21 DCmind Brushless motors user manual in .pdf format.

  • Page 43: Motor Connection

    SMI21 10.6. Motor Connection To connect the motor, link the motor and the PC using the USB B to USB A micro cable (supplied in the programming kit), power up the motor and click on "Motor Connection" in the main menu bar. The following...

  • Page 44: Updating The Firmware

    Figure A warning message appears asking to confirm the firmware update request and to avoid any incorrect action: Figure To start the update, click "Yes" and select the .hex program supplied by CROUZET: .hex program supplied by CROUZET Figure...
  • Page 45 SMI21 Click the "Open" button, updating begins: Location of the .hex file Loading progress bar. being loaded. Figure When the update is complete, the following window appears, meaning that loading has been successful: Figure...

  • Page 46: Application Programs

    SMI21 11. APPLICATION PROGRAMS 11.1. Description Select an application group from the list of application programs, then one of the icons corresponding to your application. Figure Figure Figure...

  • Page 47: Description Of The Monitoring Part

    SMI21 11.2. Description of the Monitoring Part The monitoring part of the HMI is common to all the expert and application program tabs. This zone uses graphic icons to indicate the type of program I/O used (in this case 4 digital inputs, 2 analog setpoint inputs, 2 PWM outputs and 2 digital outputs).

  • Page 48: Valve" Group

    SMI21 11.3. "Valve" Group 11.3.1. "Valve 4 positions" Application Program Input Output connections connections Figure The "Valve 4 positions" application program invokes the P101 expert program. The user can switch to this expert mode at any time to access all the settings by clicking the "Expert Mode"...
  • Page 49 SMI21 Outputs: Don't forget to fit the pull-down resistors on each of the outputs. • OUT1: If 0 → setpoint position not reached, if 1 → setpoint position reached. • OUT2: If 0 → homing phase complete, if 1 → homing phase in progress or not performed.

  • Page 50: Valve 30 Positions" Application Program With 1 Mechanical Stop

    SMI21 • For information, all 4 positions are given in number of pulses (4096 pulses per motor revolution) in the grayed-out boxes. 11.3.2. "Valve 30 positions" Application Program with 1 Mechanical Stop Input Output connections connections Figure The "Valve 30 positions" application program invokes the P111 expert program.
  • Page 51 SMI21 • OUT3: If 0 → motor stopped, if 1 → motor running. • OUT4: If 0 → no error, if 1 → error detected. 11.3.2.2. Application Settings • The user can give a 4-character name in "Project name" which is stored in the motor and appears in the "Motor Information"...

  • Page 52: Conveyor Belt" Group

    SMI21 11.4. "Conveyor Belt" Group 11.4.1. "Conveyor Belt 0-10V" Application Program Input Output connections connections Figure The "Conveyor Belt 0-10V" application program invokes the V101 expert program. The user can switch to this expert mode at any time to access all the settings by clicking the "Expert Mode"...
  • Page 53 SMI21 • IN6: 0-10 V control. Sets the speed setpoint. 0 V for 0 rpm and 10 V for the maximum motor speed defined by the user. Outputs: Don't forget to fit the pull-down resistors on each of the outputs.

  • Page 54: Conveyor Belt Pwm" Application Program

    SMI21 11.4.2. "Conveyor Belt PWM" Application Program Input Output connections connections Figure The "Conveyor Belt PWM" application program invokes the V101 expert program. The user can switch to this expert mode at any time to access all the settings by clicking the "Expert Mode"...
  • Page 55 SMI21 Outputs: Don't forget to fit the pull-down resistors on each of the outputs. • OUT1: Provides information on the motor speed value in PWM. → speed = 0 rpm Cyclical ratio = 0% → speed = maximum speed. Cyclical ratio = 100% •...

  • Page 56: Machine" Group

    SMI21 11.5. "Machine" Group 11.5.1. "Worm Gear" Application Program Output connections Input connections Figure The "Worm Gear" application program invokes the P111 expert program. The user can switch to this expert mode at any time to access all the settings by clicking the "Expert Mode"...
  • Page 57 SMI21 11.5.1.2. Initialization Phase • The user can give a 4-character name in "Project name" which is stored in the motor and appears in the "Motor Information" window. • If it has been saved on the PC by the user, this name is used by default. For more details, see the "Saving Parameters"...

