Granite Devices ARGON User Manual
  1. Manuals
  2. Brands
  3. Granite Devices Manuals
  4. Servo Drives
  5. ARGON
  6. User manual

Granite Devices ARGON User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
ARGON User manual 1.0.3 / 2016-03-07
ARGON Servo Drive

Advertisement

Table of Contents
loading
Need help?

Need help?

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

Questions and answers

Summary of Contents for Granite Devices ARGON

  • Page 1 ARGON User manual 1.0.3 / 2016-03-07 ARGON Servo Drive...

  • Page 2: Table Of Contents

    ARGON User manual 1.0.3 / 2016-03-07 Table of Contents 1. Reading the manual..............................3 2. ARGON Features...............................4 2.1. State of the Art..............................4 2.2. Control................................4 2.3. Protections & Ruggedness..........................4 2.4. Applications..............................5 2.5. Main functionality............................5 3. Specifications................................6 3.1. Electrical characteristics..........................7 3.1.1. Quadrature encoder electrical characteristics..................7 3.2.

  • Page 3: Reading The Manual

    4.5.4.6. Complete example with differential analog setpoint..............29 4.6. J6 Expansion slot............................29 5. Making the first Granity connection........................30 5.1. The setup process............................30 5.2. List of things needed............................32 5.3. Preparations..............................32 5.4. Device bus..............................33 5.4.1. Bus address............................33 5.4.2. Bus termination.............................35 5.4.3. Stub................................35 5.4.4. Troubleshooting............................35 5.5.

  • Page 4: Argon Features

    ARGON User manual 1.0.3 / 2016-03-07 Read the official and latest setup guide of the Argon servo drive thoroughly before installing or operating it, found here: http://granitedevices.com/wiki/Argon_(servo_drive NOTE: This guide attempts to be as complete and precise as humanly possible. However, it might have imperfections.

  • Page 5: Applications

    temperature protections, internally fused, data/communication error detection • Internal AC inrush current limiter and surge protection • High tolerance for fluctuations in AC supply voltage • 24 months warranty 2.4. Applications • Industrial servo control • CNC • Precision robotics •...

  • Page 6: Specifications

    ARGON User manual 1.0.3 / 2016-03-07 Function Description Integrated homing function for position control mode hard-stop homing • Sensorless Homing • Home switch search • Index pulse search • Soft position limits (eliminate limit switches) Feedback devices Complete feedback devices list later in this document.

  • Page 7: Electrical Characteristics

    3.1. Electrical characteristics For more details, see chapter 4 “Ports and connectors”. Maximum Property Typical value Units rating Protections (all I/O lines) over voltage, ESD, short circuit, reverse polarity Isolated digital input (GPIx) logic 1 voltage 4.5 – 24 25.5 Isolated digital input (GPIx) logic 0 voltage 0 –...

  • Page 8: Mechanical

    ARGON User manual 1.0.3 / 2016-03-07 3.2. Mechanical Property Value Units Dimensions (with wall mounting tabs)¹ 51×197×127 (W×H×D) Dimensions (excluding wall mounting tabs)¹ 51×177×127 (W×H×D) Weight 0.88 Case materials Steel (cover), aluminum (heat sink) Drawings: 2D (PDF) http://granitedevices.com/w/images/0/0d/Argon_asm_dimensions.PDF 3D (IG ES & STEP) http://granitedevices.com/w/images/d/d8/Argon_3d_models.zip...

  • Page 9: Motor Output

    3.5. Motor output Property Value Units Remarks Supported motors AC, BLDC, DC, Linear Permanent magnet motors only Continuous output 0 – 11 User settable limit current Duration 1 sec, then returned to Peak output current 0 – 16 continuous limit. User settable current limit.

  • Page 10: Regenerative Resistor

    ARGON User manual 1.0.3 / 2016-03-07 3.6. Regenerative resistor Property Value Units Maximum current Series fuse Minimum allowed resistance @ 230 VAC supply Ω Minimum allowed resistance @ 115 VAC supply Ω Resistor power dissipation 0 – 2400 Power dissipation depends on how much system's kinetic energy is directed to the resistor 3.7.

  • Page 11: Setpoint Signal / Reference Inputs

    User implementable custom setpoint signal firmware EtherCAT Planned Realized with add-on board 3.9. Communication Property Value Units SimpleMotion Communication protocol Default bitrate 460800 Maximum number of Argon devices chained in a single bus Command throughput Up to 10000 Commands/s 11/41...

  • Page 12: Safety

    ARGON User manual 1.0.3 / 2016-03-07 3.10. Safety Feature Properties Remarks 3-way redundancy with 2 physical STO inputs STO1 safe up to 6 A AC RMS input • Cut AC input by safety relay @ STO1 input current. Not operational if AC input >...

