MEI V6U/DSP Motion Controller Manuals

Manuals and User Guides for MEI V6U/DSP Motion Controller. We have 1 MEI V6U/DSP Motion Controller manual available for free PDF download: Installation Manual

MEI DSP Series Installation Manual

MEI V6U/DSP Installation Manual (199 pages)

Motion Controller

Brand: MEI | Category: Controller | Size: 2 MB

Table of Contents

Table of Contents

4
- Quick Start
  10
  - For Servo Motors
    11
  - For Step Motors
    12
  - How to Contact Us
    13
  - Motion Developer's Support Program
    13
  - Firmware Versions
    14
  - Version.exe
    14
- Configure Install Board
  15
  - Overview
    15
  - For the 104 & LC
    16
  - For the PCX, CPCI, STD, 104X & V6U
    16
  - Stcs and Cables
    16
  - Cable Connectors
    17
  - For the PCI
    17
  - Base I/O Address Usage
    18
  - I/O Port Address Space for PC-Based Architectures
    18
  - Locate Switches
    20
  - Pcx
    20
  - Set Base I/O Address
    20
  - Set the Interrupts
    20
  - Connect Cables/Insert Board
    21
  - Accessing the CPCI
    22
  - Connect Cables/Insert Board
    22
  - Cpci
    22
  - No Switches
    22
  - Accessing the PCI
    24
  - Connect Cables/ Insertboard
    24
  - No Switches
    24
  - Pci
    24
  - Locate Switches
    25
  - Set Base I/O Address
    25
  - Set the Interrupts
    25
  - Std
    25
  - Connect Cables/Insert Board
    26
  - Locate Switches
    27
  - Sercos/Std
    27
  - Set Base I/O Address
    27
  - Set the Interrupts
    27
  - Connect Cables/Insert Board
    28
  - Locate Switches
    29
  - Set Base I/O Address
    29
  - V6U
    29
  - Set the Interrupts
    31
  - Connect Cables/Insert Board
    32
  - Locate Switches
    33
  - Set Base I/O Address
    33
  - Set the Interrupts
    33
  - Connect Cables/Insert Board
    34
  - Locate Switches
    35
  - Set Base I/O Address
    35
  - Set the Interrupts
    35
  - Connect Cables/Insert Board
    36
  - Locate Switches
    37
  - Sercos/104
    37
  - Set the Base I/O Address
    37
  - Set the Interrupts
    37
  - Connect Cables/Insert Board
    38
  - Locate Switches
    39
  - Set Base I/O Address
    39
  - Set the Interrupts
    39
  - Connect Cables/Insert Board
    40
  - Locate Switches
    41
  - Sercos/Dsp
    41
  - Set Base I/O Address
    41
  - Set the Interrupts
    41
  - Connect Cables/Insert Board
    42
- Test Controller
  
  43
- I/O Address
  
  43
  - Using Motion Console
    44
  - Using SETUP.EXE
    45
  - Using CONFIG.EXE
    46
    
    Examples
    46
    
    Other CONFIG Functions
    46
- Connect Stcs to
  
  48
- Amps /Motor /Encoder
  
  48
  - Pcx, Std, 104X, Cpci & V6U
    48
    
    Brush Servo Motors
    48
    
    Connections to Servo Motors
    48
    
    Brushless Servo Motors
    49
    
    Step-And-Direction Controlled Servo Motors
    49
    
    Closed-Loop Step Motors
    50
    
    Connections to Step Motors
    50
    
    Open-Loop Step Motors
    50
    
    Connections for Dual-Loop Control
    52
  - V6U
    53
    
    Encoder Interface
    53
    
    Broken Wire & Illegal State Detection
    56
    
    Encoder Integrity Checking
    56
    
    Brush Servo Motors
    57
    
    Connections to Servo Motors
    57
    
    Brushless Servo Motors
    58
    
    Step-And-Direction Controlled Servo Motors
    58
    
    Connections to Step Motors
    59
    
    Open-Loop Step Motors
    59
    
    Closed-Loop Step Motors
    60
    
    Connections for Dual-Loop Control
    61
  - Pci
    62
    
    Brush Servo Motors
    62
    
    Connections to Servo Motors
    62
    
    Brushless Servo Motors
    63
    
    Step-And-Direction Controlled Servo Motors
    63
    
    Connections to Step Motors
    64
    
    Open-Loop Step Motors
    64
    
    Closed-Loop Step Motors
    65
    
    Connections for Dual-Loop Control
    66
    
    Connections for Encoder Signals
    67
- Connect Stcs to Discrete I/O
  
  69
  - Dedicated and User I/O Notes
    70
    
    (PCX, V6U, 104X, CPCI, STD Only)
    70
    
    Opto-Isolation
    70
    
    Output Wiring
    70
    
    (PCX, CPCI, STD, V6U Only)
    71
    
    Analog Input Wiring
    71
    
    (PCX, CPCI, STD, V6U Only)
    72
    
    8254 Counter Wiring
    72
    
    Low Pass Filters on Analog Inputs (V6U Only)
    72
  - Home and Limit Switch Wiring
    73
    
