Related Manuals for Servotronix ServoStudio stepIM
Summary of Contents for Servotronix ServoStudio stepIM
- Page 1 stepIM Introduction ServoStudio Reference Manual stepIM Manual Revision: 1.1 Software Version: 1.41 Firmware Version: 0.0.2.79...
- Page 3 Copyright Notice © 2016 Servotronix Motion Control Ltd. All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of Servotronix Motion Control Ltd. Disclaimer This product documentation was accurate and reliable at the time of its release.
- Page 4 stepIM ServoStudio Reference Manual...
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Page 5: Table Of Contents
stepIM Contents Introduction ________________________________________________ 7 ServoStudio Overview ................7 Manual Format ..................7 Software Setup ______________________________________________ 8 Computer Requirements ................8 Software Installation .................. 8 Drive Selection ..................8 Software Interface Elements ___________________________________ 9 ServoStudio Screen Components ..............9 Help ......................11 Parameters .................... -
Page 7: Introduction
Introduction ServoStudio Overview ServoStudio is a graphical user interface (GUI) supplied with the stepIM to enable setup, configuration and tuning of the servo drive. It also allows you to set certain parameters for the stepIM motor and the particular application in which the stepIM is used. -
Page 8: Software Setup
Windows 7 Display settings must set to Smaller – 100% (Default). Software Installation Download ServoStudio software from the Servotronix website or contact Technical Support. Install ServoStudio software on the host computer. When installation is complete, start ServoStudio from the Windows Start menu or the shortcut on your desktop. -
Page 9: Software Interface Elements
stepIM Software Interface Elements Software Interface Elements ServoStudio Screen Components The ServoStudio software window has five main function areas: Toolbar Info Sidebar Task Screen Status Bar Figure 3-1. ServoStudio Software for stepIM Toolbar Contains quick access buttons for frequently used functions. - Page 10 Software Interface Elements stepIM Save Saves the parameter values currently in the drive RAM to the drive’s non-volatile memory. These values will be loaded to drive RAM at power-up. Use Save after configuring parameters to keep values in non-volatile memory. No Fault | Indicates whether a fault exists.
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Page 11: Help
stepIM Software Interface Elements Drive Active | This segment of the status bar is green when the Drive Inactive drive is enabled (active); it is red when the drive is disabled (inactive). Click to open the Enable & Faults screen. Right-click Drive Active to disable drive. -
Page 12: Parameters
Software Interface Elements stepIM Figure 3-2. Right-Click Help Shortcuts Help F1. Activates online help for the currently selected screen element. Enable | Kill Toggles the Enable/Disable state of the drive. Clear Faults Displayed when faults exist. Sends a clear faults command to the drive. -
Page 13: Schematics
stepIM Software Interface Elements 3.3.2 Schematics ServoStudio uses schematic diagrams in many of the configuration and tuning screens to help you visualize and correctly set values for required parameters. Hover over a parameter field to view its description and CANopen object name. Figure 3-3. -
Page 14: Canopen Objects Table
CANopen Objects Table stepIM CANopen Objects Table The CANopen Objects Table allows you to access and modify the values of the CAN objects. Figure 4-1. CANopen Objects Table The table is a floating screen. It remains open and accessible even when other task screens are in use. -
Page 15: Communication
stepIM Communication Communication The drive and host computer communicate over a CANopen network. A Kvaser USB-CAN interface is typically used to connect the stepIM to the computer to enable communication with ServoStudio software. The ServoStudio Communication screen is used to establish communication between the computer and the stepIM. - Page 16 Communication stepIM IDs to Connect Displays the node IDs of all drives detected. The green node ID indicates the drive with which ServoStudio is currently communicating. To communicate with a different drive, click on that drive’s node ID. ServoStudio Reference Manual...
