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ELmo Composer User Manual for SimplIQ Servo Drives.pdf
Cover
Notice
Contents
Chapter 1: Introduction
1.1 Composer Description
System Requirements
Composer Installation
1.3.1 Installing from CD-ROM
1.3.2 Downloading from the Web
1.4 How to Use this Manual
Chapter 2: Using the Wizard
2.1 Before You Begin
2.2 Accessing the Composer
2.3 Creating a New Application
2.3.1 Defining RS-232 Communication
2.3.2 Defining CAN Communication
2.4 Specifying the Motor Parameters
2.5 User Interface for Absolute Feedback
2.5.1 Rotation Motors- Heidenhain and Stegmann
2.5.2 Linear Motors
2.6 Defining System Limits
2.7 Tuning the Current Loop
2.8 Configuring Commutation
2.9 Tuning the Velocity Loop
2.9.1 Manually Tuning the Velocity Loop
2.9.2 Automatically Tuning the Velocity Loop
2.9.3 Performing Advanced Manual Tuning - Velocity Loop
2.10 Tuning the Position Loop
2.10.1 Manually Tuning the Position Loop
2.10.2 Automatically Tuning the Position Loop
2.10.3 Performing Advanced Manual Tuning - Position Loop
2.11 Tuning the Dual Loop
2.11.1 Manually Tuning the Dual Loop
2.11.2 Automatically Tuning the Dual Loop
2.11.3 Performing Advanced Manual Tuning - Dual Loop
2.12 Saving Your Application
2.13 Composer Shortcuts
2.13.1 Opening an Existing Application
2.13.2 Opening Communication Directly
2.13.3 Loading the Network
Chapter 3: Using the Composer
3.1 The Composer Desktop
3.1.1 The Toolbar
3.1.2 The Menu Bar
3.1.3 Getting Help
3.2 The Motion Monitor
3.2.1 Motion Monitor Recorder
3.2.2 Motion Monitor Indicators
3.3 The Smart Terminal
3.3.1 Terminal
3.3.2 Tabbed Dialog Boxes
3.3.2.1 Profile Dialog Box
3.3.2.2 Noise Filter Dialog Box
3.3.2.3 Protections Dialog Box
3.3.2.4 Limits Dialog Box
3.3.2.5 Digital Filters Dialog Box
3.3.2.6 Custom Dialog Box
3.3.2.7 Analog Input Dialog Box
3.3.2.8 Input Logic Dialog Box
3.3.2.9 Output Logic Dialog Box
3.4 The Elmo Studio
3.5 The Scope
3.5.1 The Scope Toolbar
3.5.2 Using the Scope Menu
3.5.2.1 File Menu
3.5.2.2 Window Menu
3.5.2.3 Zoom Menu
3.5.2.4 Analyze Menu
3.6 The Application Editor
3.7 The Table Editor
3.7.1 Creating a PVT or PT Data File
3.7.2 Editing a File in the Table Editor
3.7.3 Downloading a Table to a Drive
3.8 The Sync Manager
3.9 Advanced Manual Tuning
3.10 Downloading Firmware
Chapter 4: Using the Elmo Studio
4.1 The Elmo Studio Desktop
4.1.1 Desktop Windows
4.1.2 Elmo Studio Toolbars
4.1.3 The Menu Bar
4.1.4 Customizing the Elmo Studio
4.1.4.1 The Customize Dialog Boxes
4.1.4.2 The Options Dialog Boxes
4.1.4.3 Convert to New Format
4.2 Elmo Studio Processes
4.2.1 Creating a Program File
4.2.2 Editing a Program File
4.2.3 Defining Program Limitations
4.2.4 Compiling a Program
4.2.5 Building a Program
4.2.6 Running a Program
4.2.7 Debugging
Appendix: Using the Advanced Filter Designer
Glossary
Index
Composer
User Manual
for SimplIQ Servo Drives
Some changes have been made to the content in this manual and they will be
incorporated into the upcoming release. To view the Addendum, click here.
