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Pacific Scientific OC950 Installation & Hardware Reference Manual

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HIGH PERFORMANCE MOTORS & DRIVES
M A 9 5 0
OC950 Installation & Hardware Reference Manual
110 Fordham Road
Wilmington, MA 01887
(978) 988-9800
Fax (978) 988-9940
Part# MA950
List Price $30 U.S.
February, 1999
Rev E

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  • Page 1 110 Fordham Road HIGH PERFORMANCE MOTORS & DRIVES Wilmington, MA 01887 (978) 988-9800 Fax (978) 988-9940 Part# MA950 List Price $30 U.S. February, 1999 Rev E M A 9 5 0 OC950 Installation & Hardware Reference Manual...
  • Page 2 This document is copyrighted by Pacific Scientific Company. It is supplied to the user with the understanding that it will not be reproduced, duplicated, or disclosed in whole or in part without the express written permission of Pacific Scientific Company.
  • Page 3 Products. Pacific Scientific’s obligation hereunder is limited solely to repairing or replacing (at its option), at its factory any Products, or parts thereof, which prove to Pacific Scientific’s satisfaction to be defective as a result of defective materials or workmanship, in accordance with Pacific Scientific’s stated warranty, provided, however, that written notice of...
  • Page 4 Pacific Scientific’s date of warranty. No person, including any agent, distributor, or representative of Pacific Scientific, is authorized to make any representation or warranty on behalf of Pacific Scientific concerning any Products or Programs manufactured by Pacific Scientific, except to...

  • Page 5: Table Of Contents

    1 Overview of the OC950 Programmable Option Card 1.1 OC950 Definition ......1-1 1.2 How to Use this Manual .
  • Page 6 5.1 Maintaining the SC950 Servocontroller ....5-1 5.2 Troubleshooting the SC950 Series Servocontroller ... . 5-1 Appendix A Selecting Motor Control Functionality Appendix B OC950 Specifications Index Rev E...

  • Page 7: Overview Of The Oc950 Programmable Option Card

    1.1 OC950 Programmable Option Card Definition OC950 overview The OC950 is an option card that is installed in the option card slot of a Pacific Scientific SC900 Series Servo Drive. Combined, the SC900 and OC950 create the SC950. It provides stand-alone, single-axis programmable positioning capability to a high performance, digital servo drive.
  • Page 8 Base 950 Option Card 32kx8 NVRAM + PacLAN OC950-504-01 Base 950 Option Card 128kx8 NVRAM + PacLAN Enhanced In addition, there is an Enhanced version of the OC950 which Version supports additional features, including MODBUS and camming. OC950-601-01 Enhanced 950 Option Card 32kx8 NVRAM...

  • Page 9: How To Use This Manual

    This will give you a feel for using the SC950 and lay the framework for reading the other chapters. Chapters 3 through 5 should be read thoroughly to gain the most from the OC950. 1.3 Warranty The Pacific Scientific OC950 has a two year warranty against defects in material and assembly.

  • Page 10: Getting Started

    PC’s serial port. It is strongly recommended that all first time users go through this procedure to become familiar with the OC950 and the 950IDE PC interface software before installing the servo system in a machine. 2.1 Setting Up the Hardware...
  • Page 11 The RS-232 cable made by Pacific Scientific (order number CS-232-750) can be used to connect the 9 pin serial port socket on the OC950 to the PC. If this cable is unavailable, a simple 3 wire cable can be made using the wiring diagram shown on page 3-11.
  • Page 12 REGEN R INT/EXT REGEN R INCREMENTAL CH B OUT SHAFT POSITION CH B OUT - BUS OUTPUT PACIFIC SCIENTIFIC I/O RTN/+5 VDC RTN BRUSHLESS MOTOR CH Z OUT CH Z OUT PHASE R CH A IN/STEP +/STEP UP + INCREMENTAL...