  • Page 58: Clamp" Application Program

    SMI21 11.5.2. "Clamp" Application Program Input Output connections connections Figure The "Clamp" application program invokes the C101 expert program. The user can switch to this expert mode at any time to access all the settings by clicking the "Expert Mode"...
  • Page 59 SMI21 Outputs: Don't forget to fit the pull-down resistors on each of the outputs. • OUT1: Provides information on the motor speed value in PWM. → speed = 0 rpm Cyclical ratio = 0% → speed = 4000 rpm. Cyclical ratio = 100% •...

  • Page 60: Expert Programs

    SMI21 12. EXPERT PROGRAMS 12.1. Speed Programs 12.1.1. Types of Inputs in V100 Programs The table below defines the function associated with each of the inputs in the 4 V100 programs (the color associated with the input number corresponds to that of the I/O bundle):...

  • Page 61: Description Of The Various Tabs

    SMI21 12.1.3. Description of the Various Tabs For the description of tabs, expert program V101 is used as an example (for detailed information about each speed expert program, see the "Expert Program V101" to "Expert Program V104" sections in this document).
  • Page 62 SMI21 12.1.3.2. "Description" Tab This is an information tab containing a concise description of the various speed profiles that are created using this expert mode: Option to name the project Summary description of the profiles that can be created using this expert mode: speed control, acceleration ramps, etc.
  • Page 63 SMI21 12.1.3.3. "Inputs" Tab This tab is used to configure the various inputs in this expert mode (digital input polarity, value, control type, maximum and minimum control limit, etc.): Figure...
  • Page 64 SMI21 12.1.3.4. "Outputs" Tab This tab is used to select and configure the various outputs in this expert mode (speed type 1 to type 4): Output 3 type Output 1 type Output 2 type Output 4 type parameter settings parameter settings...
  • Page 65 SMI21 12.1.3.6. "Limits" Tab This tab is used to configure the various motor operating limits: nominal and maximum torque (torque peak authorization) and the power supply overvoltage threshold. Summary description of torque control. Setting the parameters associated with torque control.

  • Page 66: Expert Program V101

    SMI21 12.1.4. Expert Program V101 12.1.4.1. Description Expert program V101 is used to: - Create speed profiles with analog or PWM control. - Set the acceleration/deceleration phases with analog or PWM control. - Set the nominal and maximum torque parameters for the application safety via the HMI.
  • Page 67 SMI21 Digital input 4: Used to set the "Fast stop" input polarity. This input is used to stop the motor as quickly as possible, ignoring the setpoints applied to the other inputs. Figure Setpoint input 5: Used to select the control type for the acceleration/deceleration setpoint and fix the maximum and minimum limits for this setpoint.
  • Page 68 SMI21 12.1.4.3. Type 1 "Outputs" Tab Parameters Setting the parameters of Pulse output 1 "Real speed": A Hall pulse with configurable width (100 to 800 µs) is generated each time one of the 3 motor Hall sensors changes state. 80140_SMI21 and 80180_SMI21 motors have 12 Hall pulses per revolution (2 pairs of poles).
  • Page 69 SMI21 12.1.4.4. Type 2 "Outputs" Tab Parameters Setting the parameters of PWM output 1 "Real Speed": The parameters can be set for the signal frequency of this output (must be identical to the one for PWM output 2). → Real speed = 0 rpm.
  • Page 70 SMI21 12.1.4.5. Type 3 "Outputs" Tab Parameters Setting the parameters of frequency output 1 "Real speed": The parameters can be set for the signal frequency of this output for which the motor runs at 1000 RPM (200, 500 or 1000 Hz).
  • Page 71 SMI21 12.1.4.6. Type 4 "Outputs" Tab Parameters Setting the parameters of PWM output 1: "Real speed (centered on 50%)": The parameters can be set for the signal frequency of this output (must be identical to the one for PWM output 2).
  • Page 72 SMI21 12.1.4.7. "Tuning" Tab Parameters Selection of the various parameters to be represented in graphic form: either 1, 2 or 3 parameters. The system speed response (measurement vs setpoint) can therefore be compared while displaying changes in the current. Figure Set the PID controller factors in the speed control loop (this function is reserved for advanced users).
  • Page 73 SMI21 Example: With a speed setpoint on input 6 at 3200 RPM and an acceleration setpoint on input 5 at 800 RPM/s, this gives us the following graphic representation (recording time of 10 seconds): Real speed Speed setpoint Figure Note: The display scales can be changed with the mouse wheel. Other functions are available by right- clicking the mouse.
  • Page 74 SMI21 12.1.4.8. "Limitations" Tab Parameters WARNING UNEXPECTED MOVEMENT An inappropriate setting for the torque values can result in unexpected movements of the application and destruction of the motor. • Make sure this will not cause any damage. • Do not continue with the test if there is anyone or any obstacle in the hazardous zone.
  • Page 75 SMI21 12.1.4.9. "Errors" Tab Parameters Setting the parameters for the action to be taken when an overtorque error is encountered: real torque higher than the nominal torque "C " for a time longer than "t ". NOMINAL Figure For all errors affecting motor safety, the action to be taken cannot be configured: in the event of an error, the motor is stopped and no holding torque is applied (freewheeling).