  • Page 13: Ports And Connectors

    4. Ports and connectors 4.1. J1 feedback device port J1 connector type is 15 pin female D-Sub and should be mated with 15 pin male D-Sub counterpart. Many of the J1 pins have dual functions. The operating mode of pin is determined by feedback device mode selected from Granity 13/41...
  • Page 14 ARGON User manual 1.0.3 / 2016-03-07 Illustration 2: J1 feedback device port Alternate electrical Electrical type (in most type (in some Connection with various Pin # Pin name feedback device modes) feedback device feedback devices modes) Shell Earth/case Feedback cable shield...

  • Page 15: Incremental Encoder

    4.1.1. Incremental encoder 4.1.1.1. Differential Differential outputs (RS422 electrical standard) of encoder provides a good immunity and supports long cables with high speed signals. Typical differential encoder has 6-8 wires: • Ground • Channel B+ • Supply • Channel B- •...

  • Page 16: Hall Sensor

    Many Hall sensors have differential outputs (non-inverted and inverted channels, just like differential encoder), however Argon has only single ended Hall sensor inputs which supports both output types (single ended and differential). It is possible to connect a Hall sensor together with other feedback devices to the same port. In such case supply pins may be shared between multiple FBD's.

  • Page 17: J2.1 And J2.2 Simplemotion & E-Stop Ports

    4.2. J2.1 and J2.2 SimpleMotion & E-stop ports SimpleMotion V2 communication link and Argon drives use RJ45 connectors and cables as physical connection standard, which is well known from Ethernet connectors and same cables may be used with SimpleMotion wiring.

  • Page 18: Wiring With Ionicube Devices

    For commissioning of SMV2BRK, see the dedicated SMV2BRK page at http://granitedevices.com/wiki/SMV2BRK 4.2.5. Wiring with IONICUBE devices IONICUBE motherboards support SMV2 and can be connected to the same bus with Argon drives. When using these motherboards, see for wiring. IONI & IONICUBE user guide 4.2.6.

  • Page 19: Pin-Out

    Do not connect, unless linking multiple drives with VN & VP HV DC link negative rail to share their internal power supplies and braking resistor. Braking resistor output Argon braking Optional braking resistor terminals. See resistor HV DC link positive rail...

  • Page 20: J5 Inputs/Outputs

    (J4), motor brake (J1), controller (J5), and AC power input circuitry. 4.5. J5 Inputs/Outputs J5 Is a 26 pin located on the side of Argon. The connector serves as general purpose I/O IDC connector with setpoint signal inputs featuring: limit &...

  • Page 21: Pin-Out

    • Digital inputs (3 channels) - used for safe torque off and drive enable • Digital output (1 channel) - used for motor solenoid brake Functions may be altered by modifying the Argon open source firmware 4.5.1. Pin-out Pin # Pin name...
  • Page 22 ARGON User manual 1.0.3 / 2016-03-07 Pin # Pin name Electrical Isolated Function Digital GPO3- output Fault stop status. True when drive is stopped due to fault. Digital GPO3+ output Digital GPO4- output Braking status. Set true when drive attempts to brake motor.

  • Page 23: Internal Schematics Of Pin Groups

    4.5.2. Internal schematics of pin groups These images show the circuity behind the J5 connector inside the Argon drive (simplified schematics). Left side end represents J5 pins and right side continues to drive internal circuity. High speed digital input circuity inside the drive.

  • Page 24: High Speed Digital Input Group

    ARGON User manual 1.0.3 / 2016-03-07 4.5.3.2. High speed digital input group HSIN is differential digital input capable of receiving digital signals up to 4 MHz. Electrical properties • Maximum voltage to HSINx± pins referenced to GND: -0.5 to 6 V. Nominal 3.3 or 5.0 V.

  • Page 25: Digital Output Group

    4.5.3.4. Digital output group Digital output is an optoisolated transistor output to drive various types of inputs of target devices (logic gates, relays, lights etc) Electrical properties • Load voltage range 3 – 24 V • Maximum allowed load 50 mA •...

  • Page 26: Alternative Limit Switch Wiring Considerations

    ARGON User manual 1.0.3 / 2016-03-07 these ports enables axis motion feed in certain direction. The behavior of feed enable signals can be configured via Granity machine tab . Logic 1 to these pins is required for drive operation • GPI1 - enable positive direction feed.
  • Page 27 End of travel Can move motor Connections / causes a End of travel causes active Method # electrically out end configurations fault stop braking of motor of travel state Connect limit switches independently to GPI2 and GPI3 inputs Remarks This is the most typical method used Connect limit switches in series to GPI2 and GPI3...