  • Page 13: Installing 950Ide

    2.3 Starting 950IDE Procedure To begin using 950IDE, perform the following: 1. If not already open, open the Pacific Scientific Group in Program Manager. Double click on the 950 icon. 2 - 4 MA950...

  • Page 14: Getting Around In 950Ide

    2.4 Getting Around in 950IDE 950IDE Once you double-click on the 950 icon, the following window main menu will appear: Movement keys 950IDE is a standard Windows application and the normal cursor movement keys operate the same way as in all windows applications.

  • Page 15: Configuring Your System

    LED should be alternately flashing U C (for unconfigured) after the power up message. Serial Port To specify the PC serial port that is connected to the OC950: 1. Select Communications from the Options Menu and the following dialogue box will appear: 2.

  • Page 16: Creating A New Program

    2.6 Creating a New Program Procedure Select New from the File menu and the following dialog box will appear: • Select the appropriate Motor Part Number from the dropdown menu. • Select the Drive you’re using (Example: SC953 ) • Select Medium •...

  • Page 17: Using Wizards

    You may now begin typing in your program. To create a simple jog move, type in the following lines: Note: The drive status display should now show a steady configured and not enabled. The current loop has been properly compensated for the selected motor, and the servo parameters have been set to a medium response (approximately 75 Hz velocity loop bandwidth) for the unloaded motor.
  • Page 18 Procedure To use a template to create a jog move, perform the following: 1. Select Move Command from the Wizards Menu and the following window will appear: 2. Select the Velocity Move tab and enter the appropriate parameters. 3. Click on OK. MA950 2 - 9...
  • Page 19 The text will be inserted in the main program, below the cursor. Enabling Drive The controller can be enabled at this time by closing the switch between the Enable input (J4-6) and I/O RTN (J4-5). The commanded motor speed will be the power up default, set to 0 during configuration.

  • Page 20: Compiling A Program

    2.7 Compiling a Program The SC950 requires a compiled program to be downloaded via serial communications. To compile a program: Procedure 1. Select Compile from the Compile menu, press <Ctrl - F5> or click on the Run icon. Any error detected during compilation will abort further compilation (after the error is encountered), display the compilation status, and return to the program highlighting the program line containing the error.

  • Page 21: Working With Breakpoints

    2.9 Working with Breakpoints Introduction Breakpoints allow you to halt program execution at a specific location. 950IDE can set up to nine breakpoints within a program. These should be set prior to running the program. Setting To set breakpoints: breakpoints 1.

  • Page 22: Using The Variables Window

    Continuing When a breakpoint is encountered during program execution, the program SC950 will suspend program execution and await further execution instruction. After a breakpoint has been encountered, program execution can be continued by: 1. Selecting Continue from the Compile menu to continue program execution until the next breakpoint.

  • Page 23: Viewing Variables

    Modifying To modify the value of the runspeed, type RUNSPEED in the variables Variable/expression box and press ↵ .The current value of runspeed is displayed. To change the value <Tab> to the New Value box and enter 1000 and click on the Modify button. Type GOVEL in the Variable/expression box and press ↵.
  • Page 24 Adding variables You can add variables to the watch window while a program is to the watch not executing. window 1. To access the Variables window, select Variables from the Compile menu. 2. Type the name of the variable you which to watch in the Variable/Expression box and then click on the Watch button.

  • Page 25: Saving A Program

    Getting Help To get help information on a particular key word press the <F1> key while the cursor is located somewhere on that word in the Variable/Expression box. With VelCmd in that box <F1> should bring up the following help window. 2.12 Saving a Program Select Save As from the File menu.