March 2007
Important Notice
This document is delivered subject to the following conditions and restrictions:
This manual contains proprietary information belonging to Elmo Motion Control Ltd. Such
information is supplied solely for the purpose of assisting users of the Elmo Composer
software application, in conjunction with Elmo’s SimplIQ line of digital servo drives.
The text and graphics included in this manual are for the purpose of illustration and reference
only. The specifications on which they are based are subject to change without notice.
Information in this document is subject to change without notice. Corporate and individual
names and data used in examples herein are fictitious unless otherwise noted.
Doc. No. MAN-COMPUM
Copyright © 2007
Elmo Motion Control Ltd.
All rights reserved.
Revision History
Ver. 1.9 March 2007 Updated with Absolute Encoder Information (MAN-COMPUM.pdf)
Ver. 1.8
September 2004
(MAN-COMPUM.pdf)
September 2003
Ver. 1.6
(COMUGHA0903.pdf)
Support for analog incremental encoders (section 2.4), DC brush motors (section 2.7), new Auto
Tuning dialog boxes (sections 2.8.2, 2.92 and 2.10.2) and enhanced motion monitor (section 3.2)
Ver. 1.5 May 2003
Ver. 1.0
January 2003
Windows, Excel and Visual Studio are registered trademarks of Microsoft Corporation. MATLAB
is a registered trademark of The Mathworks, Inc.
Elmo Motion Control Inc.
1 Park Drive, Suite 12
Westford, MA 01886
USA
Tel: +1 (978) 399-0034
Fax: +1 (978) 399-0035
Elmo Motion Control GmbH
Steinkirchring 1
D-78056, Villingen-Schwenningen
Germany
Tel: +49 (07720) 8577-60
Fax: +49 (07720) 8577-70
www.elmomc.com
Elmo Composer User Manual
MAN-COMPUM (Ver. 1.9)
Contents
1.3.1
1.3.2
2.5.1
2.5.2
Chapter 1: Introduction............................................................................................................... 1-1
1.1 Composer Description....................................................................................................... 1-1
1.2
System Requirements ........................................................................................................ 1-2
1.3 Composer Installation ....................................................................................................... 1-2
Installing from CD-ROM .................................................................................. 1-2
Downloading from the Web............................................................................. 1-3
1.4 How to Use this Manual.................................................................................................... 1-4
Chapter 2: Using the Wizard...................................................................................................... 2-1
2.1 Before You Begin................................................................................................................ 2-1
2.2 Accessing the Composer ................................................................................................... 2-2
2.3 Creating a New Application............................................................................................. 2-2
2.3.1
Defining RS-232 Communication .................................................................... 2-4
2.3.2
Defining CAN Communication ....................................................................... 2-4
2.4
Specifying the Motor Parameters..................................................................................... 2-5
2.5 User Interface for Absolute Feedback ............................................................................. 2-8
Rotation Motors- Heidenhain and Stegmann ................................................ 2-8
Linear Motors ...................................................................................................2-10
2.6 Defining System Limits ...................................................................................................2-12
2.7 Tuning the Current Loop ................................................................................................2-16
2.8 Configuring Commutation ............................................................................................. 2-17
2.9 Tuning the Velocity Loop................................................................................................2-18
2.9.1 Manually Tuning the Velocity Loop .............................................................2-19
2.9.2
Automatically Tuning the Velocity Loop .....................................................2-21
Performing Advanced Manual Tuning - Velocity Loop.............................2-24
2.9.3
2.10 Tuning the Position Loop................................................................................................2-27
2.10.1 Manually Tuning the Position Loop..............................................................2-27
2.10.2 Automatically Tuning the Position Loop .....................................................2-29
Performing Advanced Manual Tuning - Position Loop.............................2-31
2.10.3
2.11 Tuning the Dual Loop .....................................................................................................2-33
2.11.1 Manually Tuning the Dual Loop ..................................................................... 2-1
2.11.2 Automatically Tuning the Dual Loop ............................................................. 2-2
Performing Advanced Manual Tuning - Dual Loop..................................... 2-3
2.11.3
2.12 Saving Your Application................................................................................................... 2-5
2.13 Composer Shortcuts........................................................................................................... 2-6
2.13.1 Opening an Existing Application..................................................................... 2-6
2.13.2 Opening Communication Directly .................................................................. 2-8