  • Page 28: Typical Setpoint Examples

    ARGON User manual 1.0.3 / 2016-03-07 4.5.4.3. Typical setpoint examples Single ended pulse and direction controller. Single ended quadrature controller. Single ended controller. Single ended Analog setpoint controller. Maximum analog signal voltage is ±10V. 4.5.4.4. 0 – 10 V analog input with digital direction signal Follow the earlier guidelines but connect controller's direction signal to ANAIN2+ and the ground reference of digital output to ANAIN2-.

  • Page 29: Complete Example With Differential Analog Setpoint

    4.5.4.6. Complete example with differential analog setpoint Same as above expect this time the setpoint signal is a differential analog voltage output (max ±10 V). 4.6. J6 Expansion slot This slot is reserved for that may be installed inside the drive. Argon add-on card 29/41...

  • Page 30: Making The First Granity Connection

    ARGON User manual 1.0.3 / 2016-03-07 5. Making the first Granity connection 5.1. The setup process Read the l ist of things needed for details (section 5.2.). Connect drive to PC with SimpleMotion V2 USB adapter Granity to test connection, upgrade firmware if necessary and to learn Granity.
  • Page 31 Carefully do the full wiring of the servo system. Consult a qualified electrician if necessary as dangerous voltages will be present. Before powering up, triple check everything by using multimeter to find short circuits. Read the main article Wiring Power-up the system and connect again with Granity. Now set-up the motor to work as intended. See the main article Drive parameterization .

  • Page 32: List Of Things Needed

    ARGON User manual 1.0.3 / 2016-03-07 5.2. List of things needed The list of necessary things to build a working servo system with Argon • Argon drive SimpleMotion V2 USB adapter • • 2 or more RJ45 Ethernet cables (see &...

  • Page 33: Device Bus

    1 to 32. has a 5 channel DIP switch that sets the address. The table below lists all possible Argon (servo drive) settings of DIP switch settings. Switches 1 – 4 set the address and the switch number 5 sets termination on or off.
  • Page 34 ARGON User manual 1.0.3 / 2016-03-07 DIP switch setting (switches Address Bus termination from 1 to 5) 00111 01000 01001 01010 01011 01100 01101 01110 01111 10000 10001 10010 10011 10100 10101 10110 10111 11000 11001 11010 11011 11100 11101...

  • Page 35: Bus Termination

    5.4.2. Bus termination SimpleMotion V2 bus must be terminated for reliable communication. This means that last device of the bus must have termination DIP switch set to On position. Bus may be also alternatively terminated with external 100 ohm resistor connected between RS485_A and RS485_B wires at the end of bus cable chain (see SimpleMotion V2 port ).

  • Page 36: Wiring Overview

    5.5. Wiring overview The minimum wiring for a servo system (after configuration state) 1. Safety earthing to port J4 and preferably to the Argon case 2. 24 VDC wiring to port J3 Safe torque off and enable signals to port J2. See 4.
  • Page 37 For high power application, internal fuse may also be necessary. A working test setup wiring of Argon. Just connection to a computer and AC power is needed to operate the drive and motor with Granity SimpleMotion V2 other app.

  • Page 38: Mating Parts

    ARGON User manual 1.0.3 / 2016-03-07 5.5.1. Mating parts See list of ARGON mating connectors and accessories at http://granitedevices.com/wiki/Argon_mating_connectors_and_accessories 5.5.2. Wiring recommendations Read general wiring recommendations articles at: http://www.electrical-installation.org/enwiki/Wiring_recommendations • http://www.electrical-installation.org/enwiki/EMC_implementation_- • _Implementation_of_shielded_cables 5.6. Basic wiring scheme Before wiring, be sure to read through the main articles regarding J1 – J5 ports.

  • Page 39: Connecting Multiple Drives

    Please see section 4.4.2. 6. LED indicators Argon has four front panel led indicators which have dedicated indicating tasks • LD1 SimpleMotion transmit led. Blinks when drive transmits data to bus. • LD2 SimpleMotion receive led. Blinks when drive receives data from bus.

  • Page 40: Faults Originated From I/O Side Of Drive

    ARGON User manual 1.0.3 / 2016-03-07 6.2.1. Faults originated from I/O side of drive Only LD3 is being controlled by these faults. 6.2.2. Faults originated from GraniteCore side of drive Only LD3 is being controlled by these faults. 40/41...

  • Page 41: Motor Control States

    6.2.3. Motor control states Only LD4 is being controlled by these faults. 7. Further reading Please also read the following articles: http://granitedevices.com/wiki/Category:Glossary • http://granitedevices.com/wiki/Signal_path_of_motor_drive • http://granitedevices.com/wiki/Servo_tuning_basics • http://granitedevices.com/wiki/Tuning_torque_controller • http://granitedevices.com/wiki/Tuning_position_controller • http://granitedevices.com/wiki/Tuning_velocity_controller • http://granitedevices.com/wiki/Category:Argon_troubleshooting • 41/41...

This manual is also suitable for:

Argon-4k000

Table of Contents