  • Page 76: Expert Program V102

    SMI21 12.1.5. Expert Program V102 12.1.5.1. Description Expert program V102 is used to: - Create speed profiles with analog or PWM control. - Set torque limiting with analog or PWM control. 12.1.5.2. "Inputs" Tab Parameters Digital input 1: Used to set the "On/Off" input polarity.
  • Page 77 SMI21 Digital input 4: Used to set the "Fast stop" input polarity. This input is used to stop the motor as quickly as possible, ignoring the setpoints applied to the other inputs. Figure Setpoint input 5: Used to select the control type for the torque limiting setpoint and fix the maximum and minimum limits for this setpoint.
  • Page 78 SMI21 12.1.5.3. Type 1 "Outputs" Tab Parameters Setting the parameters of Pulse output 1 "Real speed": A Hall pulse with configurable width (100 to 800 µs) is generated each time one of the 3 motor Hall sensors changes state. 80140_SMI21 and 80180_SMI21 motors have 12 Hall pulses per revolution (2 pairs of poles).
  • Page 79 SMI21 12.1.5.4. Type 2 "Outputs" Tab Parameters Setting the parameters of PWM output 1 "Real Speed": The parameters can be set for the signal frequency of this output (must be identical to the one for PWM output 2). → Real speed = 0 rpm.
  • Page 80 SMI21 12.1.5.5. Type 3 "Outputs" Tab Parameters Setting the parameters of frequency output 1 "Real speed": The parameters can be set for the signal frequency of this output for which the motor runs at 1000 RPM (200, 500 or 1000 Hz).
  • Page 81 SMI21 12.1.5.6. Type 4 "Outputs" Tab Parameters Setting the parameters of PWM output 1: "Real speed (centered on 50%)": The parameters can be set for the signal frequency of this output (must be identical to the one for PWM output 2).
  • Page 82 SMI21 12.1.5.7. "Tuning" Tab Parameters Selection of the various parameters to be represented in graphic form: either 1, 2 or 3 parameters. The system speed response (measurement vs setpoint) can therefore be compared while displaying changes in the current. Figure Set the PID controller factors in the speed control loop (this function is reserved for advanced users).
  • Page 83 SMI21 Example: With a speed setpoint on input 6 at 2000 RPM and a torque limit on input 5 at 1000 mN.m, this gives us the following graphic representation (recording time of 5 seconds): Real speed Speed setpoint Figure Note: The display scales can be changed with the mouse wheel. Other functions are available by right- clicking the mouse.
  • Page 84 SMI21 12.1.5.8. "Limits" Tab Parameters WARNING VOLTAGE SURGES During the braking phases, the motor generates voltage surges. • Check that its voltage surges can be tolerated by the other devices connected to the same power supply. • Use an external circuit to limit voltage surges if the brake is being used intensively.

