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THOMSON Omnidrive Series Installation Manual

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THOMSON Omnidrive Series Installation Manual

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  • Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...
  • Page 2 ODM-005 and ODM-005i ODM-010 and ODM-010i ODM-020 and ODM-020i Thomson Industries, Inc. 2 Channel Drive Port Washington, NY 11050 OMNIDRIVE and OMNI LINK are trademarks of Thomson Industries, Inc. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 Product Notice Use of OMNIDRIVEs OMNIDRIVEs are intended for use as transistorized electronic amplifiers powering servo motors in machinery. As such, they must be part of a controlled system that includes a controlling device. They are not intended to indepen- dently control a motor.
  • Page 4 ODM-005 and ODM-005i ODM-010 and ODM-010i ODM-020 and ODM-020i Thomson Industries, Inc. 2 Channel Drive Port Washington, NY 11050 516-883-8000 - main 516-883-9039 - fax 1-800-554-THOMSON - technical support Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 5 Copyright 1998 Thomson Industries, Inc. Printed in the U.S.A. The information contained in this manual is subject to change without notice. THOMSON is the registered in the U.S. Patent and Trademark Office and in the other countries. OMNI LINK and OMNIDRIVE are registered trademarks of Thomson Industries, Inc.

  • Page 6: Table Of Contents

    Storage Responsibility ......Intro-17 Thomson Industries Support ....... . . Intro-17 Local Product Support.
  • Page 7 Intro-6 Contents I/O Interface..........Analog Input .
  • Page 8 Contents Intro-7 Input Interface Circuit Examples ......Digital Outputs ......... . . Analog Inputs .
  • Page 9 Intro-8 Contents Position Follower (Step Up/Step Down) ....... 8-17 Hardware Set Up ......... . 8-17 Connection Diagram .
  • Page 10 Contents Intro-9 Troubleshooting ......... . . 11-3 Error Codes .
  • Page 11 Intro-10 Contents Our Warranty Help-7 Defective Equipment ........Help-7 Return Procedure .
  • Page 12 List of Figures IntroList of Figures Safety HAPTER Selecting Other System Components HAPTER OMNI LINK HAPTER Installation Unpacking, HAPTER Inspecting, and Storing Connection Diagram ........Installation HAPTER ODM-005 and ODM-005i Mounting Dimensions .
  • Page 13 Intro-12 List of Figures Single-Ended Encoder Interface via Standard TTL Signals (not recommended) ..6-21 Single-Ended Encoder Interface via Open Collector Transistor with 5 VDC to 12 VDC Pull-up (not recommended) ........6-22 Single-Ended Encoder Interface via Open Collector Transistor with 24 VDC Pull-up (not recommended) .
  • Page 14 PPENDIX Thomson Industries Motor Naming Convention ......Required Back-EMF and Hall Signal Phasing for Clockwise Rotation ... . .
  • Page 15 Intro-14 List of Figures Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 16 List of Tables IntroList of Tables Safety HAPTER Selecting Other System Components HAPTER OMNI LINK HAPTER Installation Unpacking, HAPTER Inspecting, and Storing Installation HAPTER ODM-005 and -005i Mounting Dimensions ....... . 5-2 ODM-010, -010i, -020 and -020i Mounting Dimensions .
  • Page 17 Intro-16 List of Tables Application and Configuration Examples HAPTER Preset Binary Inputs ..........8-5 Tuning HAPTER Velocity Loop Gains...

  • Page 18: Who Should Use This Manual

    Use this manual if you are responsible for designing, installing, programming, or troubleshooting the OMNIDRIVE family of products. If you do not have a basic understanding of the OMNIDRIVE, contact your local Thomson representative for information available on this product.

  • Page 19: Local Product Support

    Technical Product Assistance If you need to contact Thomson Industries for technical assistance, please review the information in the Appendix , “Maintenance and Troubleshooting” first. Then call your local Thomson distributor. For the quickest possible response, we recommend that you have the part and model numbers and/or software revision level of your products available when you call.
  • Page 20 Preface Intro-19 Title Description • J1 - Controller Connector Diagrams depict the cable connections necessary for common controller interfaces. • J2 - Encoder Provides comprehensive information about the encoder signals, Hall Effect switches and thermostat connections available through this connector. •...

  • Page 21: Additional Instructions And Manuals

    Intro-20 Preface Additional Instructions and Manuals Host Commands and OMNI LINK All OMNIDRIVEs are setup through serial Host Commands. The drives may be configured directly through the Host Command language or indirectly through the OMNI LINK software. OMNI LINK is a graphical user interface that provides a visual method of accessing the Host Command language through the Microsoft Windows Operating System.

  • Page 22: Symbols And Conventions

    Preface Intro-21 Symbols and Conventions Typographical and Wording Conventions This manual uses the following typographical and wording conventions: Example Description » Text preceded by right guillemet explains how to access the particular function in the pre- ceding paragraph. For example, To Start OMNI LINK in Windows Choose the icon OMNI LINK.

  • Page 23: Graphical Symbols And Warning Classifications

    Intro-22 Preface Graphical Symbols and Warning Classifications This manual uses the following graphical symbols and warning classifications. The use of a symbol and signal word is based on an estimation of the likelihood of exposure to the hazardous situation and what could happen as a result of exposure to the hazard.

  • Page 24: Installing And Using The Omnidrive

    Safety Safety HAPTER Installing and Using the OMNIDRIVE Read the complete manual before attempting to install or operate the OMNIDRIVE. By reading the manual you will become familiar with practices and procedures that allow you to operate the OMNIDRIVE safely and effectively.

  • Page 25: Your Responsibilities

    As the user or person installing this drive, you are responsible for determining the suitability of the product for the intended application. Thomson Industries is neither responsible nor liable for indirect or conse- quential damage resulting from the inappropriate use of this product.

  • Page 26: General Safety Guidelines

    The following points should be observed for the safety of personnel. These safety notes do not represent a complete list of the steps necessary to ensure safe operation of the equipment. Contact your nearest Thomson Industries representative for additional information. •...
  • Page 27 Safety Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 28: Selecting Other System Components

    The Thomson Industries OMNIDRIVEs are part of a family of digital drives that use microcontrollers to manage the current, velocity, and position. All system and application parameters are set in software, which ensures repeatability of all functions and prevents element drift.

  • Page 29: Analog And Digital Interfaces

    Selecting Other System Components Analog and Digital Interfaces All OMNIDRIVEs allow the user to select one of the following analog or digital command interfaces: • ±10 Volt analog interface – position, velocity or torque control • Presets (from one to eight binary inputs) – torque or velocity control •...

  • Page 30: Multiple Protection Circuits

    Selecting Other System Components Multiple Protection Circuits Device and circuit protection, and diagnostic information is provided by: • Bi-color single point LED • Overtemperature, short circuit and overcurrent protection for the power output • T (power-time) protection • Bus Overvoltage •...

  • Page 31: I/O Interface

    Selecting Other System Components I/O Interface Analog Input One analog input channel is accessible to the user. The analog input limits the peak current available from the drive. • I LIMIT (current limit) The analog signal must be within 0-10 Volt range and single-ended. If this signal is not provided, the peak current of the drive may be set in software through the Drive Parameter window.

  • Page 32: Selectable Outputs

    Selecting Other System Components Selectable Outputs Two optically isolated, single ended, active high, current sourcing, discrete output channels provide logic outputs under software control. Each selectable output channel is capable of sourcing 50 mA maximum and is optically isolated and short circuit protected.

  • Page 33: Motors

    OMNI LINK software speeds drive and motor set up by predefined parameters for each drive and motor combination. Refer to the Torque/Speed curves in the Thomson Motion Control Catalog and Handbook or contact your local Thomson distributor for motor sizing and compatibility assistance.

  • Page 34: Hapter

    OMNI LINK Installation OMNI LINK HAPTER Installation Installation of OMNI LINK on a PC is covered in this chapter, which: • Lists the minimum PC hardware and software necessary to run OMNI LINK. • Provides step-by-step instructions on how to load OMNI LINK. •...

  • Page 35: Installing Omni Link

    OMNI LINK Installation Installing OMNI LINK To install OMNI LINK software on a hard drive: 1. Make a backup copy of the OMNI LINK disk in one of the following ways: • Copy the OMNI LINK disk using the disk menu in the Windows File Manager. •...