    Wiring Examples
    73
  - PCI/DSP Connections
    75
    
    Opto-Circuit Specifications
    75
    
    Opto-Isolation
    75
  - Dedicated I/O - PCI
    76
    
    Amplifier Enable Wiring
    76
    
    Output Wiring
    76
    
    In_Position Output Wiring
    77
    
    Amplifier Fault Input Wiring
    78
    
    Input Wiring
    78
    
    Home and Limit Signals
    79
  - Bi-Directional User I/O
    80
    
    Analog Input Wiring
    81
- Test System
  
  83
  - Closed-Loop Systems
    83
    
    Step 1: Connect Encoder
    84
    
    Step 2: Test Encoder Connections
    84
    
    Step 3: Connect the Motor
    84
    
    Step 4: Manually Turn the Motor
    84
    
    Step 5: Verify Motor/Encoder Phasing
    85
    
    Step 6: Exercise the System
    85
    
    Step 7: Tune the System
    87
  - Open-Loop Stepper Systems
    88
    
    Step 1: Connect Wires
    88
    
    Step 2: Manually Turn the Motor
    88
    
    Step 3: Exercise the Motor
    89
- More
  
  91
  - About Wiring
    91
  - Wiring Servo Motors
    91
    
    Encoder Input
    91
    
    Velocity/Torque Mode
    91
    
    Brush/Brushless Servo Motors
    92
    
    Step-And-Direction Controlled Servo Motors
    92
  - Wiring Step Motors
    93
    
    Open-Loop Step Motors
    93
    
    Closed-Loop Step Motors
    94
    
    Direction Pulse Synchronization
    94
- Motion
  
  97
  - Otion Console Reference
    97
  - Controller List Group
    97
- Setup .Exe
  
  109
  - Intro
    110
    
    For DOS, Win 3.X & Win 95/98 Only
    110
    
    To Load the SETUP Program
    110
    
    Saving Default Parameters to the Controller
    111
    
    Functional Grouping by Axis
    112
    
    Open Closed
    113
    
    SETUP Menus & Screens
    113
  - File Menu
    114
    
    DOS Shell
    114
    
    Load Defaults from File
    114
    
    Save Defaults to File
    114
    
    About
    115
    
    Exit
    115
  - Configure Menu
    116
    
    I/O Base Address
    116
    
    Tuning Parameters
    117
    
    Axis Configuration
    119
    
    Limit Switch Configuration
    121
    
    Reset (F9
    122
    
    Software Limits
    122
  - Status Menu
    123
    
    Axis Status
    123
    
    Position Status
    123
    
    Dedicated I/O
    124
  - Motion Menu
    125
    
    Point-To-Point Motion
    125
    
    Graphic Analysis
    126
- Tuning
  
  129
  - Intro
    130
    
    The Digital Filter
    131
    
    Tuning Parameters
    133
    
    Proportional Gain (Kp
    134
    
    Derivative Gain (Kd
    137
    
    Integral Gain (Ki
    140
    
    Velocity Feed-Forward (Kv
    141
    
    Acceleration Feed-Forward (Ka
    142
    
    Offset (Ko
    142
    
    Scale
    142
    
    Friction Feed-Forward
    143
    
    Integration Limit
    143
  - Tuning Closed-Loop Servos
    144
    
    Step 1: Set Proportional Gain (Kp
    144
    
    Step 2: Set the Derivative Gain
    144
    
    Step 3: Iterate Steps 1 and 2
    144
    
    Step 4: Set Integral Gain (Ki
    144
    
    Step 5: Set Velocity and Acceleration Feed-Forward
    145
  - Tuning Closed-Loop Steppers
    146
    
    Step 1: Set Proportional Gain (Kp
    146
    
    Step 2: Set Velocity & Acceleration Feed-Forward Gains (Kv, Ka
    146
    
    Step 3: Set the Integral Gain (Ki
    147
- Connections & Specifications
  
  149
  - Motor Signal Header Locations
    149
    
    Cpci
    150
    
    Pcx
    150
    
    Std, 104X
    151
    
    V6U
    151
  - Dedicated & User I/O
    153
    
    Pcx, Cpci, Std & V6U
    153
    
    Pci
    155
    
    104, Lc
    156
  - Pinouts
    157
    
    Pcx, Cpci, Std, 104X, V6U
    157
    
    CPCI/DSP Rear I/O
    159
    
    Notes for CPCI Rear I/O Pinouts
    162
    
    Pci
    162
    
    104, Lc
    164
  - Specifications
    166
    
    Power Consumption Notes
    166
  - Pcx
    167
  - Cpci
    168
  - Pci
    169
  - Std
    170
  - Sercos/Std
    171
  - V6U
    172
  - Sercos/104
    175
  - Sercos/Dsp
    177
  - LED Support
    178
- Pto on Eference
  
  179
  - Circuit Examples
    179
  - Connect an Optocon Input to a Switch
    179
  - Switch Settings
    180
    
    Switch S1
    180
  - Installation
    182
    
    For Axes 0, 1
    183
    
    Screw Terminal Connectors
    183
    
    For Axes 2, 3
    184
    
    Specifications
    185
    
    Schematics
    186
O C Rptooneference Circuit Examples

187

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