Advanced Motion Controls drive ware and digiflex product overview march 2009

DriveWare™ and Digiflex® Performance™
Servo Drives Overview

Sold & Serviced By:

ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com

Agenda

Digiflex Peformance Overview DriveWare Training Cont.
DriveWare Overview Diagnostics and Troubleshooting
Scope
Setup
Multimeter
Configuration Drive Status
Diagnostic and Troubleshooting Command Status
DriveWare Training Input/Output Status
Phase Detect
Setup Autocomm
Network Type Waveform Generator
Motor Information PVT Generator
Feedback Information Status Bar
Commutation
Command Type Updates and Thank You!
Control Mode(s)
Configuration *If you have Questions during the
Gains (Current, Velocity and Position) presentation…
Limits, Power-Up, Brake …please type them in the question area on
the GoTo Webinar toolbar.
Events and Actions
I will then answer them during the
Sold & Serviced By:

Inputs/Outputs (Analog and Digital) presentation. ELECTROMATE
Homing Toll Free Phone (877) SERVO98
www.electromate.com
User Units sales@electromate.com

Product Line Overview – Standard Products

ADVANCED MOTION CONTROLS
PRODUCT LINE
SOFTWARE HARDWARE SYSTEMS

MOUNTING POWER SHUNT
SERVO DRIVES FILTER CARDS QUICKSTART
CARDS SUPPLIES REGULATORS

ANALOG

ANALOG INPUT
TRADITIONAL
PWM INPUT
CONVENTION
SINUSOIDAL INPUT
AZ

DRIVEWARE™ DIGITAL
DP DIGIFLEX®
DZ PERFORMANCE™

Digiflex Performance – Common Firmware and Common GUI
DP Series – Panel Mount
DZ Series – PCB Mount
Sold & Serviced By:

ELECTROMATE
www.electromate.com

Digiflex® Performance™ Capabilities
DZ DP
Voltage Ratings
DC - Nominal Range (Vdc) 20-80 10-80 40-190 20-80 40-190 20-80 20-80

100-240 100-240
AC - Nominal Range (Vac) 100-240 200-240
200-480 200-480
Current Ratings (Adc)
Peak 12 20 15 20 25 30 40 60 100
Continuous 6 12 7.5 10 12.5 15 20 30 50
Agency Approvals
20-80
UL, cUL 100-240
100-240
CE Class A (LVD), CE Class A (EMC)
RoHS
Primary Communication
RS-485/232 DZRxxxx DPRxxxx
CANopen DZCxxxx DPCxxxx
SynqNet - DPQxxxx
Auxiliary Communication
RS-232
Command Sources
+/-10 V Analog DPCxxxx, DPRxxxx
PWM and Direction DPCANxx, DPRxxIx
Over the Network
Encoder Following
+5V Step and Direction DZRxxxx DPxALxx
+24V Step and Direction - DPxAHxx
Primary Feedback
Hall Sensors only DPxxxxE, DPxxxxS
Incremental Encoder only DPxxxxE
Incremental Encoder w/ Hall Sensors DPxxxxE
Absolute Sin/Cos Encoder - DPxxxxA
1 Vp-p Sin/Cos Encoder - DPxxxxS
Resolver - DPxxxxR
Tachometer (+/-10 Vdc)
Auxiliary Feedback
Auxiliary Incremental Encoder
Motors Supported
Brush
Brushless
AC Induction
Linear Brushless
Linear AC Induction
Modes Supported
Current
Velocity Sold & Serviced By:
Position
Digital and Analog I/O (consult drive datasheet for specific DP I/O) ELECTROMATE
Programmable Digital Inputs 5 6, 8, or 10 Toll Free Phone (877) SERVO98
Programmable Digital Outputs 3 4 Toll Free Fax (877) SERV099
Programmable Analog Inputs 1 3 or 4 www.electromate.com
Programmable Analog Outputs - 1 or 2 sales@electromate.com
High Speed Captures 2 0, 2 or 3

Digiflex® Performance™ Capabilities – cont.