  • Page 85: Expert Program V103

    SMI21 12.1.6. Expert Program V103 12.1.6.1. Description Expert program V103 is used to: - Create speed profiles with analog or PWM control. - Force speed control to one of the 3 preprogrammed speeds. - Set the acceleration/deceleration phase parameters via the HMI.
  • Page 86 SMI21 Setpoint input 6: Used to select the control type for the speed setpoint and fix the maximum and minimum limits for this setpoint. An inverted scale can be used. Figure Setting the acceleration and braking ramps: These values are fixed via the HMI and cannot be changed by inputs while the motor is running.
  • Page 87 SMI21 12.1.6.3. Type 1 "Outputs" Tab Parameters Setting the parameters of Pulse output 1 "Real speed": A Hall pulse with configurable width (100 to 800 µs) is generated each time one of the 3 motor Hall sensors changes state. 80140_SMI21 and 80180_SMI21 motors have 12 Hall pulses per revolution (2 pairs of poles).
  • Page 88 SMI21 12.1.6.4. Type 2 "Outputs" Tab Parameters Setting the parameters of PWM output 1 "Real speed": The parameters can be set for the signal frequency of this output (must be identical to the one for PWM output 2). → Real speed = 0 rpm.
  • Page 89 SMI21 12.1.6.5. Type 3 "Outputs" Tab Parameters Setting the parameters of frequency output 1 "Real speed": The parameters can be set for the signal frequency of this output for which the motor runs at 1000 RPM (200, 500 or 1000 Hz).
  • Page 90 SMI21 12.1.6.6. Type 4 "Outputs" Tab Parameters Setting the parameters of PWM output 1: "Real speed (centered on 50%)": The parameters can be set for the signal frequency of this output (must be identical to the one for PWM output 2).
  • Page 91 SMI21 12.1.6.7. "Tuning" Tab Parameters Selection of the various parameters to be represented in graphic form: either 1, 2 or 3 parameters. The system speed response (measurement vs setpoint) can therefore be compared while displaying changes in the current. Figure Set the PID controller factors in the speed control loop (this function is reserved for advanced users).
  • Page 92 SMI21 Example: With a priority speed on input 1 at 1000 RPM, a priority speed on input 2 at 2000 RPM and a priority speed on input 3 at 3000 RPM, this gives us the following graphic representation (recording time of...
  • Page 93 SMI21 12.1.6.8. "Limits" Tab Parameters WARNING UNEXPECTED MOVEMENT An inappropriate setting for the torque values can result in unexpected movements of the application and destruction of the motor. • Make sure this will not cause any damage. • Do not continue with the test if there is anyone or any obstacle in the hazardous zone.
  • Page 94 SMI21 12.1.6.9. "Errors" Tab Parameters Setting the parameters for the action to be taken when an overtorque error is encountered: real torque higher than the nominal torque "C " for a time longer than "t ". NOMINAL Figure For all errors affecting motor safety, the action to be taken cannot be configured: in the event of an error, the motor is stopped and no holding torque is applied (freewheeling).

  • Page 95: Expert Program V104

    SMI21 12.1.7. Expert Program V104 12.1.7.1. Description Expert program V104 is used to: - Create speed profiles with a choice of 8 preconfigured values. - Set torque limiting with analog or PWM control. - Set the acceleration/deceleration phase parameters via the HMI.
  • Page 96 SMI21 Setpoint input 6: Used to select the control type for the torque limiting setpoint and fix the maximum and minimum limits for this setpoint. An inverted scale can be used. Figure Setting the acceleration and braking ramps: These values are fixed via the HMI and cannot be changed by inputs while the motor is running.
  • Page 97 SMI21 12.1.7.3. Type 1 "Outputs" Tab Parameters Setting the parameters of Pulse output 1 "Real speed": A Hall pulse with configurable width (100 to 800 µs) is generated each time one of the 3 motor Hall sensors changes state. 80140_SMI21 and 80180_SMI21 motors have 12 Hall pulses per revolution (2 pairs of poles).
  • Page 98 SMI21 12.1.7.4. Type 2 "Outputs" Tab Parameters Setting the parameters of PWM output 1 "Real speed": The parameters can be set for the signal frequency of this output (must be identical to the one for PWM output 2). → Real speed = 0 rpm.
  • Page 99 SMI21 12.1.7.5. Type 3 "Outputs" Tab Parameters Setting the parameters of frequency output 1 "Real speed": The parameters can be set for the signal frequency of this output for which the motor runs at 1000 RPM (200, 500 or 1000 Hz).
  • Page 100 SMI21 12.1.7.6. Type 4 "Outputs" Tab Parameters Setting the parameters of PWM output 1: "Real speed (centered on 50%)": The parameters can be set for the signal frequency of this output (must be identical to the one for PWM output 2).
  • Page 101 SMI21 12.1.7.7. "Tuning" Tab Parameters Selection of the various parameters to be represented in graphic form: either 1, 2 or 3 parameters. The system speed response (measurement vs setpoint) can therefore be compared while displaying changes in the current. Figure Set the PID controller factors in the speed control loop (this function is reserved for advanced users).
  • Page 102 SMI21 Example: With 8 preprogrammed speeds, this gives us the following graphic representation: (recording time of 30 seconds). Speed 1 is at 0 RPM. Speed setpoint Real speed Figure Note: The display scales can be changed with the mouse wheel. Other functions are available by right- clicking the mouse.
  • Page 103 SMI21 12.1.7.8. "Limits" Tab Parameters WARNING VOLTAGE SURGES During the braking phases, the motor generates voltage surges. • Check that its voltage surges can be tolerated by the other devices connected to the same power supply. • Use an external circuit to limit voltage surges if the brake is being used intensively.