  • Page 36: The Omni Link Start-Up Screen

    OMNI LINK Installation From Windows 1. Choose the OMNI LINK program group from the Program Manager in Windows. If the OMNI LINK window is not active, hold down ALT and press TAB (ALT+TAB) until the OMNI LINK title bar and icon are highlighted, or select OMNI LINK from the list in the Window menu.

  • Page 37: The Readme File

    OMNI LINK Installation The Readme File A file, titled README, may be included in the OMNI LINK directory. This file contains installation instructions, change notes from previous revisions, and information that became available after this man- ual was printed. After you install OMNI LINK you can access this file by choosing the Read Me icon in the OMNI LINK window or by using Microsoft Write or an equivalent application program to view the file readme.wri in the directory path where OMNI LINK is installed.

  • Page 38: Hapter

    If you find damage, either concealed or obvious, contact your buyer to make a claim with the shipper. If degraded performance is detected when testing the unit, contact your distributor or Thomson Industries to obtain a Return Material Authorization (RMA). Do this as soon as possible after receipt of the unit.

  • Page 39: Testing The Unit

    If problems are encountered during this procedure, refer to “Troubleshooting” on page 11-3, review other appropriate sections in this manual, or call your local Thomson Industries distributor. Intro...

  • Page 40: Hardware Set Up

    Unpacking, Inspecting, and Storing Hardware Set Up Make the connections described below. 1. Connect an external I/O power supply (12-24VDC) to J1-5(+) and J1-6(-), or J1-26(+) and J1-13(-). 2. Connect an RS-232 cable between the serial port on the PC and the J5 connector on the OMNIDRIVE.

  • Page 41: Connection Diagram

    Unpacking, Inspecting, and Storing Intro DRIVE Motor 2 RCV Encoder 3 XMT 5 COM Phase R 1 Phase S 2 26 +24V Phase T 3 Close to ENABLE drive 20 ENABLE Motor Gnd 4 Close to RESET faults 21 FAULT RESET 100-240 VAC L1 7 50/60 Hz...
  • Page 42 Unpacking, Inspecting, and Storing Communications Verification 8. Start OMNI LINK on the PC. 9. Close any windows that are open in OMNI LINK. 10. Select PC Set Up from the Communications menu in OMNI LINK. 11. Verify the communication port settings match those of the drive, then select OK. Factory default drive settings are: •...

  • Page 43: Storing The Unit

    Unpacking, Inspecting, and Storing 24. Choose Drive Disable and verify the motor shaft can be rotated by hand. 25. Choose Drive Enable and verify the motor shaft has holding torque. (i.e., The shaft cannot be moved or moves with resistance.) 26.

  • Page 44: Hapter

    Installation Installation HAPTER Mechanical Installation Requirements 1. Mount the unit in an enclosure providing protection to IP54 (protected against dust and splashing water), or IP65 (dust free and protected against water jets) if the work environment is poor. Many NEMA (National Electrical Manufacturers Association) Type 4 cabinets provide this level of protection.

  • Page 45: Odm-005 And Odm-005I Mounting Dimensions

    Installation • #10 MS bolts. Minimum Unobstructed Surrounding Space for Cooling and Exhaust Air Above 50.8 mm (2 inches) Below 50.8 mm (2 inches) Sides 12.5 mm (0.5 inches) for Cable Bend Radius Front 76.2 mm (3 inches) Intro Intro ODM-005 and ODM-005i Mounting Dimensions IGURE ODM-005 and -005i Mounting Dimensions...

  • Page 46: Odm-010, -010I, -020 And -020I Mounting Dimensions

    Installation ODM-010, -010i, -020 and -020i Mounting Dimensions IGURE Minimum Unobstructed Surrounding Space for Cooling and Exhaust Air Above 50.8 mm (2 inches) Below 50.8 mm (2 inches) Sides 12.5 mm (0.5 inches) for Cable Bend Radius Front 76.2 mm (3 inches) NOTE: Fan on ODM-020 only ODM-010, -010i, -020 and -020i Mounting Dimensions ABLE...

  • Page 47: Interface Connections

    Installation Interface Connections Input/output and power cables connect to the front panel of a OMNIDRIVE , no internal connections are necessary. Intro The user is responsible for conforming with all applicable local, national and DANGER international codes. Wiring practices, grounding, disconnects and overcurrent protection are of particular importance.
  • Page 48 Schaffner or Roxburgh and are widely available. There are many AC line filter manu- facturers whose filters can be successfully integrated. Thomson Industries recommends Schaffner or Roxburgh filters based on our test results, but the machine builder is responsible for the suitability of the filter selection in a specific application.

  • Page 49: Ac Line Filters

    Installation AC Line Filters MIF Single Phase AC Line Filter Mounting Diagram IGURE MIF Single Phase AC Line Filter Engineering Specifications ABLE SINGLE PHASE SINGLE PHASE SINGLE PHASE DIMENSIONAL DATA MEASUREMENT ELECTRICAL and MECHANICAL SPECIFICATIONS 250 VAC @ 50/50 Hz 250 VAC @ 50/50 Hz 250 VAC @ 50/50 Hz Voltage/Freq.
  • Page 50 Installation SINGLE PHASE SINGLE PHASE SINGLE PHASE DIMENSIONAL DATA MEASUREMENT 0.3 Kg (0.66 Lb.) 0.95 Kg (2.0 Lb) 1.6 Kg (2.5 Lb) Weight 4 x M4 4 x M4 4 x M4 Back Mounting 2 x M5 2 x M6 2 x M6 Side Mounting Line filters are manufactured to millimeter dimensions (inches are approximate conversions).

  • Page 51: Power Wiring Diagram

    Installation Power Wiring Diagram IGURE ODM-005 & -005I ODM-010 & -010I ODM-020 & -020I ODM-005, -010, -020 Thomson Industries Port Washington, NY 11050 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 52: Hapter

    OMNIDRIVE. Contact between the connector’s shell and the grounded chassis provides shield termination. This section list the connector pin-outs and provides signal specifications. Thomson Industries cables are available in various lengths for connecting between J1 and a suitable controller.
  • Page 53 Interfaces Signal Description Signal Description Signal Description +5VDC Encoder +5V DC RESET Fault Reset Reserved ECOM Encoder Common COMMAND+ Analog Command+ OUTPUT1 Selectable Output 1 +5VDC Encoder +5V DC COMMAND- Analog Command- OUTPUT2 Selectable Output 2 ECOM Encoder Common READY+ Drive Ready+ Reserved I/O PWR...

  • Page 54: Digital I/O Power

    Interfaces Digital I/O Power The drive requires an external 12 to 24VDC power source for the inputs and outputs. External I/O Power The external I/O power supply must be capable of supplying at least 250 mA. The pin-outs are: I/O PWR J1-5 J1-26 (12 to 24 Volts)
  • Page 55 Interfaces • Start Homing • Sensor (available only on INPUT 2) • Remove COMMAND Offset Refer to the I/O Configuration section of the on-line OMNI LINK Help for information on choosing the input type for each channel. General and Dedicated Inputs ABLE Digital Input Function/Description...
  • Page 56 Interfaces INPUT1, INPUT2, INPUT3 and FAULT RESET Functions (continued) ABLE Function Description Remove COMMAND A change from inactive to active sets the offset of the analog COMMAND input to Offset achieve a zero command. Fault Reset A change from inactive to active will clear any faults and re-enable the drive, if any faults were pending.

  • Page 57: Input Interface Circuit Examples

    Interfaces Input Interface Circuit Examples Intro Drive I/O PWR 12-24VDC I/O COM Drive Input Connected to a Switch/Relay Contact IGURE Intro Drive I/O Pwr 12-24VDC I/O COM Drive Input Connected to an Opto-Isolator IGURE Intro INPUT (Drive) I/O Pwr 12-24VDC I/O COM Drive Input Connected to an Active High Sourcing Transistor IGURE...

