Summary of Contents for Simplex Motion SC Series
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Page 1: Simplex Motion Technical Manual
Simplex Motion Technical Manual Simplex Motion Technical Manual For following motor models; SCXXXX SMXXXX SHXXXX www.simplexmotion.com Version 2020-05-15 Page 1 of 30... -
Page 2: Table Of Contents
Simplex Motion Technical Manual About this document Simplex Motion AB makes no representations or warranties regarding the content of this document. We reserve the right to revise this document any time without notice and obligation. The document describes the general usages of the following motor models: SCxxxx, SMxxxx and SHxxxx (where the x is the motor models number). -
Page 3: Safety
Simplex Motion Technical Manual 1 Safety Qualification of personnel Only technicians who are familiar with and understand the contents of this manual and the other relevant documentation are authorized to work on and with this drive system. The technicians must be able to detect potential dangers that may be caused by setting parameters, changing parameter values, creating and changing events and generally by the operation of mechanical, electrical and electronic equipment. -
Page 4: Hazard Categories
Simplex Motion Technical Manual Hazard Categories Safety notes and general information are indicated by hazard messages in the manual. In addition there are symbols and instructions affixed to the product that warn of possible hazards and help to operate the product safely. Depending on the seriousness of the hazard, the messages are divided into three hazard categories. -
Page 5: Communication
But to start the motor the external power supply is necessary. If several Simplex Motion devices are connected to the same PC computer, via a USB hub for example, they are separated with unique addresses. This address is the same used for RS485 Modbus communication, and is set in register <Address>. - Page 6 Simplex Motion Technical Manual The configuration is done using bits 8..11 in <ModbusControl> according to: Value Description Modbus interface disabled. Connections used for digital inputs. RS485 standard (default) RS485 inverted. This is the same as swapping A/B connections. RS232 standard. Signal level is low when idle (0VDC).
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Page 7: Register Map
Simplex Motion Technical Manual Register map The unit is entirely controlled by its registers that can be read and written using the USB interface or the Modbus RTU protocol. There are 3 copies of the entire register map: Register memory Description At startup the contents in the ‘Store’... - Page 8 Simplex Motion Technical Manual uns16 Supply Measured supply voltage. Unit is 0.01V. Depends on motor model uns16 TempElectronics Measured temperature of the electronics. Unit is 0.01°C 0..12500 uns16 TempMotor Estimated temperature of the motor winding. Unit is 0.01°C 0..12500 uns16...
- Page 9 Simplex Motion Technical Manual int16 MotorSpeed Measured motor speed. Unit is positions/second / 16. -25600..25600 Value in unit RPM = 60 * MotorSpeed / 256. int16 MotorTorque Measured motor torque. Unit is 1mNm. Depends on motor model int16 MotorTorqueMax Setting of torque limit value. Unit is 1mNm.
- Page 10 Simplex Motion Technical Manual precise speed control and a wider speed range. SpeedRamp Speed control mode with ramp control. SpeedLow A special low speed mode for higher resolution at low speed. The supplied target is divided by 256 before generating the actual speed value.
- Page 11 Simplex Motion Technical Manual uns16 Error This register holds the latest generated error code. See 4.1 for error codes. 0..65535 420/421 uns32 Time Tracks time as 2000 counts per second. Wraps around after about 12 days. 0 .. 4294967295 This register can also be written.
- Page 12 Simplex Motion Technical Manual Bits Description 0..3 Trigger operation Used to determine if trigger condition is met. 4..7 Trigger filter Allows filtering of trigger condition. 8..11 Trigger type 0 = Active, 1 = Edge, 2 = Repeat. 12..15 Data operation Used to manipulate register when event is executed.