  • Page 104: Position Programs

    SMI21 12.2. Position Programs 12.2.1. Types of Inputs in P100 Programs The table below defines the function associated with each of the inputs in the 12 P100 programs (the color associated with the input number corresponds to that of the I/O bundle):...

  • Page 105: Types Of Outputs In P100 Programs

    SMI21 12.2.2. Types of Outputs in P100 Programs For all expert position programs, 5 configurable output configurations are available (the color associated with the output number corresponds to that of the I/O bundle): Out1 Out2 Out3 Out4 On stand-by, Homing phase...

  • Page 106: Description Of The Different Types Of Homing

    SMI21 12.2.3. Description of the Different Types of Homing The homing sequence is an initialization phase that helps the motor estimate the application total stroke by searching for mechanical stops. These stops can be detected in one of 2 ways: - With 1 limit switch by retrieving information from one of the inputs.
  • Page 107 SMI21 b) 1 mechanical stop: Selection of homing "mechanical zero" Accessible parameters "software zero" Figure This homing phase is used to search for the system mechanical stop as follows: - Depending on the "END1" stop position (on the right or left), the user selects the appropriate "Direction of...
  • Page 108 SMI21 c) 2 mechanical stops: Selection of homing "mechanical end" "mechanical zero" "total travel" "software zero" Accessible parameters Figure This homing phase is used to search for the 2 system mechanical stops as follows: Depending on the 1st "END1" stop position (on the right or left), the user selects the appropriate "Direction...
  • Page 109 SMI21 12.2.3.2. Homing Phase With 1 Switch a) 1 switch: Selection of homing "mechanical zero" "software zero" Accessible parameters Figure This homing phase is used to search for the system "switch" type stop as follows: - First configure the switch polarity: «...
  • Page 110 SMI21 b) 1 switch then 1 end: with the zero defined by the switch Selection of homing "mechanical end" "mechanical zero" "total travel" "software zero" Accessible parameters Figure This homing phase is used to search initially for the system "switch" type stop, then for the system mechanical stop as follows: - First configure the switch polarity: «...
  • Page 111 SMI21 c) 1 end then 1 switch: with the zero defined by the mechanical switch Selection of homing "mechanical zero" "total travel" "mechanical end" "software zero" Accessible parameters Figure This homing phase is used to search initially for the system mechanical stop, then for the system "switch"...

  • Page 112: Description Of The Various Tabs

    SMI21 12.2.4. Description of the Various Tabs For the description of tabs, expert program P101 is used as an example (for detailed information about each speed expert program, see the "Expert Program P101" to "Expert Program P111" sections in this document).
  • Page 113 SMI21 12.2.4.2. "Description" Tab This is an information tab containing a concise description of the various position profiles that are created using this expert mode: Option to name the project Summary description of the profiles that can be created using this expert mode: positioning with 4 predefined targets, acceleration ramps, etc.
  • Page 114 SMI21 12.2.4.3. "Homing" Tab This tab is used to select and configure the type of homing to be performed: offset(s), speed, homing torque, maximum duration of the homing phase, motor direction of rotation to search for the 1st stop. Selection of the type of homing to be...
  • Page 115 SMI21 12.2.4.5. "Outputs" Tab This tab is used to select and configure the various outputs in this expert mode (position type 5 to type 9): Output 5 type Output 7 type Output 8 type Output 9 type Output 6 type...
  • Page 116 SMI21 12.2.4.6. "Tuning" Tab This tab is used to represent some parameters (speed, position, torque, etc.) in graphic form and modify the position control loop coefficients. It is common to all the position expert programs. This tab is used to view the selected parameters in graphic form.
  • Page 117 SMI21 12.2.4.8. "Errors" Tab This tab provides information about the type of error encountered (based on the error code) and the action to be taken by the motor following this error. Action for the overtorque error can be configured. Setting the action to be taken when an overtorque error is encountered.