  • Page 58: Drive Input Connected To Active Low Output Using An Opto-Isolator

    Interfaces Intro OUTPUT INPUT I/O Pwr (Drive) I/O COM I/O COM Drive Input Connected to Active Low Output using an Opto-Isolator IGURE Intro OUTPUT INPUT (Drive) I/O Pwr I/O COM J1-6 or J1-13 I/O COM Drive Input Connected to Sourcing Output IGURE Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i Artisan Technology Group - Quality Instrumentation ...

  • Page 59: Digital Outputs

    1 Amp at 50 Volts. The Drive Ready contacts are rated for 1Amp at 30 VDC. NOTE: The Brake contacts may be used to control 24VDC brakes on Thomson motors with a 4” frame or smaller. A user provided relay may be driven by these outputs if higher power levels are required. Refer to “BRAKE/DRIVE ENABLE Application Examples”...

  • Page 60: Brake/Drive Enable Application Examples

    Interfaces Digital Output Circuit. IGURE Drive I/O Pwr 24VDC I/O COM Intro ODM-005, -005I ODM-010, -010I ODM-020, -020I Suggested brake wiring when 24VDC brake current exceeds 500mA or for 90VDC brakes: ODM-005, -005I ODM-010, -010I ODM-020, -020I BRAKE/DRIVE ENABLE Application Examples 6.10 IGURE Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i...
  • Page 61 6-10 Interfaces Selectable Output Circuits ABLE Digital Function/Description Output Number READY J1-24 (+) Relay closure indicates the drive does not have a fault. (Refer to “READY and BRAKE/DRIVE ENABLED Output J1-25 (-) Specifications” on page 6-8) BRAKE J1-49 (+) Relay closure releases the brake. Delay time is selectable J1-50 (-) (Refer to OMNI LINK - I/O configuration) and may be used as a drive enabled output.

  • Page 62: Drive Output Connected To An Opto-Isolator

    Interfaces 6-11 Output Interface Circuit Examples Intro Drive I/O Pwr Pin 6 Pin 13 I/O COM Drive Output Connected to an Opto-Isolator 6.11 IGURE Intro Drive I/O Pwr Pin 6 Pin 13 I/O COM Drive Output Connected to an LED Indicator 6.12 IGURE Intro...

  • Page 63: Drive Output Connected To Active Low Input Using A Switch/Relay

    6-12 Interfaces Intro OUTPUT INPUT (Drive) I/O Pwr 3.3K I/O Pwr Solid State Relay I/O COM I/O COM Drive Output Connected to Active Low Input using a Switch/Relay 6.15 IGURE Intro OUTPUT INPUT (Drive) I/O Pwr 3.3 K I/O Pwr I/O COM I/O COM Drive Output Connected to Active Low Input using an Opto-Isolator...

  • Page 64: Analog Inputs

    Interfaces 6-13 Analog Inputs Two types of analog input circuits are available on the J1 connector: • The current limiting inputs support 0 to +10 Volt signals • The command input supports 0 to ±10 Volt signals. External Current Limit (I LIMIT) Intro Drive +15 Volts...
  • Page 65 6-14 Interfaces Analog Command Input 6.12 ABLE Analog Input Description Number COMMAND J1-22 (+) Analog command signal is a differential type sig- J1-23 (+) nal to drive the servo controller. If the drive is in Velocity Mode configuration, the differential COMMAND signal is the velocity com- mand.

  • Page 66: Analog Outputs

    Interfaces 6-15 Analog Outputs Intro Drive -5 Volts ANALOG OUTPUT ANALOG 1 Output Circuits 6.20 IGURE A selectable output is available for monitoring by the user: ANALOG 1 (J1-31). Analog Outputs: ANALOG 1 6.14 ABLE Analog Output Description Number ANALOG 1 J1-31 Selectable analog output .

  • Page 67: Motor Encoder Output Signals

    6-16 Interfaces Motor Encoder Output Signals Intro Drive AMOUT- AMOUT AMOUT+ AM26C31 or AM26LS31 Output Encoder Interface Circuit 6.21 IGURE The motor quadrature encoder signals are supplied to an external position controller. The signals are differential, quadrature, and TTL level. The output resolution is selectable and can be divided by 1, 2, 4 or 8.

  • Page 68: Iout Signal Generation

    Interfaces 6-17 IOUT Signal Generation The Index output signal (IOUT) is not synchronized to a particular state of the A and B output signals (AOUT and BOUT). Some controllers, such as those used in the CNC industry, use the condition I=1, A=1, B=1 to indicate a home position.

  • Page 69: Auxiliary Encoder Inputs Types

    6-18 Interfaces Auxiliary Encoder Inputs Types Intro STEP Auxiliary Encoder Input 6.23 IGURE The OMNIDRIVE may be electronically geared by a remote signal. Electronic gearing may be driven by any of the following three signals: • A master incremental encoder that generates quadrature encoder signals •...
  • Page 70 Interfaces 6-19 The input circuits shown in the following diagrams support connections to differential TTL line drivers, single-ended TTL line drivers and open collector devices. These inputs are selectable under software control. Quadrature Interface Specifications 6.19 ABLE Specification Description Minimum Maximum ON State Voltage Voltage difference between the + and –...

  • Page 71: Interface Cable Examples

    6-20 Interfaces Interface Cable Examples The use of differential signals is highly recommended. This is due to the immunity of differential signals to common mode interference. Single-ended encoder interface circuits are not recommended, and may result in system malfunction. To improve noise immunity, a cable shield should terminate at both ends of the cable. Shields should connect to the backshell of the connectors with termination around the full circumference (360°).

  • Page 72: Complementary Encoder Interface Via Standard Ttl Logic

    Interfaces 6-21 Intro ENCODER Drive 74xx Ch A twisted pair 74xx Ch B twisted pair 74xx Ch I twisted pair ECOM Supply Return twisted pair +5 Volts Supply +5VDC 5V @ 250 mA For horizontal dashed lines, connect only if J1 sources Encoder power Encoder Case Drive Chassis Complementary Encoder Interface via Standard TTL Logic...

  • Page 73: (Not Recommended)

    6-22 Interfaces Intro ENCODER Drive 5-12 Volts Ch A twisted pair ECOM Supply Return twisted pair 5-12 Volts Ch B 5-12 Volts Ch I Encoder Case Drive Chassis Single-Ended Encoder Interface via Open Collector Transistor with 5 VDC to 12 VDC Pull-up 6.30 IGURE (not recommended)

  • Page 74: External Step/Direction Interface Via Ttl Differential Line Drivers

    Interfaces 6-23 Step/Direction and CW/CCW (Step Up/Step Down) Interface Specifications 6.20 ABLE Specification Description Minimum Maximum Signal frequency Frequency of the input signal. (MHz) Pulse Width Time interval the step (CW/CCW) signal must (nsec) remain in a single state for detection. Setup Time Time interval the direction (CW/CCW) signal must (nsec)

  • Page 75: J1 Terminal Strip/Breakout Board

    6-24 Interfaces Intro Drive USER ELECTRONICS twisted pair Differential Line Drivers CCW+ CCW+ CCW- twisted pair CCW- ECOM Supply Return twisted pair +5 Volts Supply +5VDC 5V @ 250 mA For horizontal dashed lines, connect only if Drive Chassis J1 sources +5VDC power to user electronics External CW/CCW (Step Up/Step Down) Interface via TTL Differential Line Drivers 6.34 IGURE...

  • Page 76: J2 - Encoder

    Ensure that the encoder signals are connected properly. Incorrect connection CAUTION of the encoder signals will result in improper rotor position, incorrect commuta- tion and/or a runaway motor condition. Thomson Industries cables are available in various lengths for connecting between J1 and a suitable controller. Intro Drive...

  • Page 77: Omnidrive Motor Encoder Connections

    1. For encoders with differential Hall ouputs (A+, A-, B+, B-, C+ and C-) connect only the + outputs to the drive. 2. The ABS signal is only available on selected Thomson Industries encoders. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 78: J2 Terminal Strip/Breakout Board

    RS-485 (four wire) Reserved a. Do not connect any device to J4-6, J5-6, J4-9 or J5-9 except an Thomson Industries TouchPad. J5 is 9 pin female D-shell (AMP 205204-4, pins AMP 66506-3) connector. This connector is a serial interface that allows communication with another OMNIDRIVE , a PC, a terminal, a host computer, a controller or an optional TouchPad.