  • Page 26: Oc950 Interfaces And Connections

    Installation of the OC950 should be made with the servocontroller power off! Two lock screws, located on the front panel of the OC950, should be turned until resistance is met, in order to properly seat the OC950 into the base unit. A communications address selection switch resides on the OC950 printed circuit board, accessible only when removed from the SC900 servo base unit.
  • Page 27 Connection A connection diagram of the OC950 is shown below. diagram SHIELD/_I/O_RTN RS-232_TXD RS-232_RXD +5_VDC I/O_RTN RS-485_TXD+ RS-485_TXD- RS-485_RXD+ RS-485_RXD- OC950 SHIELD/_I/O_RTN OPTION OCIO0 CARD OCIO1 OCIO2 OCIO3 OCIO4 I/O_RTN OCIO5 OCIO6 OCIO7 OCIO8 OCIO9 I/O_RTN OCIO10 OCIO11 OCIO12 OCIO13...
  • Page 28 A brief description of each signal is included in the J51 I/O table on following page. For additional information, please refer to the OC950 Serial Communications Transceiver Schematic at the end of this section. I/O Table...
  • Page 29 Integrated Development Environment (950IDE) (due to the intelligent communications protocol utilized, it is not possible to configure or program the OC950 with a dumb terminal). Two communication links are available, RS-232 and RS-485. RS-485 allows a single computer to communicate with up to 32 SC950s in multi-axis configurations.
  • Page 30 J51 Serial Port T10 Connections (RS-232) Introduction Connect the SC950 to your T10 terminal as follows: The T10 terminal requires a DC-9P 9-pin plug-in male D connector. Note: The T10 terminal is a Burr-Brown TM2500. SC950 DA-9P DA-9P +5 VDC RTN POWER GND TRANSMIT RECEIVE...
  • Page 31 Parameter setup Set up the T10 terminal as follows: 1. Enter the setup mode by pressing the “.” key while power is applied to the T10 (wait until the two letter prompt appears). Refer to the terminal manual for more information. 2.
  • Page 32 The ability to select different addresses is used with RS-485 for multi-drop communications. Procedure Looking down at the top of the OC950, the following diagram shows the location of switch S1. SWITCH Note: Each SC950 subsystem connected to an RS-485 multi-drop installation or PacLAN must have a unique serial address.
  • Page 33 S1 Address table Address 3 - 8 MA950...
  • Page 34 S1 Address table (cont’d) Address MA950 3 - 9...
  • Page 35 S1 Address table (cont’d) Address 255* * For RS-232 operation (factory default) Procedure 1. Remove power from the SC950 servocontroller. 2. Refer to the table above to set the appropriate address. 3. Reconnect power to the SC950 servocontroller. 4. Repeat steps 1 through 4 for other SC950 units on the bus. Make sure to give the other units unique addresses.
  • Page 36 Cabling diagram A 6 foot (1.8 m) RS-232 Cable with 9 pin connectors and a 9 pin to 25 pin adapter is available from Pacific Scientific. The Pacific Scientific order number is RS-232-750. Note: Shielded wiring is recommended for the serial communications cable to minimize potential errors from electrical noise.
  • Page 37 RS-485/RS-422 Up to 31 SC950s can be connected in parallel to a multidrop Connections master. The SC950s must each have a unique address, set using DIP switch S1 as described in Section 3.2. RS-485/RS-422 connections to J51 are shown below. A multidrop interconnection diagram, showing multiple axes connected to a single host is also included.

  • Page 38: Serial Port J51

    OC950 Serial Communications Transceiver Schematic 332Ω -12B 1000PF VCC- SERIAL PORT SN75155 VCC+ 9 CONT +12B 74AC08 TO MPU TXD232 RXD232 RS-485_ENABLE COM_+5V USER_+5V TXD485+ TXD485- 75176 RXD485+ RXD485- +5VB 1000PF 10Ω 332Ω 75176 332Ω 10Ω 1000PF GND GND GND GND GND GND...