  • Page 118: Expert Program P101

    SMI21 12.2.5. Expert Program P101 12.2.5.1. Description Expert program P101 is used to: - Perform a homing phase to initialize the system with detection of the limit switches. - Perform various positionings using 4 preset setpoint positions, each corresponding to one of the digital inputs "In1"...
  • Page 119 SMI21 Set the direction of rotation for the first stop search (END1). N.B.: By default, the motor runs forward (CW). Figure...
  • Page 120 SMI21 12.2.5.3. "Inputs" Tab Parameters Digital input 1: Used to set the "Position 1" input polarity. Figure Digital input 2: Used to set the "Position 2" input polarity. Figure Digital input 3: Used to set the "Position 3" input polarity.
  • Page 121 SMI21 Set the 4 position setpoints and the speed profiles to be followed (acceleration ramp, speed step and deceleration ramp: trapezoidal profile): Figure Digital input 5: Used to set the "Start Homing" input polarity. Figure Digital input 6: Used to set the "On/Off" input polarity.
  • Page 122 SMI21 12.2.5.4. Type 5 "Outputs" Tab Parameters State of digital output 1 "Target Reached Flag": Used to find out whether the position setpoint has been reached. Figure State of digital output 2 "Homing Sequence Information": Used to find out how the homing phase is progressing: completed, in progress or not performed.
  • Page 123 SMI21 12.2.5.5. Type 6 "Outputs" Tab Parameters State of digital output 1 "Target Reached Flag": Used to find out whether the position setpoint has been reached. Figure State of digital output 2 "Homing Sequence Information": Used to find out how the homing phase is progressing: completed, in progress or not performed.
  • Page 124 SMI21 12.2.5.6. Type 7 "Outputs" Tab Parameters State of digital output 1 "Target Reached Flag": Used to find out whether the position setpoint has been reached. Figure Setting the parameters of PWM output 2 "Real torque (centered on 50%)": The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100% (scaling).
  • Page 125 SMI21 12.2.5.7. Type 8 "Outputs" Tab Parameters State of digital output 1 "Target Reached Flag": Used to find out whether the position setpoint has been reached. Figure Setting the parameters of PWM output 2 "Real torque (centered on 50%)": The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100% (scaling).
  • Page 126 SMI21 12.2.5.8. Type 9 "Outputs" Tab Parameters Setting the parameters of Pulse output 1 "Real speed": A Hall pulse with configurable width (100 to 800 µs) is generated each time one of the 3 motor Hall sensors changes state. 80140_SMI21 and 80180_SMI21 motors have 12 Hall pulses per revolution (2 pairs of poles).
  • Page 127 SMI21 12.2.5.9. "Tuning" Tab Parameters Selection of the various parameters to be represented in graphic form: either 1, 2, 3 or 4 parameters. The system position response (measurement vs setpoint) can therefore be compared while displaying changes in the current and the speed.
  • Page 128 SMI21 Example: Position 1: 2,000,000 points, acceleration ramp 400 rpm/sec, speed step 1000 rpm, deceleration ramp 100 rpm/sec. Position 2: 0 points, acceleration ramp 400 rpm/sec, speed step 1000 rpm, deceleration ramp 100 rpm/sec. This gives us the following graphic representation:...
  • Page 129 SMI21 12.2.5.10. "Limits" Tab Parameters WARNING UNEXPECTED MOVEMENT An inappropriate setting for the torque values can result in unexpected movements of the application and destruction of the motor. • Make sure this will not cause any damage. • Do not continue with the test if there is anyone or any obstacle in the hazardous zone.
  • Page 130 SMI21 12.2.5.11. "Errors" Tab Parameters Setting the parameters for the action to be taken when an overtorque error is encountered: real torque higher than the nominal torque "C " for a time longer than "t ". NOMINAL Figure For all errors affecting motor safety, the action to be taken cannot be configured: in the event of an error, the motor stops, and no holding torque is applied (freewheeling).