  • Page 79: Serial Communications Overview

    RS-232 transmitter output (from drive) J4 - 9 Reserved a. Do not connect any device to J4-6, J5-6, J4-9 or J5-9, except an Thomson Industries TouchPad. Serial Communications Overview OMNIDRIVEs communicate via a standard NRZ (non-return to zero) asynchronous serial format, which supports either RS-232 or four wire RS-485.

  • Page 80: Rs-232 Connection Diagrams

    Interfaces 6-29 Factory default settings for a OMNIDRIVE are: • Address 0 • 9600 Baud • 8 Data, No Parity, 1 Stop bit The following steps outline how to select the communications options: 1. Connect an RS-232 cable between the computer and a serial connector on the drive (J5). Intro USER Drive...

  • Page 81: Four Wire Rs-485 Connections

    6-30 Interfaces NOTE: The Scan Port for Attached Drives option in the Drive Select window of OMNI LINK will identify any attached drives. If a drive is identified, but cannot be communicated with, the Baud Rate selection must be modified. The cable diagrams provide wiring examples for both 9 pin and 25 pin serial ports from an IBM compatible personal computer to the drive.
  • Page 82 Interfaces 6-31 Multiple Axes Four-Wire RS-485 Communications Do not connect any device to J5-6 or J5-9 except an Thomson Industries TouchPad. 1. Select a previously unused address (1-32) from OMNI LINK - Drive Set Up. 2. Connect cables between: •...

  • Page 83: Four Wire Rs-485 Daisy Chain Connection Diagram

    6-32 Interfaces Intro HOST COMPUTER RS-485 INTERFACE *RCV- *RCV+ *XMT- *XMT+ * Pin-outs may vary by manufacturer RCV+ RCV- XMT+ XMT- RCV+ RCV- XMT+ XMT- RCV+ RCV- XMT+ XMT- RCV+ RCV- XMT+ XMT- RCV+ RCV- XMT+ XMT- ..Drive 1 Drive 2 Drive n Four Wire RS-485 Daisy Chain Connection Diagram...

  • Page 84: Hapter

    Power Connections Power Connections HAPTER DC bus, single phase AC power and motor connections are provided on the Terminal Block (TB-1). TB1 – DC Bus and AC Power Terminal Block Connections ABLE Description Identifier Terminal ODM-005 and -005i ODM-010 and -010i ODM-020 and -020i DC Bus + voltage DC BUS +...

  • Page 85: Motor Power Cabling

    Thomson Industries motor power cables are shielded. The power cable is designed to be terminated at the drive during installation. A small portion of the cable jacket is stripped, which exposes the shield wires.

  • Page 86: Motor Overload Protection

    Power Connections Motor Power Contact and Wire Size Recommendations ABLE Motor Power Mating Minimum Recommended Motor Size Maximum Contact Size 90°C Power Wire (AWG) (AWG) 2005 through 3016 1.5 (16) 1.5 (16) 4030 4 (12) 1.5 (16) 4050 4 (12) 2.5 (14) Motor Overload Protection The drive utilizes solid state motor overload protection which operates:...

  • Page 87: Emergency Stop Wiring

    Power Connections Emergency Stop Wiring An overlapping contactor may be inserted between the motor and the drive for emergency stop purposes. The contactor must not simply break the motor current, it also must switch a three phase resistive load in parallel with the motor windings.

  • Page 88: Ac Power Cabling

    Power Connections AC Power Cabling The ODM-005, -005i, -010, -010i -020 and -020i drives require single phase, 100 to 240 VAC rms power with an input frequency of 47 - 63 Hz. “Power” on page E-6 lists the output power characteristics of the drives.

  • Page 89: Dc Bus

    Power Connections ODM-010 or 9 A. AC 100 A peak 10 A 2.5 (14) 2 kVA 100 kVA ODM-010i ODM-020 or 18 A. AC 100 A peak 20 A 4.0 (12) 4 kVA 100 kVA ODM-020i 1. In the United States, the National Electrical Code (NEC), specifies that fuses must be selected based on the motor full load amperage (FLA), which is not to be confused with the drive input current.

  • Page 90: Hapter

    Application and Configuration Examples Application and Configuration Examples HAPTER This section explains how to install and verify the OMNIDRIVE for various modes of operation. The procedures verify the installation by: • Showing how the power and logic wiring is connected. •...

  • Page 91: Analog Controller Connection Diagram

    Application and Configuration Examples Intro DRIVE 2 RCV Motor Encoder 3 XMT 5 COM Phase R 6 26 I/O PWR Phase S 7 20 ENABLE Close to ENABLE Drive Phase T 8 FAULT Close to RESET Fault RESET Mtr Gnd 9 22 CMND+ ±10VDC 23 CMND-...

  • Page 92: Tuning

    Application and Configuration Examples drop down box. If this message box does not appear, the motor displayed in the Motor Model box was previously selected. 10. Select or verify the correct motor model number from the drop down Motor Model list. 11.

  • Page 93: Operation

    Application and Configuration Examples 10. Close any open windows or dialogs. Operation The drive is now configured as an Analog Controller in either the velocity or torque mode. • The current loop is compensated properly for the selected motor. • The servo parameters have been setup with an unloaded motor.

  • Page 94: Preset Controller

    Application and Configuration Examples 8Application and Configuration Examples Preset Controller The OMNIDRIVE can be set up as a preset controller in the Velocity or Torque mode by making the connections described below. Three discrete digital inputs provide the programmable speed or torque control.

  • Page 95: Connection Diagram

    Application and Configuration Examples 1. Connectan external 12 to 24 VDC power supply for powering I/O to J1-5 (I/O PWR) and J1-6 (I/O COM). 2. Connect the drive to a single phase 100/240 VAC, 50/60 Hz power source. Connection Diagram Intro DRIVE 2 RCV...
  • Page 96 Application and Configuration Examples Refer to the section “RS-232 Communication Test” on page 11-6 for troubleshooting instructions. 6. Select Read Drive Parameters from the Communications menu. 7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8.

  • Page 97: Tuning

    Application and Configuration Examples Tuning Do not attempt to Tune a drive with the Command mode set for Preset Torques. If the drive is set to Torque mode, continue with the Operation section below. Do not attempt to Auto Tune systems that have gravitational effects. The OMNIDRIVE will not hold initial position.

  • Page 98: Position Follower (Master Encoder)

    Application and Configuration Examples 8Application and Configuration Examples Position Follower (Master Encoder) The OMNIDRIVE can be electronically geared to a master incremental encoder generating quadrature encoder signals by making the hardware connections and performing the software setup and tuning described below. The connection diagram depicts the minimum hardware necessary. Interfacing the drive to an external controller requires similar circuitry from the controller to J1.

  • Page 99: Connection Diagram

    8-10 Application and Configuration Examples Connection Diagram Intro DRIVE 2 RCV Motor Encoder 3 XMT 5 COM Master Encoder Phase R 6 1 +5V 2 5V COM Phase S 7 14 AX+ Phase T 8 15 AX- Mtr Gnd 9 16 BX+ 17 BX- 100-240 VAC...
  • Page 100 Application and Configuration Examples 8-11 – Data Bits: 8 – Parity: None – Stop Bits: 1 – Serial Port: COM1 Refer to the section “RS-232 Communication Test” on page 11-6 for troubleshooting instructions. 6. Select Read Drive Parameters from the Communications menu. 7.

  • Page 101: Tuning

    8-12 Application and Configuration Examples Tuning Do not attempt to Auto Tune systems that have gravitational effects. The OMNIDRIVE will not hold initial position. 1. Choose the Tuning command icon from the Drive window. 2. Select AutoTune from the Tuning mode group. 3.

  • Page 102: Position Follower (Step/Direction)

    Application and Configuration Examples 8-13 8Application and Configuration Examples Position Follower (Step/Direction) The OMNIDRIVE can be set up as a Position Follower using Step/Direction commands by making the hardware connections and performing the software setup and tuning described below. This configuration allows the OMNIDRIVE to electronically gear or drive a servo motor using step and direction signals that typically control a stepper drive.