DP NTA

DP NTR
DP NTE

DP NTS

DP LTR
DZ NTE

DP LTE
DP LTE

R
DP NIE
DP NIA

DP NIR

DP HIA

DP HIR

DP NIR
DP NIE

DP NIS

DP HIE

DP HIS

DP NIE

DP LIR
DP LIE

NI
QN
QN
CA
RA
CA
CA
CA
CA
CA
CA
CA
CA
RA
RA
RA
RA
RA
RA
RA
RA
RN
RN
Control Mode Command Source Feedbacks Supported

DZ
Torque
Analog Input
+5V Step and Direction
PWM and Direction
Velocity
Analog Input
PWM and Direction
Hall Sensors
Incremental Encoder
Tachometer (+/-10 Vdc)
Resolver
Absolute Encoder
Sin/Cos Encoder
Position
Analog Input
PWM and Direction
Encoder Following
PVT
+/-10Vdc Analog Position
Incremental Encoder
Resolver
Absolute Encoder
Sin/Cos Encoder
Auxiliary Encoder (Dual Loop)
Sold & Serviced By:

ELECTROMATE
www.electromate.com

Digiflex® - Customs Capabilities

ADVANCED Motion Controls has the capability to promptly
develop and deliver custom servo drive solutions outside of the
standard product range

Examples of Customized Products
Optimized Footprint Tailored Project File
Private Label Software Silkscreen Branding
OEM Specified Connectors Optimized Base Plate
No Outer Case Increased Current Limits
Increased Current Resolution Increased Voltage Range
Increased Temperature Range Conformal Coating
Custom Control Interface Multi-Axis Configurations
Integrated System I/O Reduced Profile Size and Weight

Sold & Serviced By:

ELECTROMATE
www.electromate.com

DriveWare™ Overview

DriveWare is a GUI used primarily Configuration (set the levels or the
for: parameters in the drive)
Setup and Configuration of servo Gains
system Limits, Power-Up, Brake
Diagnostics and Troubleshooting of Events and Actions
servo system and/or machine Inputs/Outputs (Analog and Digital)
DriveWare Information Homing
Manual User Units
Help File
Diagnostics and Troubleshooting
Setup (describe the system around Scope
the drive) Multimeter
Network Type Drive Status
Command Type Command Status
Motor Information Input/Output Status
Feedback Information AutoCommutation
Commutation Waveform Generator
Control Mode(s) PVT Generator
Sold & Serviced By:

ELECTROMATE
Status Bar Toll Free Phone (877) SERVO98
www.electromate.com

DriveWare – Where to get it?

DriveWare Software
Download at: http://www.a-m-c.com/content/prods/descriptions/drives/digitaldp.html
Documentation
ReadMe – System Requirements
Release Notes – Incremental Changes Between Releases
Help File
DriveWare Manual
Download At: http://www.a-m-c.com/content/prods/descriptions/drives/digitaldp.html
Content of Manual and Help File are identical.
DriveWare Presentation
Download At: http://www.a-m-c.com/amcrep

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Workspace Overview
The Menu Bar is used The Command Tool Bar is
to navigate to the Setup used to control the bridge
and Configuration state and to stop motion.
Windows as well as
perform software
functions.

The Tool Bar is used
for quick access to
commonly used
functions and tools

The Block Diagram
application window is
used to navigate to the
Setup and
Configuration Windows.

The Status Bar
displays the drive
communication status,
current Hot Key setting, Sold & Serviced By:

and bridge status. ELECTROMATE
www.electromate.com

Block Diagram

The Block Diagram
window provides access
to tools, functions, and
drive status to help
configure the drive
Control Loops
Configuration Settings
Drive Status

Primary use is for
Navigating through
software to get access to
drive parameters

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Toolbars

The Toolbars provides shortcuts to
setup and configuration windows,
DriveWare settings, and general
software functions Standard Toolbar
Standard Toolbar
Open
Save
Connect/Connection Settings
Disconnect
Store to NVM
Wizard
User Units
Oscilloscope
Multimeter
PVT Generator
Context Help Command Toolbar
Command Toolbar
Enable/Disable Sold & Serviced By:

ELECTROMATE
Start/Stop Motion Toll Free Phone (877) SERVO98
www.electromate.com

Menu Bar

The Menu Bar provides Settings
shortcuts to Setup and User Units
Hot Key Settings
Configuration windows as well
Drive Name
as general software functions. CANopen Settings
File Menu View
Open/Save Files Drive Status
Wizard Event Logs
Exit Critical Event Activity
Event Counters
Drive Menu
Toolbars
Enable/Disable Standard
Connect/Disconnect Command
Store to Drive/Restore from Drive Window
Firmware Download Cascade/Tile Windows
Tools Help
Scope/Tuning DriveWare Help File
Multimeter What’s This? Context Help Sold & Serviced By:

ELECTROMATE
PVT Generator About the Drive/DriveWareFreePhone(877) SERV099
Toll Free
Toll Fax
(877) SERVO98

www.electromate.com

Status Bar

The Status Bar displays the
drive operation status
Bridge State
Connection State
Interface Access State

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Setup – Project Files

Setup of the Drive can be
started by:
Opening Existing Project (.adf)
Connecting to Drive with Default
Project File
Connecting to Drive and Use
Setup Wizard