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Page 13: Device Operation
Simplex Motion Technical Manual 3 Device operation This chapter will explain the operation of the unit and how it is controlled through the registers. Operating modes The <Mode> register controls the overall behavior of the motor unit. The following table describes the different modes:... -
Page 14: Motor Data
Simplex Motion Technical Manual Motor data Some registers are related to motor data, and here follows a summary of these. Name Type Description TempMotor uns16 Estimated temperature of the motor. Unit is 0.01°C The value is calculated by use of a thermal model of the device. The temperature of the... -
Page 15: Feed Forward
Simplex Motion Technical Manual Large values will decrease the noise in the derivative component of the regulator, but at the same time increase time lag. RegFriction int16 Speed feedforward term. Used when friction increases with speed. Setting this parameter correctly greatly reliefs the PID controller and thus decreases the controller error. -
Page 16: Ramping Control
Simplex Motion Technical Manual A few more settings are available for the handling of target values. Scaling and offsetting of target values is of great use when the target source is some external input such as an analog input. The registers <TargetMul> and <TargetDiv> is used for scaling, and the <TargetOffset>... -
Page 17: Sequence Control
Simplex Motion Technical Manual Sequence control To simplify sequence of movements there is a sequence feature. This feature is based on a table of 16 entries with position and time values. The table resides on registers <SeqTarget0> - <SeqTarget15> and <SeqTime0> - <SeqTime15>. -
Page 18: Homing
Simplex Motion Technical Manual Homing In many applications the position control is in absolute terms. This requires the system to obtain a position reference at startup. This procedure is commonly termed ‘homing’ or ‘referencing’ and often operates by slowly moving the motor in one direction until a home switch is engaged. -
Page 19: Events
Simplex Motion Technical Manual When all of the 4 steps have been completed (those that are not used should be set to 0) the <MotorPosition> register is reset to the value in the <HomeOffset> register. The difference between the actual <MotorPosition> value at this instant, and the <HomeOffset>... -
Page 20: Event Trigger
Simplex Motion Technical Manual 3.7.1 Event trigger A trigger condition is met when a register content together with an operator and a data value produces a non zero result. Any register can be selected by entering the register number in the <EventTrgReg> register. There are 16 operators to choose from, and the selection is done by setting the 4 bits at bit positions 0..3 in the <EventControl>... -
Page 21: Event Execution
Simplex Motion Technical Manual 3.7.2 Event execution When a trigger condition is finally determined true, the event is executed. This is done by taking the contents from a source register, and together with an operator and a data value, create a new value that is then written to a destination register. -
Page 22: Recorder
Simplex Motion Technical Manual Recorder To facilitate measuring of the unit behavior and performance there is an internal recorder to record parameters over time. It is capable of 4 channels, 500 measurements and up to 2kHz recording speed. Each channel is 16 bits wide, so capturing full 32 bit registers is not possible. -
Page 23: External Inputs And Outputs
Simplex Motion Technical Manual External inputs and outputs There are a total of 8 external connections available for user applications. Some of these connections can have multiple uses. The following functions are available: • QEA / QEB: for the quadrature encoder interface (or step motor emulation interface). -
Page 24: Outputs
Simplex Motion Technical Manual 3.9.2 Outputs There are 4 identical digital outputs OUT1..4. These outputs are shared with digital or analog inputs. They are configured as open collector outputs, sinking up to 1A current to ground. They can withstand a voltage of up to +30V. -
Page 25: Encoder
Simplex Motion Technical Manual 3.9.3 Encoder The quadrature encoder feature is available as an extra input. It uses 90 degree phase shifted signals to sense both movement and direction. The ENCA and ENCB signals are TTL logic +5V inputs. Pulse frequencies up to 2.2MHz is supported, depending on filter settings. -
Page 26: Indicator Led
Simplex Motion Technical Manual 4..7 Encoder filter Sets encoder signal filtering 0..7. Default value is 4. Invert direction if set to 1 Enable pull up resistor if set to 1. There is a weak pull down resistor when set to 0 (default). -
Page 27: Protection And Error Handling
Simplex Motion Technical Manual 4 Protection and error handling There are a number of protection features to minimize the risks of damaging the unit while still allowing full use of the performance. The main features are: • Hardware overcurrent protection on motor current. This is the only error that can not be masked out, it will always trip the driver and cause shutdown. - Page 28 Simplex Motion Technical Manual Voltage Input voltage is too high or low Voltage < 15V or Voltage > 30V Temperature Temperature of drive is too high, motor temp > 120°C or electronics temp > 100°C. Torque Motor torque limit active...
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Page 29: List Of Error Codes
Simplex Motion Technical Manual List of error codes These are the defined error codes that can be read from the <Error> register. The register content indicate the latest error, but the error cause may not any longer be existing when the register is read. -
Page 30: Power Supply Considerations And Emc
Simplex Motion Technical Manual 5 Power supply considerations and EMC The power supply used with the servomotor has to be able to supply enough current for the application, not only for the continuous operation, which is typically up to 6A current, but also for the instantaneous higher output power during for example high accelerations.
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