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Page 17: Drive Information
stepIM Drive Information Drive Information The Drive Information screen displays basic information about the drive, such as current rating, hardware version and firmware version. It is important to provide this information to Technical Support when asking for assistance. The Drive Information screen also provides access to the Firmware Download utility. -
Page 18: Power Rating
Power Rating stepIM Power Rating The Power Rating screen displays the continuous and peak current ratings of the stepIM, and allows you to set the bus over- and under-voltage parameters. Figure 7-1. ServoStudio – Power Rating Screen – Main Current Rating Motor Rated The continuous current of the stepIM. -
Page 19: Limits
stepIM Limits Limits The Limits screen has three tabs: Current Limit Velocity Limit Position Limit Current Limit The Current Limit screen contains a diagram that shows how the maximum current for the system is determined, and enables you to set the current limit for your application. -
Page 20: Velocity Limit
Limits stepIM I2T Threshold Object 2034h The threshold value for the I2T integrator. A fault condition occurs when the I2T value exceeds the threshold value. When set to 0, the I2T threshold function is disabled. I2T Value Object 2033h The I2T integrator represents the energy delivered to the motor over the maximum allowed continuous energy;... -
Page 21: Position Limit
stepIM Limits Position Limit The Position Limit screen contains elements that indicate the status of limit switches, and define if and how software position switches are used as motion limit switches. Figure 8-3. ServoStudio – Position Limit Screen Position Error Following Error The maximum position error allowed Object 6065h... -
Page 22: Inputs/Outputs
Inputs/Outputs stepIM Inputs/Outputs The I/Os screen enables you to configure functionality and polarity of the digital I/Os, and to monitor the state of all digital I/Os. It also allows you to set the analog input offset and to monitor the analog input. Figure 9-1. -
Page 23: Digital Outputs
stepIM Inputs/Outputs Inversion Inverts the polarity of a digital input. Select the option to invert the polarity. As a result of inversion, the LED graphic in the software immediately changes color. Digital Outputs The Digital Outputs pane in the I/Os screen allows you to configure functionality and polarity of the digital outputs, and to monitor the state of the digital outputs. -
Page 24: Enable | Faults
Enable | Faults stepIM 10 Enable | Faults 10.1 Drive Enable Caution: Enabling the drive might cause the motor to move. The Enable & Faults screen graphically shows the conditions required for the drive to be enabled. It allows you to clear faults and to activate the Software Enable switch. -
Page 25: Faults
stepIM Enable | Faults 10.2 Faults The Faults panel displays a list of all faults and warnings currently in effect, and a list of faults that have occurred in the present working session. Figure 10-2. ServoStudio – Fault History Icon A graphic image that indicates the type of fault: Warning, Fault, Fatal Fault. -
Page 26: Motion - Operating Modes
Motion – Operating Modes stepIM 11 Motion – Operating Modes The Motion screen allows you to select the operation mode and define motion settings. The schematic diagram and data displayed in the Motion screen varies according to the selected operation mode. Using the Motion screen, you can execute motion and view the actual values of current, velocity and position. -
Page 27: Profile Position Operation Mode (1)
stepIM Motion – Operating Modes 11.1 Profile Position Operation Mode (1) In the Motion screen, select CANopen Operation Mode 1 – Profile Position to display the schematic and parameters for work in Profile Position mode. Figure 11-2. ServoStudio – Motion Screen – ProfilePosition Mode Motion Command Absolute... -
Page 28: Profile Velocity Operation Mode (3)
Motion – Operating Modes stepIM Copy Acc to Dec Copies the acceleration value to the deceleration value field. Backlash Sets the backlash compensation distance Object 2F84h Compensation Distance Move Start Sends the movement command to the motor. Stop Stops the movement. Current: Torque Demand Value Object 6074h Demand... -
Page 29: Profile Torque Operation Mode (4)
stepIM Motion – Operating Modes Start Sends the velocity command to the motor. Stop Stops the velocity command. Current: Torque Demand Value Object 6074h Demand Values Velocity: Velocity Demand Value Object 606Bh Position: Position Demand Value Object 6062h 11.3 Profile Torque Operation Mode (4) In the Motion screen select CANopen Operation Mode 4 –Profile Torque to display the schematic and parameters for work in Profile Torque mode. -
Page 30: Homing Mode (6)
Motion – Operating Modes stepIM 11.4 Homing Mode (6) Refer to the section Homing . The Homing screen allows you to select the methods and parameters to be used for homing the motor, and to initiate and monitor the homing process. Figure 11-5. - Page 31 stepIM Motion – Operating Modes Home Start Starts the homing process. Stop Stops the homing process. Displays the current state of system homing. Object 2090h Homing Status ServoStudio Reference Manual...