Default Project File
File (.adf) with Default Factory
Parameters

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Setup – Network Type

This is the window used to setup
how DriveWare is going to
connect to the Drive
The setup information can used to
help configure the host

Communication Types
RS232
RS485
SynqNet
Ethernet (Future)
USB (Future)
Aux. Comm. Only

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Setup – Motor

This window is used to enter
motor information or select
motor from User database

Motor Types
Brush
Brushless
AC Induction
Linear Brushless
Linear AC Induction

Units
The units entered are
independent of User Units

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Setup – Feedback

This window is used to enter
in feedback information or
select feedback from User
database

Feedback Types
Encoder Only
Halls Only
Encoder with Halls
Absolute
Hiperface
EnDat 2.1 (requires 1Vpp signals)
SIN/COS
SIN/COS with Halls
Resolver

Units
The units entered are Sold & Serviced By:

ELECTROMATE
independent of User Units Toll Free Phone (877) SERVO98
www.electromate.com

Setup – Commutation

There are two primary
methods for commutation
Phase Detect
AutoCommutation
Phase Detect
This method is used when no
commutation signals (i.e. Halls)
are available
Must be done after every
power-up
AutoCommutation
Only needs to be done one
time during setup.
Information is stored in project
file (.adf)
Brush Motors
Just select which two Motor
Phases are used for external Sold & Serviced By:

commutation ELECTROMATE
www.electromate.com

Setup – Command Type

This window is used to
select the Command
Source

Command Source Types
No Command
Analog Input
Step & Direction
PWM & Direction
Encoder Following
PVT
Interface Input
Communication Channel

Command Limiter
Controls the rate of change
of the input command signal
as seen by the drive Sold & Serviced By:

ELECTROMATE
www.electromate.com

Setup – Control Mode(s)

A control mode describes the Position Modes
loop closure, command input Analog Input
and feedback Step and Direction
Torque Modes PWM Direction
Analog Input Encoder Following
Step and Direction PVT
PWM Direction Feedbacks Supported
Motor Feedback*
Velocity Modes Analog Input
Analog Input Aux. Encoder (Dual Loop)
Step and Direction
PWM Direction
Feedbacks Supported
Motor Feedback*
Halls * Motor Feedbacks can be Encoder, Absolute or
Analog Input SIN/COS

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Configuration – Current Loop

This window is used to adjust
the Current Loop gains

Gains Supported
Proportional
Integral

Calculate Gains
Use this feature to determine the
Current Loop gains based on
entered motor parameters
Provides a starting point for
gains adjustments

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Configuration – Velocity Loop

This window is used to adjust the
Velocity Loop gains

Gains Supported
Proportional Gain
Integral Gain
Derivative Gain
Feedforward Gain

Additional Features
Feedback Filter Cut Off Frequency
Reduces velocity ripple
Low Speed Smoothing
Stabilizes the velocity loop during low-
speed movement
Reduces jitter when the Position Loop is
tuned around the Velocity Loop
Integrator Decay Sold & Serviced By:

Prevents a high current command in ELECTROMATE
high stiction applications Toll Free Fax (877) SERV099
www.electromate.com

Configuration – Position Loop

This window is used to adjust
the Position Loop gains

Gains Supported
Proportional Gain
Integral Gain
Derivative Gain
Velocity Feedforward Gain
Acceleration Feedforward Gain

Additional Features
Integrator Decay
Prevents a high current command
in high stiction applications
Sold & Serviced By:

ELECTROMATE
www.electromate.com

Configuration – Limits and Options

This window is used for
configuration of Drive and
System Limits to prevent
damage to components or
machine
Drive Current Limits*
Voltage Limits
Velocity Limits
Position Limits
Temperature Limits

*Drive Current limits will automatically be
limited by the values entered in the Motor and Sold & Serviced By:

Feedback window to prevent system damage ELECTROMATE
www.electromate.com

Configuration – Power-Up Control

The Power-up Control tab
configures drive actions
upon power-up
Power-up Action
Selects what target position to
load as the home position
Bridge State On Power-up
Provides user control over
whether the power bridge will
be automatically enabled or
disabled upon power-up

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Configuration – Braking/Stop

The Braking/Stop tab
allows configuration of
external brake actions and
deceleration limts
External Braking
Set time delays between
braking and
enabling/disabling the drive.
Stop Deceleration Limit
Sets the Position and
Velocity Modes deceleration
limits for all stop actions

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Configuration – Event Manager

The Event Manager feature
allows the user to configure
how the drive will react to
certain system events
Drive Protection
Drive System
System Protection
Brake Option