  • Page 103: Connection Diagram

    8-14 Application and Configuration Examples Connection Diagram Intro DRIVE 2 RCV 3 XMT Motor Encoder 5 COM Phase R 6 Step/Dir Phase S 7 Generator Phase T 8 Mtr Gnd 9 STEP+ 14 AX+ STEP– 15 AX– DIR+ 16 BX+ 100-240 VAC 50/60 Hz DIR–...
  • Page 104 Application and Configuration Examples 8-15 – Data Bits: 8 – Parity: None – Stop Bits: 1 – Serial Port: COM1 Refer to the section “RS-232 Communication Test” on page 11-6 for troubleshooting instructions. 6. Select Read Drive Parameters from the Communications menu. 7.

  • Page 105: Tuning

    8-16 Application and Configuration Examples Tuning Do not attempt to Auto Tune systems that have gravitational effects. The OMNIDRIVE will not hold initial position. 1. Choose the Tuning command icon from the Drive window. 2. Select AutoTune from the Tuning mode group. 3.

  • Page 106: Position Follower (Step Up/Step Down)

    Application and Configuration Examples 8-17 8Application and Configuration Examples Position Follower (Step Up/Step Down) The OMNIDRIVE can be set up as a Position Following using Step Up and Step Down signals typically used to control stepper drives. The connection diagram depicts the minimum hardware necessary. Inter- facing the drive to a controller requires similar circuitry from the indexer to J1.

  • Page 107: Connection Diagram

    8-18 Application and Configuration Examples Connection Diagram Intro DRIVE Motor Encoder 2 RCV 3 XMT 5 COM Phase R 6 Phase S 7 Step Phase T 8 Indexer 14 CW+ Mtr Gnd 9 15 CW- 16 CCW+ 17 CCW- 100-240 VAC L1 3 50/50 Hz Close to ENABLE Drive...
  • Page 108 Application and Configuration Examples 8-19 – Stop Bits: 1 – Serial Port: COM1 Refer to the section “RS-232 Communication Test” on page 11-6 for troubleshooting instructions. 6. Select Read Drive Parameters from the Communications menu. 7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8.

  • Page 109: Tuning

    8-20 Application and Configuration Examples Tuning Do not attempt to Auto Tune systems that have gravitational effects. The OMNIDRIVE will not hold initial position. 1. Choose the Tuning command icon from the Drive window. 2. Select AutoTune from the Tuning mode group. 3.

  • Page 110: Incremental Indexing

    Application and Configuration Examples 8-21 8Application and Configuration Examples Incremental Indexing This feature is available only on drives capable of indexing: ODM-005i, ODM-010i, ODM-020i. The OMNIDRIVE can be set up as a incremental indexer by making the hardware connections and performing the software setup and tuning described below.

  • Page 111: Hardware Set Up

    8-22 Application and Configuration Examples Hardware Set Up Make the connections described below and shown in the Figure 8.7. 1. Connect an RS-232 cable between the serial port on the PC and the J4 connector on the OMNIDRIVE. A simple 3 wire cable is depicted in the figure below. 2.
  • Page 112 Application and Configuration Examples 8-23 display codes. 2. Start OMNI LINK on the PC. 3. Choose Cancel from the Drive Select dialog box. 4. Select PC Set Up from the Communications menu in OMNI LINK to display the personal com- puter’s communication settings.

  • Page 113: Tuning

    8-24 Application and Configuration Examples 16. Choose Close to exit the Drive Parameters window. 17. Verify the Status indicator is green. 18. Select the I/O Configuration command icon from the Drive Window. 19. Select an appropriate digital input from the pull-down lists available as Digital Input Assign- ments in the I/O Configuration window.
  • Page 114 Application and Configuration Examples 8-25 • Motion is commanded through the inputs. The firmware saves the parameters in EEPROM memory. Thus the drive can be power cycled and, after power-up, will use the parameters selected in the steps above. When motion is required: 1.

  • Page 115: Registration Indexing

    8-26 Application and Configuration Examples 8Application and Configuration Examples Registration Indexing This feature is available only on drives capable of indexing: ODM-005i, ODM- 010i, ODM-020i. The OMNIDRIVE can be set up as a registration indexer by making the hardware connections and performing the software setup and tuning described below.

  • Page 116: Connection Diagram

    Application and Configuration Examples 8-27 6. Connect an external 12 to 24 VDC power source for powering I/O to J1-5 (I/O PWR) and J1-6 (I/O COM). 7. Connect the drive to a single phase 100/240 VAC, 50/50 Hz power source. Connection Diagram Intro DRIVE...
  • Page 117 8-28 Application and Configuration Examples – Parity: None – Stop Bits: 1 – Serial Port: COM1 Refer to the section “RS-232 Communication Test” on page 11-6 for troubleshooting instructions. 6. Select Read Drive Parameters from the Communications menu. 7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8.

  • Page 118: Tuning

    Application and Configuration Examples 8-29 • Not Assigned as Inputs 3. • Not Assigned as Outputs 1 through 2. 20. Choose Close to exit the I/O Configuration window. Tuning Do not attempt to Auto Tune systems that have gravitational effects. The OMNIDRIVE will not hold initial position.

  • Page 119: Operation

    8-30 Application and Configuration Examples Operation The drive is now configured as a Registration Indexing controller. • The servo parameters have been setup with the unloaded motor. • Motion is commanded through the inputs. The firmware saves the parameters in EEPROM memory. Thus the drive can be power cycled and, after power-up, will use the parameters selected in the steps above.

  • Page 120: Absolute Indexing

    Application and Configuration Examples 8-31 8Application and Configuration Examples Absolute Indexing The OMNIDRIVE can be set up as a absolute indexer by making the hardware connections and performing the software setup and tuning described below. A connection diagram depicts the minimum hardware necessary.

  • Page 121: Connection Diagram

    8-32 Application and Configuration Examples Connection Diagram Intro DRIVE Motor Encoder 2 RCV 3 XMT 5 COM Phase R 6 Phase S 7 Phase T 8 26 I/O PWR Motor Gnd 9 Close to ENABLE Drive 20 ENABLE Close to RESET Fault 21 FAULT RESET 100-240 VAC...
  • Page 122 Application and Configuration Examples 8-33 7. Verify the Drive Name and Address are correct for the drive that is being addressed. 8. Choose OK to load the drive parameters. A motor must be selected for the parameters to load. 9. If the message box appears that a motor must be selected, select OK. The Drive Setup window is displayed with Motor Model selection parameter active.

  • Page 123: Tuning

    8-34 Application and Configuration Examples Tuning Do not attempt to Auto Tune systems that have gravitational effects. The OMNIDRIVE will not hold initial position. 1. Choose the Tuning command icon from the Drive window. 2. Select AutoTune from the Tuning mode group. 3.

  • Page 124: Modifying User Units

    Application and Configuration Examples 8-35 8Application and Configuration Examples Modifying User Units The units displayed for any OMNIDRIVE may be modified using a PC with OMNI LINK software. The PC Display Units help menu defines the various parameters displayed by OMNI LINK. Default settings for Units are shown in Figure 8.12.
  • Page 125 8-36 Application and Configuration Examples The modified units will be displayed where appropriate within the OMNI LINK windows. For example, these changes cause the Indexing tab in the Drive Parameters window to display: • Distance in Mtr Revs • Acceleration in Revs/sec •...

  • Page 126: Hapter

    Tuning Tuning HAPTER OMNIDRIVE are tuned quickly and easily for a wide variety of applications. Two tuning modes are available through the software: • Auto Tune • Manual Tune Tuning Guidelines The following tuning guidelines briefly describe the tuning adjustments. These guidelines provide you with a basic reference point should the application require additional adjustments.

  • Page 127: Backlash

    Tuning There are several ways of dealing with this problem but they fall into two groups: change the mechanical system or change the servo-motor response. Changing the mechanical system might involve reducing the inertia ratio via gearboxes or pulleys, or by increasing the stiffness of the couplings. For very high performance systems and systems with low resonance frequencies the mechanics may require changing to effectively deal with the resonance.

  • Page 128: Auto Tune Mode

    Tuning Intro CURRENT TORQUE CURRENT LIMIT COMMAND OUTPUT AVERAGE CURRENT AVERAGE LP ENABLE CURRENT EXCESSIVE TORQUE CURRENT CURRENT COMMAND LOW PASS INPUT CURRENT CURRENT FILTER LIMIT LIMIT POSITIVE CURRENT PEAK DETECT PEAK NEGATIVE CURRENT PEAK DETECT PEAK Torque Current Conditioning Structure IGURE Auto Tune Mode The Auto Tune mode uses a “self-tuning”...