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Page 32: Velocity Control Loop
Velocity Control Loop stepIM 12 Velocity Control Loop The Velocity Loop screen allows you to modify parameters in the velocity control loop. Figure 12-1. ServoStudio – Velocity Control Loop ServoStudio Reference Manual... -
Page 33: Position Control Loop
stepIM Position Control Loop 13 Position Control Loop The Position Loop screen allows you to modify parameters in the position control loop. Figure 13-1. ServoStudio – Position Control Loop ServoStudio Reference Manual... -
Page 34: Scope Dashboard
Scope Dashboard stepIM 14 Scope Dashboard ServoStudio provides extensive recording and data graphing capabilities. Recording is done by the drive in real-time, and sent to the host computer for display. Recording can be set up to be triggered when a specified event or condition occurs. -
Page 35: Scope Toolbar
stepIM Scope Dashboard Samples # Samples The total number of points to be recorded. Time The rate at which data is recorded. The interval value is Interval specified in multiples of the drive's basic sampling rate, which is 62.5 µs. For example, an interval of 8 means data is recorded once every 8 samples, that is, every 500 µs (8x62.5=500). -
Page 36: Chart Options
Scope Dashboard stepIM Stop Recording Stops a recording. Aborts the command. Toggle Cursor to Toggles Zoom In and Zoom Out view of Zoom graph. When Zoom In is selected, a minus sign appears on the button. Using the left mouse button, click-and-drag to select an area on the graph for magnification. - Page 37 stepIM Scope Dashboard Clear Chart Clears the displayed chart. Chart Properties Set Background Opens the Colors dialog box, and allows you to modify Color the background color of the chart. Grid Toggles the grid display on and off. Also allows you to modify the grid: X Axis.
- Page 38 Scope Dashboard stepIM Reference/Previous Set Show Reference Set Displays the trace previously saved as a reference. Show Previous Set Displays the previously displayed trace in addition to the currently displayed trace. Save as Reference Saves the trace currently displayed on screen as a reference.
- Page 39 stepIM Scope Dashboard Scale All In Chart Options only. Adjusts and displays all traces on a scale of 0—100%, for better viewing. In Chart Options/Trace Options. As Percentage of MICONT Displays current as a percentage of motor continuous current, rather than amperage. Add Manipulated Trace These options define how a fast Fourier transform (FFT) algorithm is performed on the selected trace.
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Page 40: Scope Tabs/Panels
Scope Dashboard stepIM File Save As Exports a recording to a CSV file, so that it can be viewed and analyzed in Microsoft Excel. Load From Loads recorded data that was saved in a CSV file. Show Settling Time Settling time is the time elapsed from the application of a step command to the time at which the output has entered and remained within a specified error window. -
Page 41: Measurements
stepIM Scope Dashboard A sequential number for identifying the recorded sample. Time (ms) The time of the recorded sample. Recorded Columns showing the names and values of the variables Variable selected for recording. 14.4.2 Measurements The Measure tab in the Scope screen presents several measurements from the data currently displayed in the chart. - Page 42 Scope Dashboard stepIM Lowest recorded value in the trace. Highest recorded value in the trace. Pk-Pk The total span, between the highest and lowest recorded values in the trace. The standard deviation of the trace. ServoStudio Reference Manual...
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Page 43: Preferences
stepIM Preferences 15 Preferences The Preferences screen allows you to modify file names and locations, runtime options, and other ServoStudio default settings. The Preferences screen has two tabs: Basic and Advanced. Figure 15-1. ServoStudio – Preferences Screen – Basic Settings Startup Default Screen The task screen that is displayed when ServoStudio is... - Page 44 Preferences stepIM Runtime Options Auto Save options For Expert users. Selected elements will be automatically saved and restored the next time ServoStudio is opened, even if they were not explicitly saved before closing ServoStudio. IntelliSense options Applicable to systems with supported Terminal and Script functionality.
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Page 45: Backup & Restore
stepIM Backup & Restore 16 Backup & Restore The Backup & Restore screen allows you to save and load parameters to and from files on the host computer. Figure 16-1. ServoStudio – Backup & Restore Screen Backup Opens a Save as dialog box. Saves the parameters and values currently in the drive RAM to a file on the host computer. -
Page 46: Report Generator
Backup & Restore stepIM 16.1 Report Generator The Report Generator is a ServoStudio utility that allows you to save a copy of all system settings. It creates a set of files which can be sent to technical support and/or kept for reference. It is strongly recommended that you create a report whenever you complete configuration of your application, even when the system is functioning properly. - Page 47 stepIM Backup & Restore ServoStudio Reference Manual...
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