Event Manager – Basic Options
Drive can be latched in a disabled
state to avoid damaging hardware
Requires Reset
Event reporting can be turned off Sold & Serviced By:

for certain drive system events ELECTROMATE
www.electromate.com

Configuration – Event Manager

Event Manager – Advanced
options
Provides more comprehensive
settings for event responses
Response Time
Event Action
Recovery Time
Time-Out
Maximum Recoveries
Unlimited
Automatic CANopen Fault
Recovery

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Configuration – Inputs/Outputs

This window is used to assign
Events and Monitoring to
Programmable Digital and
Analog I/O
Analog Inputs
Analog Outputs
Digital Inputs
Digital Outputs
Capture Inputs
High Speed

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Configuration – Homing

The Homing window is
used to set homing
parameters and configure
the homing method
Search Home button
Speed During Search
Homing Acceleration
Homing Methods
35 different home routines
based on CANopen DSP402
Home to an Index
Select Homing Method by
configuring homing
response to Home Switch,
Limit Switch, and Direction
of travel Sold & Serviced By:

ELECTROMATE
www.electromate.com

Configuration – User Units

This window allows user
configuration of parameters
in units of the load
Select from a variety of unit
types for each measurement
parameter to set the general
units used in the software
User can select unit
assignments that are different
from the motor and feedback
units

Custom Labels – user can
define labels specific to their
Sold & Serviced By:

application ELECTROMATE
www.electromate.com

Diagnostics – Scope / Tuning

The Scope / Tuning
feature provides an
all-in-one window
for loop tuning,
system
troubleshooting,
and machine
simulation
Waveform
Generator
Command Limiter
Limits and
Options
Event Manager

Sold & Serviced By:

ELECTROMATE
www.electromate.com


The Digital Oscilloscope
is used for Current,
Velocity, and Position
Loop Tuning
Scope Presets
Current
Velocity
Position
Waveform Generator
simulates a target
command
Gains Adjustments
available within the
Scope/Tuning window

Sold & Serviced By:

ELECTROMATE
www.electromate.com


The Digital Oscilloscope
provides assistance during
drive troubleshooting
Access to internal drive
signals
Display of up to 8 channels at
any time depending on the
bandwidth used for each
channel
Basic and Advanced signal
menus offer a comprehensive
selection of available drive
signals

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Diagnostics – Multimeter

The Digital Multimeter is used
to monitor a variety of drive
signal types, including
positions, velocities, torques,
and voltages
Minimum and Maximum counters
Auto Scaling
Can be used at the same time as
the Digital Oscilloscope, or as a
stand-alone feature

Multimeter window can always
be open on top of other
windows
Sold & Serviced By:

ELECTROMATE
www.electromate.com

Diagnostics – Drive Status

The Drive Status window
provides a real-time drive
diagnostic display
Shows Drive Protection, System
Protection, and System Status
Events
Active, Inactive, Action, and
History Event Designation
Links to Critical Event Activity and
Event Counters

The Drive Status window can
always be open on top of other
windows

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Diagnostics – Command Status

The Status section of the
Command Source tab
provides real-time
integrated status
information
Measured Value
Commanded value

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Diagnostics – Input/Output Status

The I/O Configuration window
displays real-time integrated
values and status for all I/O
types
Analog Inputs/Outputs
Measured Value

Digital Inputs/Outputs
“On/Off” Status

Capture Inputs
Sold & Serviced By:

Measured Captured Value ELECTROMATE
www.electromate.com

Diagnostics – AutoCommutation/Phase Detect

The AutoCommutation
routine can be used to
detect errors
Motor hardware issues
Faulty Feedback Device
Incorrect information
entered into the Motor and
Feedback window

If the AutoCommutation
routine fails to complete,
DriveWare provides
information on how to
correct the issue

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Diagnostics – Waveform Generator

The WaveForm Generator is
accessible from the Scope / Tuning
window, and provides an internal
signal from the drive useful for loop
tuning and configuration
Waveform Type
DC
Square
Triangle
Sinusoidal
Waveform Into The:
Current Loop
Velocity Loop
Position Loop
Waveform Attributes
Frequency
Amplitude
Sold & Serviced By:
Offset
ELECTROMATE
Symmetry Toll Free Phone (877) SERVO98
www.electromate.com

Diagnostics – PVT Generator

The PVT Generator allows
the user to specify position,
velocity, and time data when
operating in PVT mode
Allows entry of up to 16
separate PVT points
User can also upload an
external PVT file

Sold & Serviced By:

ELECTROMATE
www.electromate.com

Advanced Motion Controls drive ware and digiflex product overview march 2009

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Advanced Motion Controls drive ware and digiflex product overview march 2009