2.13.3
Loading the Network ........................................................................................ 2-9
Chapter 3: Using the Composer................................................................................................. 3-1
3.1 The Composer Desktop..................................................................................................... 3-1
The Toolbar ......................................................................................................... 3-1
The Menu Bar ..................................................................................................... 3-2
Getting Help ....................................................................................................... 3-4
3.2 The Motion Monitor........................................................................................................... 3-4
3.1.1
3.1.2
3.1.3
Elmo Composer User Manual
MAN-COMPUM (Ver. 1.9)
Contents
ii
3.3.1
3.3.2
3.5.1
3.5.2
3.7.1
3.7.2
3.7.3
3.2.1 Motion Monitor Recorder ................................................................................. 3-4
3.2.2 Motion Monitor Indicators ............................................................................... 3-7
3.3 The Smart Terminal ........................................................................................................... 3-8
Terminal .............................................................................................................. 3-8
Tabbed Dialog Boxes ......................................................................................... 3-8
3.4 The Elmo Studio ............................................................................................................... 3-17
3.5 The Scope...........................................................................................................................3-17
The Scope Toolbar............................................................................................3-18
Using the Scope Menu..................................................................................... 3-19
3.6 The Application Editor....................................................................................................3-24
3.7 The Table Editor ............................................................................................................... 3-24
Creating a PVT or PT Data File ......................................................................3-25
Editing a File in the Table Editor ...................................................................3-25
Downloading a Table to a Drive....................................................................3-26
3.8 The Sync Manager............................................................................................................3-27
3.9 Advanced Manual Tuning..............................................................................................3-28
3.10 Downloading Firmware.................................................................................................. 3-29
Appendix: Using the Advanced Filter Designer.................................................................... A-1
Glossary ......................................................................................................................................... G-1
Index.................................................................................................................................................I-0
Composer User Manual
MAN-COMPUM (Ver. 1.9)
1-1
Chapter 1: Introduction
The Composer is a sophisticated suite of Windows-based software designed by Elmo to
enable you to quickly and easily set up and fine tune your motion control systems using
Elmo’s digital servo drives. The Composer can work with any brush or brushless servo
motor.
You can use the Composer to:
Tune the connected servo drive, either manually or automatically
Test the controlled feedback system
Perform tests with different controllers to evaluate the closed-loop performance for
Interpret the test results and modify the test parameters
different sytsem noise levels and different margins, in order to determine the optimal
controller settings for specific applications
Each application created in the Composer includes a unique name, all host
communication parameters used with the application, a dedicated program (if any), and
all driver and motor parameters defined for that specific application. Each application
can be applied to other drives with the same characteristics, without requiring a new
setup process.
Composer Description
1.1
The Composer includes a range of tools for setting up your system. They include:
The Composer Wizard, used for the initial tuning of single-axis servo drives. The
Wizard tunes the drive to the motor, creates the application database and specifies
the dedicated I/O components. It fully analyzes the entire system and defines all
resonance and mechanical parameters.
The Smart Terminal, used to manually manipulate the servo drive.
The Motion Monitor, which controls the drive recording function to display the
current drive status. The Motion Monitor can record and display almost any system
value.
The Elmo Studio, a basic environment for writing, downloading and executing
programs in the connected drives.
The Application Editor, which enables you to view all the parameters of the open
application.
The Table Editor, used to edit an existing PVT or PT table and to download it to the
connected drive.
The Sync Manager, which synchronizes the internal clocks of all drives connected
through the CANopen network.
The Scope, which displays the recorded parameters and provides a wide range of
mathematical functions for manipulating the recorded curves. Data from the Scope
can be exported to other programs such as Microsoft Excel or the MathWorks
MATLAB.