  • Page 39: Ocio (Option Card I O) J52

    3.3 OCIO (Option Card I O) J52 The OC950 provides twenty-one channels of non-optically isolated I/O. J52 utilizes a standard 25 contact female D subminiature (DB25S) style connector. Each channel is bi-directional, and can be configured via software control as an input point or as an output point.
  • Page 40 OC950 A schematic diagram of a single OCIO channel is shown below. Bi-Directional I/O Channel +12V 470PF 1N914B 220K INPUT OCIO (SENSE) V min = 3.5V 74AC14 V max = 1.0V TPIC6B273 (Output Stage) TO MPU Vds clamp = 50V...
  • Page 41 OCIO Inputs Each channel has a 10KΩ pull-up resistor to +12VDC, connected in series with a current limiting diode. Inputs are sensed with a 74AC14 CMOS gate. Input logic thresholds are: min: 3.5 V max: 1.0 V OCIO Outputs The OCIO output channel is a current-sinking (open drain) DMOS transistor.
  • Page 42 OC950 I/O Input Connections +12V 10.0K OCIO 470PF 1N914B 220K INPUT V min = 3.5V 74AC14 TPIC6B273 V max = 1.0V (Output Stage) Switch or TO MPU Vds clamp = 50V Relay Closure Imax = 100mA OUTPUT Rds on = 5.0 Ohms typical...
  • Page 43 +12V OC950 I/O Output Connections 10.0K Relay or Lamp Load 470PF 1N914B OCIO 220K INPUT 74AC14 V min = 3.5V TPIC6B273 V max = 1.0V (Output Stage) TO MPU Vds clamp = 50V 12 - 24 Volt User Supply Imax = 100mA...

  • Page 44: Connecting To The Opto22 Mounting Rack

    3.4 Connecting to the Opto22 Mounting Rack The CA950-IO PC Board allows for easy connections between the OC950 and optically isolated industrial I/O. The CA950-IO plugs directly into the 50 pin header of Opto 22’s Generation 4 family of I/O Mounting Racks and other compatible products as...
  • Page 45 Direct pin-to-pin connections between the male 25 contact D connector on the CA950-IO board to the female 25 contact D connector on the OC950 (J52) allows use of up to 21 I/O modules on the I/O mounting rack. This connection is best accomplished using a DB25 male to female shielded cable with EMI/RFI metallic hoods.
  • Page 46 OC950 discrete outputs can also be used to drive the G4OD5R and G4ODC5R5 Dry Contact Output Modules. Setting an OC950 output to zero will drive current in to the associated relay coil, closing the switch for the G4ODC5R and opening the switch for the G4ODC5R5.
  • Page 47 Power Supply The OC950 +5 Vdc user power supply can source up to 200 ma. Considerations This can be used to power up to 16 I/O modules, providing this supply is not used for other purposes (encoder or user’s terminal).
  • Page 48 CA950-IO Schematic DB25 MALE OCIO10 OCIO0 OCIO11 OCIO1 OCIO12 OCIO2 OCIO13 OCIO3 OCIO14 OCIO4 OCIO15 OCIO16 OCIO5 OCIO17 OCIO6 OCIO18 OCIO7 OCIO19 OCIO8 OCIO20 OCIO9 USER_5V GNDIO 50 CONTACT RECEPTACLE MA950 3 - 23...

  • Page 49: Paclan Cabling & Hardware Connections - J53

    3.5 PacLAN Cabling & Hardware Connections - J53 Note: PacLAN is only available on the following models: • OC950-503-01, OC950-603-01 • OC950-504-01, OC950-604-01 PacLAN The electrical connections of the PacLAN interface between connections SC950 servocontrollers is illustrated in the diagram below.
  • Page 50 Coaxial cable The following table outlines the requirements for coaxial cable. requirements Summary of Coaxial Cable Requirements Minimum Spacing ≥ 1.2KΩ Station impedance Segment termination value 93Ω Maximum number of stations per segment Maximum bus segment length 300 m Active hubs PacLAN permits direct connection of up to 8 SC950 servocontrollers.