  • Page 129: Auto Tuning

    Tuning Auto Tuning A PC running OMNI LINK is required to perform tuning on a OMNIDRIVE. The optional TouchPad does not support tuning. Before auto tuning is invoked, three autotuning parameters must be set: • Distance sets the rotation limit of the motor. This is the maximum distance the motor is allowed to move during any one test.

  • Page 130: Manual Tune Mode

    Tuning 8. Choose Close to exit the Tuning window. Auto tuning does not have a velocity limit, but it does adhere to the motor Overspeed setting in the Drive Parameters window. Manual Tune Mode Manual tuning may be used to adjust the gain settings and filter frequency of the velocity regulator. The following sections briefly explain these settings.

  • Page 131: Filters

    Tuning Position Loop Gains ABLE Parameter Description Kp-gain Proportional gain of the position loop. Kp-gain changes: • The position loop bandwidth. • The settling time of the position loop. In general, the higher the value of Kp-gain the faster the settling time. However, a high value of Kp-gain with inadequate velocity loop bandwidth results in overshoot and ringing.

  • Page 132: Manual Tuning

    Tuning Manual Tuning Manual tuning may be used to adjust the gain control parameters P, I, D and the filters. A square wave is generated by the drive to assist in the adjustment. Manual velocity tuning requires the following: • Step Period value to be specified •...
  • Page 133 Tuning Tuning the Position Loop Specify the step period and step position values, and then input a square wave to the position loop. Adjust the gain controls parameters Kp, Kd, Kff, Ki, and Ki Zone Filters to tune the system. Tune the velocity loop before attempting to tune the position loop.

  • Page 134: Velocity Loop Tuning Examples

    Tuning Velocity Loop Tuning Examples Intro VELOCITY Overshoot Following Error Steady State Error Undershoot TIME Settle Time Rise Time Transient State Steady State Signal Nomenclature IGURE Intro UNDERDAMPED Motor Velocity consistently overshoots the Velocity Command. To correct: Decrease P-gain Decrease I-gain Underdamped Signal IGURE Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i...

  • Page 135: Overdamped Signal

    9-10 Tuning Intro OVERDAMPED Motor Velocity consistently undershoots the Velocity Command. To correct: Increase I-gain Increase P-gain Overdamped Signal IGURE Intro CRITICALLY DAMPED Motor Velocity quickly settles to the Velocity Command. Critically Damped Signal (Ideal Tuning) IGURE Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 136: Hapter

    Status Display 10-1 Status Display HAPTER A single front panel indicator displays the status of the drive on a continuous basis: • The Status LED lights whenever the bus is energized. Status Indicator The Status indicator is a three level LED, which indicates the current operational state of the drive. The status level is indicated by the color of the LED.

  • Page 137: Power-Up Error Codes

    10-2 Status Display Run-Time Error Codes (continued) 10.1 ABLE Error Code Fault Description Motor Selection not in Table EEPROM Write Error 31-50 Reserved Power-Up Error Codes A power-up error indicates in almost all cases that the drive should be returned to the factory for service. In general, any occurrence of a Power-up error should be treated with extreme caution.

  • Page 138: Hapter

    Maintenance and Troubleshooting 11-1 Maintenance and Troubleshooting HAPTER Maintenance The OMNIDRIVE is designed to function with minimum maintenance. Periodic Maintenance Normally the only maintenance required is removal of superficial dust and dirt from the drive and a quick check of cable insulation and connections. Cleaning To clean the drive, use an OSHA approved nozzle that provides compressed air under low pressure <20 kPa (30 psi) to blow the exterior surface and the vents clean.

  • Page 139: Firmware Upgrading

    OMNIDRIVEs may be upgraded in the field to the latest version of firmware. Firmware versions are available from the Thomson Industries Product Support group. The procedure describes how to reload the firmware installed in your drive using the Upgrade Firmware command available in OMNI LINK software.

  • Page 140: Troubleshooting

    Maintenance and Troubleshooting 11-3 Troubleshooting A single LED on the front panel indicates the status of the drive on a continuous basis: • Green = Normal operation • Blinking Green/Orange = Drive Fault • Orange = Hardware malfunction • Blank = Power not supplied or hardware malfunction A table of problems, potential causes, and appropriate actions to take to resolve the problem is included below.
  • Page 141 11-4 Maintenance and Troubleshooting Troubleshooting Guide (continued) 11.1 ABLE Problem or Symptom Error Code Possible Cause(s) Action/Solution IPM Fault Motor cables shorted Verify continuity of motor power cable and connector. Motor winding shorted internally Check for short on R,S,T and Gnd windings of the motor.
  • Page 142 Maintenance and Troubleshooting 11-5 Troubleshooting Guide (continued) 11.1 ABLE Problem or Symptom Error Code Possible Cause(s) Action/Solution Motor Overspeed OVERSPEED parameter in the Using OMNI LINK (refer to Drive drive set to low for the applica- Parameters section) set Over- tion speed parameter to an accept- able range for the application.

  • Page 143: Rs-232 Communication Test

    11-6 Maintenance and Troubleshooting Troubleshooting Guide (continued) 11.1 ABLE Problem or Symptom Error Code Possible Cause(s) Action/Solution No Motor Selected No motor was selected when Select a motor before enabling the drive was enabled. the drive. Motor Information Missing Motor number is referencing a Select a motor that is in the motor that is not currently in the drive.

  • Page 144: Testing Digital Outputs

    Maintenance and Troubleshooting 11-7 • Jumper Pins 2 and 3 on the communication port of the PC. • Type any character on the keyboard. – If the character echoes back, the communication port is OK and the cable or the connectors are defective.

  • Page 145: Testing Digital Inputs

    11-8 Maintenance and Troubleshooting Testing Digital Inputs This test verifies the functionality of the selectable inputs. NOTE: This test assumes that I/O power is 24 VDC. Test equipment requirements are: • A PC running OMNI LINK • A jumper wire. It assumes there are no error codes displayed, and the 24V power supply is connected correctly.

  • Page 146: Testing Analog Input

    Maintenance and Troubleshooting 11-9 Testing Analog Input The following test verifies the functionality of the analog input. NOTE: This test assumes that I/O power is 24 VDC. The tests require: • a PC running OMNI LINK, and • a 10 kOhm potentiometer. Testing the Current Limit Input 1.
  • Page 147 11-10 Maintenance and Troubleshooting lowing pins: J1-7 to J1-14 J1-10 to J1-17 J1-8 to J1-15 J1-11 to J1-18 J1-9 to J1-16 J1-12 to J1-19 5. Choose the Encoder Diagnostics command icon from OMNI LINK. 6. Choose Zero Count for both the Motor Encoder and Master Position Input. 7.
  • Page 148 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 149 Velocity Gain Controls Position Gain Controls Torque Mode Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 150: Ppendix

    TouchPad Instructions TouchPad Instructions PPENDIX The optional TouchPad is a compact and rugged device for interfacing with OMNIDRIVEs. It provides the operator with a convenient device for accessing status information, program variables, and control functions, plus message display capabilities on any OMNIDRIVE. An 8-character dot matrix display and a sealed-membrane type keyboard are housed in a compact case.

  • Page 151: Touchpad Version Number Display

    TouchPad Instructions Intro Drive Type: 1 = ODM-010 or ODM-010i, ODM-020 or ODM-020i, Ver11.10 ODM-030 or ODM-030i, ODM-075 or ODM-075i, ODM-150 or ODM-150i 2 = ODM-005 or ODM-005i, ODM-009 or ODM-009i, ODM-019 or ODM-019i Firmware Level: 1.00 = Version 1.00 1.10 =Version 1.10 2.00 = Version 2.00 (Indexing capable) TouchPad Version Number Display...