  • Page 131: Expert Program P111

    SMI21 12.2.6. Expert Program P111 12.2.6.1. Description Expert program P111 is used to: - Perform a homing phase to initialize the system with detection of the limit switches (switch or mechanical type). A single switch type contact is managed in this program.
  • Page 132 SMI21 Set the maximum permitted time for the homing phase. If this value is exceeded, an error will be generated. Time limited to 300 s. Figure Set the direction of rotation for the first stop search. N.B.: By default, the motor runs forward (CW).
  • Page 133 SMI21 12.2.6.3. "Inputs" Tab Parameters Information concerning the polarity of the switch wired on digital input 6. This polarity is selected in the "Homing" tab (see above). Figure Select the number of position setpoints to be preset (see table below).
  • Page 134 SMI21 12.2.6.4. Type 5 "Outputs" Tab Parameters State of digital output 1 "Target Reached Flag": Used to find out whether the position setpoint has been reached. Figure State of digital output 2 "Homing Sequence Information": Used to find out how the homing phase is progressing: completed, in progress or not performed.
  • Page 135 SMI21 12.2.6.5. Type 6 "Outputs" Tab Parameters State of digital output 1 "Target Reached Flag": Used to find out whether the position setpoint has been reached. Figure State of digital output 2 "Homing Sequence Information": Used to find out how the homing phase is progressing: completed, in progress or not performed.
  • Page 136 SMI21 12.2.6.6. Type 7 "Outputs" Tab Parameters State of digital output 1 "Target Reached Flag": Used to find out whether the position setpoint has been reached. Figure Setting the parameters of PWM output 2 "Real torque (centered on 50%)": The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100% (scaling).
  • Page 137 SMI21 12.2.6.7. Type 8 "Outputs" Tab Parameters State of digital output 1 "Target Reached Flag": Used to find out whether the position setpoint has been reached. Figure Setting the parameters of PWM output 2 "Real torque (centered on 50%)": The parameters can be set for the signal frequency of this output and the torque value corresponding to a cyclical ratio of 100% (scaling).
  • Page 138 SMI21 12.2.6.8. Type 9 "Outputs" Tab Parameters Setting the parameters of Pulse output 1 "Real speed": A Hall pulse with configurable width (100 to 800 µs) is generated each time one of the 3 motor Hall sensors changes state. 80140_SMI21 and 80180_SMI21 motors have 12 Hall pulses per revolution (2 pairs of poles).
  • Page 139 SMI21 12.2.6.9. "Tuning" Tab Parameters Selection of the various parameters to be represented in graphic form: either 1, 2, 3 or 4 parameters. The system position response (measurement vs setpoint) can therefore be compared while displaying changes in the current and the speed.
  • Page 140 SMI21 Example: Position 1: 2,000,000 points, acceleration ramp 400 rpm/sec, speed step 1000 rpm, deceleration ramp 100 rpm/sec. Position 2: 0 points, acceleration ramp 400 rpm/sec, speed step 1000 rpm, deceleration ramp 100 rpm/sec. This gives us the following graphic representation:...
  • Page 141 SMI21 12.2.6.10. "Limits" Tab Parameters WARNING UNEXPECTED MOVEMENT An inappropriate setting for the torque values can result in unexpected movements of the application and destruction of the motor. • Make sure this will not cause any damage. • Do not continue with the test if there is anyone or any obstacle in the hazardous zone.
  • Page 142 SMI21 12.2.6.11. "Errors" Tab Parameters Setting the parameters for the action to be taken when an overtorque error is encountered: real torque higher than the nominal torque "C " for a time longer than "t ". NOMINAL Figure For all errors affecting motor safety, the action to be taken cannot be configured: in the event of an error, the motor is stopped and no holding torque is applied (freewheeling).

  • Page 143: Torque Programs

    SMI21 12.3. Torque Programs 12.3.1. Types of Inputs in C100 Programs The table below defines the function associated with each of the inputs in the 2 C100 programs (the color associated with the input number corresponds to that of the I/O bundle):...

  • Page 144: Description Of The Various Tabs

    SMI21 12.3.3. Description of the Various Tabs For the description of tabs, expert program C101 is used as an example (for detailed information about each torque expert program, see the "Expert Program C101" section in this document). 12.3.3.1. Home Page This page is common to all the expert and application programs, whether in speed, position or torque mode.
  • Page 145 SMI21 12.3.3.2. "Description" Tab This is an information tab containing a concise description of the various torque profiles that are created using this expert mode: Option to name the project Summary description of the profiles that can be created using this expert mode: torque control with ramp management, etc.
  • Page 146 SMI21 Figure 12.3.3.4. "Outputs" Tab This tab is used to select and configure the various outputs in this expert mode (torque type 2 and type 10): Output 2 type parameter Output 10 type parameter settings settings Figure...
  • Page 147 SMI21 12.3.3.5. "Tuning" Tab This tab is used to represent some parameters (speed, torque, etc.) in graphic form and modify the torque control loop coefficients. It is common to all the torque expert programs. This tab is used to view the selected parameters in graphic form.
  • Page 148 SMI21 12.3.3.7. "Errors" Tab This tab provides information about the type of error encountered (based on the error code) and the action to be taken by the motor following this error. If an error is detected that could jeopardize motor safety, the motor is automatically turned off and left freewheeling.

