User Manual - JVL Industri Elektronik A/S

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1.6 Getting Started — Register Mode (Mode 3) +24VDC Out PLC or similar Position reached Start Pause D5 D4 D3 D2 D1 D0 Ground AMC11B/12B does not use terminals P- and P+ since it includes a mains supply. See Power Supply section! Industrybus in UserOutputs UserInputs IA1 IA2 IA3 IA4 O+ O8 O7 O6 O5 O4 O3 O2 O1 O- IN8 IN7 IN6 IN5 IN4 IN3 IN2 IN1 IN- 1C 2C 3C 4C 5C 6C 7C 8C 9C 10C 11C 12C 13C 14C 15C 16C 17C 18C 19C 20C 21C 22C 23C 24C 25C 26C 27C 28C 29C 30C 31C 32C 1A 2A 3A 4A 5A 6A 7A 8A 9A 10A 11A 12A 13A 14A 15A 16A 17A 18A 19A 20A 21A 22A 23A 24A 25A 26A 27A 28A 29A 30A 31A 32A P- P+ FA FB FC FD PDO IB1 IB2 IB3 IB4 HLA HLB HLC 5VO EZ1 EZ2 EA1 EA2 EB1 EB2 ECM XCM XI YCM YI O5V AO BO OCM AIN ACM 26B NL 27B PL 28B HM 30B AX2 31B TCM 32B TAC PowerSupply in 15-80V DC PowerDump output Industrybus out HallInput Screen PulseInputs Pulse Outputs +/-10VInput Screen End-of-travelinputs Secondary axis Analogue output (torque monitor) + From zero-point sensor Home (Reset) input TT0019GB Follow the procedure below for operation of the Controller in Mode 3 (Register Mode) 1. Connect the Controller as shown above. For further details, see: Motor Connection, page 21 / User Inputs, page 24 / User Outputs, page 27 / Encoder Input, page 28 / Power Supply, page 31. 2. Connect the PC via a terminal program (e.g. JVL’s MotoWare or Windows Terminal), if necessary following the description of the RS232 interface in RS232 Interface, page 38. 3. Switch on the Controller, but ensure that all inputs are inactive. Only the Power LED and possibly Out 1 may be active. If one or more of the red LEDs is active or blinks, the Controller is most likely set up for the wrong motor type. Follow the instructions in General Aspects of Installation, page 12 4. Send the command ? (enter) to the Controller and wait until the Controller responds with a status overview. If the status overview is displayed, the RS232 interface and power supply are connected correctly. 5. Set the Controller to Register Mode by sending the command MO=3 (enter). The Controller should respond Y, indicating that Register Mode has been selected. 6. By default, the servo parameters KD, KP, and KI are set to typical, moderate values. This means that the motor can be operated without further adjustment. For optimum system operation however, the parameters must be adjusted. See Adjustment of Servo Regulation, page 16. 7. The Controller is now set to Register Mode. As a test, connect a voltage to input 1 and 8 (start input). The motor should move to position 1000. This value is stored by default in register XP1 on delivery. For further information on operation in Mode 3, see Register Mode (MO=3), page 49 JVL Industri Elektronik A/S - User Manual - AC servocontroller AMC10/11/12 7
1.7 Getting Started — Velocity Mode (Mode 4) AMC11 does not use terminals P- and P+ since it includes a mains supply. See Power Supply section! Industry bus in User Outputs User Inputs IA1 IA2 IA3 IA4 O+ O8 O7 O6 O5 O4 O3 O2 O1 O- IN8 IN7 IN6 IN5 IN4 IN3 IN2 IN1 IN- 1C 2C 3C 4C 5C 6C 7C 8C 9C 10C 11C 12C 13C 14C 15C 16C 17C 18C 19C 20C 21C 22C 23C 24C 25C 26C 27C 28C 29C 30C 31C 32C 1A P- 2A P+ 3A FA 4A FB 5A FC 6A FD 7A PDO 8A IB1 9A IB2 10A IB3 11A IB4 12A HLA 13A HLB 14A HLC 15A 5VO 16A EZ1 17A EZ2 18A EA1 19A EA2 20A EB1 21A EB2 22A ECM 23A XCM 24A XI 25A YCM 26A YI 27A O5V 28A AO 29A BO 30A OCM 31A AIN 32A ACM 26B NL 27B PL 28B HM 30B AX2 31B TCM 32B TAC Power Supply in 15-80V DC Power Dumpoutput Industrybus out Hall Input Screen Pulse Inputs Screen Pulse Outputs +/- 10V Input End-of-travel inputs Home (Reset) input Secondaryaxis Analogueoutput (torque monitor) + Screen Note ! :screen only connected tosignal source. PC-card or Potentiometer ±10V Out Ground TT0020GB Follow the procedure below for operation of the Controller in Mode 4 (Velocity Mode) 1. Connect the Controller as shown above. For further details, see: Motor Connection, page 21 / Encoder Input, page 28 / Power Supply, page 31 / Analogue Input, page 36. 2. Connect the PC via a terminal program (e.g. JVL’s MotoWare or Windows Terminal), if necessary following the description of the RS232 interface in RS232 Interface, page 38. 3. Switch on the Controller, but ensure that the Analogue Input is 0 volt. Only the Power LED and possibly Out 1 may be active. If one or more of the red LEDs is active or blinks, the Controller is most likely set up for the wrong motor type. Follow the instructions in General Aspects of Installation, page 12 4. Send the command ? (enter) to the Controller and wait until the Controller responds with a status overview. If the status overview is displayed, the RS232 interface and power supply are connected correctly. 5. Set the Controller to Velocity Mode by sending the command MO=4 (enter). The Controller should respond Y, indicating that Velocity Mode has been selected. 6. By default, the servo parameters KD, KP, and KI are set to typical, moderate values. This means that the motor normally can be operated without further adjustment. For optimum system operation however, the parameters must be adjusted. If the motor is inoperative, first try setting KI to a high value (100-1000). See also Adjustment of Servo Regulation, page 16 7. The Controller is now set to Velocity Mode. When the voltage applied to the analogue input is greater than 0V, the motor will move at a velocity which is proportional to the applied voltage. If the applied voltage is less than 0V (negative), the motor will move in the opposite direction. For further information, see Velocity Mode (MO=4), page 52. 8 JVL Industri Elektronik A/S - User Manual - AC servocontroller AMC10/11/12