  • Page 152: Touchpad Commands

    TouchPad Instructions TouchPad Commands Commands are entered by pressing a single key or combination of keys. Two modes of operation are available. Parameter mode allows you to move through the TouchPad Command Tree to each parameter. Modify mode allows you to monitor and change each parameter, often while the drive is operational. Function Toggles the parameter display between the two operating modes.
  • Page 153 TouchPad Instructions Intro DRVSETUP DRVPARM I/OCONFIG MotorSel Drv Mode DigInp1 Motor Selection Drive Mode Digital Input 1 see Table Velocity or Torque see Table Drv Name Cmd Src DigInp2 Drive Name Command Source Digital Input 2 <32 characters Path Selections see Table Drv Comm OvrdMode...

  • Page 154: Touchpad Command Tree

    TouchPad Instructions Intro TUNING DISPLAY DRVINFO STATUS CTLPANEL SWEnable I Cmd FW Ver DrvStat IndxCtrl Software Enable Current Command Firmware Version Drive Status Index Control On or Off Selection Amps Release Level see Table TuneMode I Avg Boot Ver InpFlags StrtCtrl Tuning Mode Current Average...

  • Page 155: Supplemental Instructions

    TouchPad Instructions Supplemental Instructions Motor Selection Enter a Motor Identification number to load the correct motor parameters into the drive. Table A.2 and Table A.3 list the motors available in the motor table directory. Analog Output Scaling Selection of Analog Output Scaling through the TouchPad requires manual input of the scaling parameters. To calculate the necessary scaling parameters, first determine the Command Source (Analog or Preset/ Follower).
  • Page 156 TouchPad Instructions Numeric Flashing characters in the Modify mode display are the numbers that are active. • Change the cursor position and resolution using the key. For example: If the Over Spd in the Modify mode displays 5200 and 52 is flashing, pressing the key causes 520 to flash.

  • Page 157: Touchpad Options

    TouchPad Instructions • The TouchPad displays Fault and a description. A Fault message requires additional trouble- shooting of the drive. Clear the fault display by depressing the keys simultaneously. Fault codes are stored in the TouchPad parameter DrvStat and are explained with trouble- shooting guidelines in Table 11.1 on page 11-3.

  • Page 158: Touchpad Lists

    TouchPad Instructions TouchPad Lists Drive Communications Parameter List for the TouchPad ABLE Display Parameter 7 Data Bits, 1 Stop Bit, Even Parity 7 Data Bits, 1 Stop Bit, Odd Parity 8 Data Bits, 1 Stop Bit, No Parity 8 Data Bits, 1 Stop Bit, Even Parity 8 Data Bits, 1 Stop Bit, Odd Parity Baud Rate Parameter List for TouchPad ABLE...
  • Page 159 A-10 TouchPad Instructions Index Termination Parameter List for TouchPad ABLE Display Parameter Stop Stop NxtINow Start another Index immmediately NxtIWt Start another Index at next Start Index transition a. Parameters available only if the drive supports Indexing. Home Type Parameter List for TouchPad ABLE Display Parameter...
  • Page 160 TouchPad Instructions A-11 Digital Output Parameter List for TouchPad A.13 ABLE Display Parameter Not Asgn Not Assigned (not used) In Position InPos Within Position PosWin 0 Speed Zero Speed SpdWin Speed Window +ILimit Positive Current Limit -ILimit Negative Current Limit Up to Speed UpToSpd DrvEnab...
  • Page 161 A-12 TouchPad Instructions Drive Status List for TouchPad (continued) A.15 ABLE Display Parameter BusOvV Bus Undervoltage Bus Overvoltage BusUndV Illegal Hall State IlglHal SubIntr Unused Interrupt - sub processor MainInt Unused Interrupt - main processor ExsAvgI Excessive Average Current OvSpeed Motor Overspeed Excessive Following Error ExsFErr...

  • Page 162: Ppendix

    Creating Custom Motor Files Creating Custom Motor Files PPENDIX Each motor controlled by a OMNIDRIVE requires a unique parameter set. The parameter set provides the drive with information about the motor necessary for proper commutation, precise control and protection. Two types of motor parameter sets can be selected for a OMNIDRIVE using OMNI LINK software: •...

  • Page 163: Drive And Motor File Configuration With Omni Link

    Figure B.2. Motors not manufactured by Thomson Industries require the back-EMF and Hall feedback signals be phased to match those of Thomson Industries motors. Often this requires swapping of the R-, S- and T-phase control signals with each other, as well as swapping the Hall A, Hall B, and Hall C signals with each other.

  • Page 164: Thomson Industries Motor Naming Convention

    A custom motor file cannot be created until the sequencing is correct because the offset of the Hall signals from the Thomson Industries standard must be defined, and swapping wires affects the offset value. Installation Manual for Models ODM-005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i...

  • Page 165: General Parameters

    Creating Custom Motor Files Encoder Sequencing Separate from the phasing of the commutation and motor power signals, the encoder A quad B signals must sequence properly. The A channel must lead the B channel for CW motion when viewed looking at the motor shaft from the load.
  • Page 166 0.707 Amp(rms) Many Thomson Industries motors specify the torque constant in units of N-m/rmsA/phase. In this case, in addition to conversion from rms Amps to peak Amps, the value needs to be multiplied by three because it has been defined as “per phase”.
  • Page 167 Creating Custom Motor Files Note that the required value is a peak value, rather than an rms value. To convert the back-EMF from units of Volts(rms)/kRPM, use the formula: Volts Volts(rms) ⋅ ⋅ 1 414 1000 RPM 1000 RPM Also, a line-to-line value is required, rather than a line-to-neutral. A line-to-line value equals a line-to- neutral value times two.

  • Page 168: Feedback Parameters

    IGURE Hall Offset The Hall offset specifies the offset of the Hall feedback signals relative to the Thomson Industries standard. The drive uses the Hall offset to determine the commutation angle at startup. Hall offset is specified as a value in the range from 0 to 359 electrical degrees.

  • Page 169: Hall Offsets

    The invert direction check box may also be checked for some Thomson Industries motors, where the definition of forward is opposite that of Thomson Industries (i.e., CCW rather than CW). In such a case, a software inversion is preferable to the physical swapping of leads, because the signals look identical when rotated CCW rather than CW.

  • Page 170: Electrical Parameters

    Creating Custom Motor Files Electrical Parameters Resistance The resistance value is the measured phase-to-phase resistance of the stator winding in Ohms. The resistance is used to set the current regulator gains, and is critical to current loop performance. The resistance value can be in the range from 0.0039 to 255.9961Ω. The ratio of motor inductance to motor resistance is defined as the electrical time constant of the motor.

  • Page 171: Motor Thermal Protection Software Method

    63% of the difference from ambient. Thomson Industries, as well as many other motor manufacturers, specifies this parameter for motors, although it may not be published in catalogs or data sheets.
  • Page 172 Creating Custom Motor Files B-11 Integral Thermostat The integral thermostat check box should be checked if the motor has a built-in thermostat. If this box is not checked, the thermostat inputs to the drive are ignored. When the integral thermostat check box is selected, a motor overtemperature fault is displayed if the thermostat inputs to the drive are in an open state.

  • Page 173: Example Of Custom Motor File Creation

    B-12 Creating Custom Motor Files Example of Custom Motor File Creation The following is an example of a custom motor. A 50:1 gear is included inside this motor. The example illustrates how to configure a custom motor. Manufacturer's Data The following specifications were taken from the manufacturer's data sheet: •...

  • Page 174: Parameter Conversions

    Creating Custom Motor Files B-13 Parameter Conversions The 1:50 gearing makes this motor an unusual case. The motor file must be generated as if the motor and gear are two separate devices. The inertia, torque, speed, etc., must be computed based on the motor side of the gearing, rather than the load side.

  • Page 175: Custom Motor File

    B-14 Creating Custom Motor Files Custom Motor File The custom motor file parameters are as follows: GENERAL CURRENT LOOP Motor Model: A_CUSTOM Current Feedforward: 0 degrees / kRPM Table ID: Motor File: CUSTOM21.MTR ELECTRICAL Motor Type: Synchronous Resistance: 7.4 Ohms Number of Poles: Inductance: 10.0 mH...