  • Page 149: Expert Program C101

    SMI21 12.3.4. Expert Program C101 12.3.4.1. Description Expert program C101 is used to: - Create torque profiles with analog or PWM control. - Set the torque up and down ramps with analog or PWM control. 12.3.4.2. "Inputs" Tab Parameters Digital input 1: Used to set the "On/Off" input polarity.
  • Page 150 SMI21 Setpoint input 5: Used to select the control type for the torque ramp setpoint and fix the maximum and minimum limits for this setpoint. An inverted scale can be used. Figure Setpoint input 6: Used to select the control type for the torque setpoint and fix the maximum and minimum limits for this setpoint.
  • Page 151 SMI21 12.3.4.3. Type 2 "Outputs" Tab Parameters Setting the parameters of PWM output 1 "Real Speed": The parameters can be set for the signal frequency of this output (must be identical to the one for PWM output 2). → Real speed = 0 rpm.
  • Page 152 SMI21 12.3.4.4. Type 10 "Outputs" Tab Parameters Setting the parameters of PWM output 1: "Real speed (centered on 50%)": The parameters can be set for the signal frequency of this output (must be identical to the one for PWM output 2).
  • Page 153 SMI21 12.3.4.5. "Tuning" Tab Parameters Selection of the various parameters to be represented in graphic form: either 1, 2 or 3 parameters. The system torque response (measurement vs setpoint) can therefore be compared while displaying changes in the speed. Figure Set the PID controller factors in the torque control loop (this function is reserved for advanced users).
  • Page 154 SMI21 Example: With a torque setpoint on input 6 at 200 mN.m and a torque ramp setpoint on input 5 at 50 mN.m/s, this gives us the following graphic representation (recording time of 20 seconds): Torque setpoint Real torque Figure Note: The display scales can be changed with the mouse wheel.
  • Page 155 SMI21 12.3.4.6. "Limits" Tab Parameters WARNING VOLTAGE SURGES During the braking phases, the motor generates voltage surges. • Check that its voltage surges can be tolerated by the other devices connected to the same power supply. • Use an external circuit to limit voltage surges if the brake is being used intensively.

  • Page 156: Saving Parameters

    SMI21 13. SAVING PARAMETERS In all the expert programs (speed, position and torque), the user can give a name to his project (4 alphanumerical characters maximum) using the "Project name" parameter in the program "Description" tab (expert program V101 will be used as an example): Figure Once he has configured his application, the user should upload the program to the motor.
  • Page 157 SMI21 Figure Select the parameter backup file Figure...
  • Page 158 SMI21 When the parameter file is uploaded, the HMI automatically launches the associated expert or application program (in our example expert program V101): Load saved parameters Figure Press the "Load Program" button to load the "MOT1.xml" file parameters in the motor.

  • Page 159: Diagnostics And Troubleshooting

    SMI21 14. DIAGNOSTICS AND TROUBLESHOOTING 14.1. Mechanical Failures Error Cause Remedy Significant temperature rise Overload Reduce the load Holding brake not released Check control of the holding brake Whistling or knocking Faulty bearings Contact the after-sales service Friction noise A rotary transmission device is catching...

  • Page 160: Service, Maintenance And Disposal

    15. SERVICE, MAINTENANCE AND DISPOSAL 15.1. Addresses of After-Sales Service Outlets Please contact your distributor. The list of distributors is accessible on the CROUZET Automatismes website www.crouzet.com 15.2. Storage The motors must only be transported and stored in dry, dust-free environments that are resistant to vibration.

  • Page 161: Replacing The Motor

    SMI21 Measure the brake holding torque using a torque wrench. => Compare the value with the holding torque indicated on the technical data sheet. => If the holding torque is markedly different from the stated values, turn the motor shaft by hand 25 turns in =>...

  • Page 162: Terminology And Abbreviations

    Function available in the HMI which can be used to update the firmware. Commonly used abbreviations: HMI: Human-Machine Interface SMI21: Trade name of the new CROUZET brushless range Homing: Initialization phase for finding the limits AON: Type of digital inputs/outputs (All Or Nothing)

This manual is also suitable for:

801400smi21801495smi21801496smi21801410smi21801800smi21801896smi21 ... Show all

Table of Contents