Composer User Manual
MAN-COMPUM (Ver. 1.9)
Introduction
1-2
A networking option, which provides direct communication with multiple servo
drives. You may set up as many as eight drives to communicate with the Composer
via RS-232 communication, using different COM ports. In addition, you may connect
up to 127 drives – each with a unique ID number – through CAN communication; the
Composer supports the CANopen protocol for this type of network. After defining
your network, you can save the configuration, and later restore the network in a
single click.
In order to optimally configure your system, each data item must be correctly set and
entered. The drive checks for database consistency before applying power to the motor,
and rejects the data if inconsistencies are found. Once the motor is on, it prevents the
acceptance of parameters that affect database integrity.
System Requirements
1.2
In order to install the Composer on your computer, the following items are required:
Microsoft Windows 95/98/2000/XP
At least 32 MB RAM
300 MB of hard drive space
CD-ROM drive
Pentium II processor or equivalent (minimum)
RS-232 port
CANopen board for CANopen serial communication (optional)
Composer Installation
1.3
You can install the Composer software either by using the CD-ROM delivered with the
Elmo servo drive or by downloading the software directly from the Elmo website.
Insert the CD-ROM into your CD-ROM drive.
1.3.1 Installing from CD-ROM
To install the Composer software from the CD-ROM to your hard drive:
1.
2. From the Windows taskbar, select Start - Run. The Run dialog box will be displayed.
3.
In the Open text box, type: d:\setup.exe or e:\setup.exe, according to the drive letter.
4. Click OK. The Install Wizard will be displayed.
5. Follow the Wizard instructions to install the Composer.
6. Upon completion, remove the CD-ROM from the drive.
Composer User Manual
MAN-COMPUM (Ver. 1.9)
Introduction
1-3
1.3.2 Downloading from the Web
To install the Composer by downloading it from the Elmo website:
1. Using your Internet browser, go to the Elmo website: www.elmomc.com.
2. From the main menu, select Support – Downloads. The Support page will be
displayed.
3. From the Support - Downloads menu, select Software Tools in the right column. The
Software Tools page will be displayed.
4. From the Software Tools menu, select the Composer, [date] option in the
Description column. The Windows File Download dialog box will be displayed.
5. Select the Save this file to disk option and click OK. The Save As dialog box will be
displayed.
6. Navigate to the location where the Composer application should be stored and click
Save. The software will be downloaded to that location.
7. After the download is complete (and you click Close), select Start – Run from the
Windows taskbar. The Run dialog box will be displayed.
8. Click Browse, navigate to the Composer folder and select the Setup.exe file. Then
click OK. The Composer Welcome dialog box will be displayed, as follows:
9. Click Next and follow the instructions to install the Composer.
10. Upon completion of the installation, you may wish to create a desktop shortcut for
fast access to the application.
Composer User Manual
MAN-COMPUM (Ver. 1.9)
Introduction
1-4
1.4 How to Use this Manual
This Composer user manual explains how to install the application, tune your Elmo servo
drive and use the Composer software tools. It is organized as follows:
Chapter 2, Using the Wizard, explains how to connect your Elmo servo drive to your PC
and the motor, and then tune the drive using the Composer Wizard.
Chapter 3, Using the Composer, describes the other Composer tools, including the Motion
Monitor, the Smart Terminal, the Elmo Studio and the Application Editor.
Chapter 4, Using the Elmo Studio, describes the Elmo Studio program editing application
integrated with the Elmo Composer.
The Appendix, Using the Advanced Filter Designer, explains how to use that tool to define
a specialized filter used for tuning the velocity loop, position loop and dual loop.
The Glossary contains a list of terms used in the software, along with brief explanations.
This manual is an integral part of the SimplIQ documentation set, which includes:
The Harmonica, Cello and Bassoon Installation Guides, which provides full
instructions for installing one of Elmo’s SimplIQ digital servo drives.
The SimplIQ Command Reference Manual, which describes, in detail, each software
command used to manipulate a SimplIQ digital servo drive.
The SimplIQ Software Manual, which describes the comprehensive software used with
a SimplIQ drive.
The following figure describes the accompanying documentation that you will require.
Figure 1-1: Elmo Documentation Hierarchy
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