Page 1 and 2: AMC10B / AMC10C AMC11B AMC12B / AMC
Page 3 and 4: Contents 1 Introduction ...........
Page 5 and 6: 1.1 Features = Extended functions i
Page 7 and 8: 1.3 Overview of Operating Modes 1.3
Page 9: 1.5 Getting Started — Positioning
Page 13 and 14: 10 JVL Industri Elektronik A/S - Us
Page 15 and 16: 2.1 General Aspects of Installation
Page 17 and 18: 2.2 Transfer of Parameters to the C
Page 19 and 20: 2.3 Adjustment of Servo Regulation
Page 23 and 24: 3.1 Connections (Connector DIN41612
Page 25 and 26: 3.2 Motor Connection Industry bus i
Page 27 and 28: 3.3 User Inputs This diagram is use
Page 29 and 30: 3.5 Home (Reset) Input (Connector D
Page 31 and 32: 3.7 Encoder Input (Connector DIN416
Page 33 and 34: 3.8 Hall Input (Connector DIN41612
Page 35 and 36: 3.9 Power Supply JVL Industri Elekt
Page 37 and 38: 3.10 Pulse Inputs Input Configurati
Page 39 and 40: 3.12 Analogue Input Industry busin
Page 41 and 42: 3.14 RS232 Interface 3.14.1 Interfa
Page 43 and 44: 3.14 RS232 Interface 3.14.7 Connect
Page 45 and 46: 3.16 Module Interface Controller AM
Page 49 and 50: 4.1 Use of RS232 Commands The AMC C
Page 51 and 52: 4.3 Positioning Mode (MO=2) In this
Page 53 and 54: 4.4 Register Mode (MO=3) Table -1 -
Page 55 and 56: 4.5 Velocity Mode (MO=4) Analogue c
Page 57 and 58: 4.7 Program Execution in the AMC12
Page 59 and 60: 4.7 Program Execution in the AMC12
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4.7 Program Execution in the AMC12
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4.9 Adjustment of Analogue Input Th
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4.10 Command Description 4.10.3 Acc
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4.10 Command Description 4.10.7 Act
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4.10 Command Description 4.10.11 Av
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4.10 Command Description 4.10.15 Pe
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4.10 Command Description 4.10.21 En
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4.10 Command Description Table -3 -
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4.10 Command Description 4.10.29 Ex
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4.10 Command Description 4.10.33 HA
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4.10 Command Description 4.10.35 In
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4.10 Command Description 4.10.39 In
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4.10 Command Description 4.10.44 Sh
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4.10 Command Description 4.10.49 Fe
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4.10 Command Description 4.10.54 Re
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4.10 Command Description 4.10.61 Sh
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4.10 Command Description 4.10.67 Ph
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4.10 Command Description 4.10.70 Pr
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4.10 Command Description 4.10.71 En
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4.10 Command Description 4.10.79 Sy
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4.10 Command Description 4.10.83 Se
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4.10 Command Description 4.10.93 Ac
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4.10 Command Description 4.10.97 Ze
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4.11 Error Messages E5: It is not a
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4.11 Error Messages E28: Encoder er
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4.12 Alphabetical Overview of Comma
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4.12 Alphabetical Overview of Comma
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5.1 Technical Data Description Min.
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5.2 Physical Dimensions 5.2.2 Physi
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5.3 Servo Loop The Controller uses
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5.5 Common Errors During installati
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5.6 Connection of an unknown motor
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5.7 Examples of Motor Connection 5.
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5.9 Connector Board As an accessory
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6 Index Register Mode 7, 47 Torque
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