  • Page 176: Ppendix

    Electromagnetic Compatibility Guidelines for Machine Design Electromagnetic Compatibility Guidelines PPENDIX for Machine Design This appendix provides background information about Electromagnetic Interference (EMI) and machine design guidelines for Electromagnetic Compatibility (EMC). The OMNIDRIVE installation requirements for compliance to the European Electromagnetic Compatibility Directive are specified on page 2-8. AC Line Filters necessary for European EMC compliance are listed in Chapter 5, “Installation”.

  • Page 177: Filtering

    Electromagnetic Compatibility Guidelines for Machine Design The EMI model provides only three options for eliminating the EMC problem: • reduce the EMI at the source, • increase the victim’s immunity to EMI (harden the victim), or • reduce or eliminate the coupling mechanism. In the case of servo drives, reducing the EMI source requires slowing power semiconductor switching speeds.

  • Page 178: Ac Line Filter Installation

    Electromagnetic Compatibility Guidelines for Machine Design mount the filter where the AC power enters the enclosure. “AC Line Filter Installation” shows a good installation and a poor installation. Intro POOR GOOD CONDUCTED EMI DRIVE DRIVE CONDUCTED EMI LINE RADIATED RADIATED FILTER RADIATED FILTER...

  • Page 179: Grounding

    Electromagnetic Compatibility Guidelines for Machine Design Grounding High frequency (HF) grounding is different from safety grounding. A long wire is sufficient for a safety ground, but is completely ineffective as an HF ground due to the wire inductance. As a rule of thumb, a wire has an inductance of 20 nH/in regardless of diameter.

  • Page 180: Shielding And Segregation

    Electromagnetic Compatibility Guidelines for Machine Design Shielding and Segregation The EMI radiating from the drive enclosure drops off very quickly over distance. Mounting the drive in an enclosure, such as an industrial cabinet, further reduces the radiated emissions. The cabinet should have a high frequency ground and the size of the openings should be minimized.
  • Page 181 Electromagnetic Compatibility Guidelines for Machine Design 1. A ferrite toroid or “doughnut” around a signal cable may attenuate common mode noise, particu- larly RS-232 communication problems. However, a ferrite toroid will not help differential mode noise. Differential mode noise requires twisted wire pairs. 2.

  • Page 182: Ppendix

    Dynamic Braking Resistor Selection Dynamic Braking Resistor Selection PPENDIX This appendix provides equations to assist in sizing resistors for dynamic braking. Introduction A properly sized resistive load may be required to dynamically brake the system by dissipating the energy stored in a motor. The section “Emergency Stop Wiring” on page 7-4 depicts the necessary circuitry. Winding inductance is ignored in this analysis, which allows the load on the motor winding to be con- sidered as purely resistive when dynamic braking occurs.
  • Page 183 Dynamic Braking Resistor Selection ω 3 ( )   )ω -- - J ----- ------------------------ 0.144   4τ Equation 1 is used in equation 2 and 3 to put the power in terms of the motor parameters and the dynamic braking resistance (i.e., independent of the load inertia).

  • Page 184: Sample Calculations

    Dynamic Braking Resistor Selection Sample Calculations The following example uses a motor with a 10 times inertia mismatch and dynamic braking resistors sized at four times the motor winding resistance. The average power of the motor is 1116 Watts for the selected parameters, but it is unlikely that a resistor with this Wattage is required.
  • Page 185 Dynamic Braking Resistor Selection 1 10 7500 P( ) t 5000 2500 0.05 0.15 Average Power (Watts): ⋅ ⋅ ω ∙ ----------------------------- - ⋅ 1116 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 186: Ppendix

    Specifications Specifications PPENDIX Item Specification Agency Approvals UL and cUL UL508C File E145959 CE mark Low Voltage Directive and Electromagnetic Compatibility Directive Certificate of Conformity from TUV Product Service Environmental Operating Temperature C to 55 C (32 F to 131 Storage Temperature C to 70 C (-40...
  • Page 187 Specifications Item Specification Analog Inputs Current Limit 0 to 10 Volt, 10-bit, single-ended, 5 kOhm input Impedance (I LIMIT) COMMAND ±10 Volt, Differential, 16-bit, 13 kOhm input Impedance, offset software adjustable Analog Outputs ANALOG1 0 to 10 Volt, 8-bit, 2 mA maximum Auxiliary Encoder Signal Input 26LS33 Input, 4 MHz Count Frequency Differential/Single-ended...

  • Page 188: Power

    Specifications Item Specification Power-Up Faults EPROM Checksum EEPROM Checksum SRAM Write/Read Watchdog Reset A/D Conversion D/A Conversion Run-Time Faults Motor Overtemperature Bus Overvoltage IPM Fault Overspeed Excess Error Encoder State Change Illegal Hall State Selectable Digital Inputs Drive Mode Select Integrator Inhibit Follower Enable Forward Enable...

  • Page 189: Power Dissipation

    Specifications OMNIDRIVE Power Ratings (continued) ABLE ODM-005, ODM-010, ODM-020, ODM-005i ODM-010i ODM-020i Bus Capacitance (µF) 1170 1950 2730 Peak Power Output (kWatts @ 120 V (kWatts @ 240 V Continuous Power Output (kWatts @ 120 V (kWatts @ 240 V a.

  • Page 190: Index Of Topics

    Index of Topics Command Source E-2 HelpIndex of Topics Command Sources Symbols Analog Command Summary A-3 •Auto Tune 9-1 Common Mode Choke C-3 Compatible Components Custom Motors Motors ABS Input E-1 Configuration Example, see Example Absolute Indexing 8-31 Connection Diagram Absolute Indexing 8-32 Analog Controller...
  • Page 191 Help-2 Index of Topics Tuning 9-3, 9-4 Grounding Types Electromagnetic Compatibility (EMC) Single Point AC Line Filters Guidelines European Union Directives Electromagnetic Compatibility Filtering Manual Tune Grounding Guidelines Designing for EMC General System Hall Inputs E-1 Shielding and Segregation Hardware Requirements 3-1 Electromagnetic Interference (EMI) C-1 Hi-Pot Testing E-1 EMC, see Electromagnetic Compatibility...
  • Page 192 Index of Topics Help-3 Inrush Current 7-5 Inspection Procedures Main Power, see Power Checkout Test Maintenance 11-1 Communications Verification Cleaning 11-1 Hardware Set Up Manual Tune Initial Drive Operation Initial Power-up Filter Adjustment Shipping Damage Guidelines Procedure Installing Position Loop Software Velocity Loop TouchPad...
  • Page 193 Help-4 Index of Topics Peak Self-Test A-1 Ratings Separation of Power Sources 7-5 Source Separation Serial Communications Power-Up Drive Addressing 6-28 Error Codes 10-2 RS-232 Multiple Axes 6-31 Faults RS-232 Single Axis Set-up 6-28 Preset Binary Inputs RS-485 Multiple Axes Set-up 6-31 Programmable Speed Inputs Hardware Addressing...
  • Page 194 Index of Topics Help-5 Output Current Baud Rate Continuous (peak) Drive Communications Peak Selections Position Regulation Modes of Operation Power Output Motor Selection Continuous Revision Level Peak Text Selection Power Ratings Version Display Power-Up Faults Transformer Sizing 7-5 Run-Time Faults Troubleshooting 11-1 Selectable Digital Inputs Analog Outputs...
  • Page 195 Help-6 Index of Topics Warning Classifications Intro-22 Defined Intro-22 Warranty Coverage Help-7 Weight E-1 Wire Size 7-5 Wiring I/O 5-4 Wording Conventions Intro-21 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 196: Our Warranty

    RMA number will not be accepted and will be returned to the sender. 2. Pack the drive in the original shipping carton. Thomson Industries is not responsible or liable for damage resulting from improper packaging or shipment.
  • Page 197 Help-8 Our Warranty Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 198: Product Support

    Product Support Help-9 HelpProduct Support Thomson Industries product support is available over the phone. When you call, you should be at your computer and have the hardware and software manuals at hand. Be prepared to give the following information: •...
  • Page 199 2 Channel Drive Port Washington, NY 11050 Installation Manual for Models ODM- 005, ODM-005i, ODM-010, ODM-010i, ODM-020 and ODM-020i Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 200 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

This manual is also suitable for:

Omnidrive odm-005iOmnidrive odm-010Omnidrive odm-010iOmnidrive odm-005Omnidrive odm-020iOmnidrive odm-020

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