  • Page 51: Servo Loop Parameters

    4 Servo Loop Parameters Introduction This chapter describes setting parameters associated with the velocity and position loops. In some cases the user must adjust control loop parameters due to large mismatches between motor and load inertia, mechanical resonance, backlash, etc. This chapter provides guidance for handling these situations.
  • Page 52 /amp will work) The motor torque constant is the value of K peak published in the Pacific Scientific Motion Control Solutions catalog. Note: f is the unity gain open-loop crossover frequency of the idealized rigid single mass system. See hardware specifications for maximum f value.
  • Page 53 Load inertia From the formula for bandwidth, it is seen that bandwidth changes inversely with total inertia. If the load inertia equals the motor plus resolver inertia, the velocity loop bandwidth will be half the values shown. If the load inertia is ten times the motor plus resolver inertia, the bandwidths will be one eleventh these values.
  • Page 54 950IDE can also be used to make the calculation. Simply enter the inertia ratio and 950IDE will calculate the appropriate value for KVP to achieve 25, 75 or 180 Hz bandwidth depending upon the choice made for system response. There is no specific answer to the general question “What should the bandwidth be?”...
  • Page 55 Resonance Mechanical resonance is caused by springiness between motor inertia and load inertia. This may result from belts, flexible couplings, or the torsion stiffness of shafts. In general, the stiffer the couplings, the higher the resonance frequency and the easier it is to tune the system for good performance. If the velocity loop breaks into an oscillation at a frequency well above the calculated velocity loop bandwidth, a resonance problem may well exist.
  • Page 56 Procedure 1. Set both ARF0 and ARF1 to 400 Hz and set KVP low enough to prevent oscillation. 2. Increase KVP slowly until oscillation at the resonant frequency just begins. Then, reduce KVP slightly until the oscillation just stops. Compute the velocity loop bandwidth using the formula given at the beginning of this section.
  • Page 57 Current ripple The velocity feedback signal in standard SC900 Drives operating with the standard 20 arcmin resolver can have up to 3% p-p ripple. The resulting motor torque current ripple, with no ARF0/ARF1 filtering, can be calculated using the following formula: π...

  • Page 58: Position Loop

    If the Drive is to be used within a position loop (either with BlkType = 2 or when using an external position drive and BlkType = 1), KVI should be equal to or less than 0.1 times the velocity loop bandwidth. If no position loop is used, KVI can be set to 0.25 times the velocity loop bandwidth (or higher if some ringing can be tolerated).
  • Page 59 KVFF KVFF is the velocity feed forward gain. In the absence of velocity feed forward (KVFF = 0), the commanded velocity is proportional to the position (following) error. This means that the actual position will lag the commanded position by a value proportional to the speed.

  • Page 60: Advanced Velocity Loop Tuning

    Overshoot Setting KVFF equal to 100% can result in position overshoot. Somewhat lower values may be required if this is a problem. KVFF set to 70%-80% typically achieves the fastest step response with no overshoot. However, setting KVFF to less than 100% will give steady state following error when running at constant speed.
  • Page 61 For ARx0 > 0 both roots are real and: ω π For ARx0 < 0 roots are a complex pair and: ω = − π Note: When ARZ0 and ARZ1 are both zero, the numerator of FvelErr s ( ) reduces to 1. If ARZ0 or ARZ1 is individually 0 the VelErr numerator reduces to π...

  • Page 62: Maintaining/Troubleshooting

    5 Maintaining/Troubleshooting In this Chapter This chapter covers maintenance and troubleshooting of the SC950 servocontroller. 5.1 Maintaining the SC950 Servocontroller Introduction The SC950 series servocontrollers are designed for minimum maintenance. The following cleaning procedure, performed as needed, will minimize problems due to dust and dirt buildup. Procedure Remove superficial dust and dirt from the unit using clean, dry, low-pressure air.
  • Page 63 System Status The following table lists the System Status LEDs for the OC950. table Status LED Value Fault Meaning (Blinking) 1 Velocity feedback (VelFB) over speed (Blinking) 2 Motor Over-Temp (Blinking) 3 Drive Over-Temp (Blinking) 4 Drive I*t (Blinking) 5...
  • Page 64 System Status table (cont’d) Status LED Value Fault Meaning (Solid) E* Processor throughput fault (Blinking) E* Power Up Self Test Failure (Alternating) E1 Bus UV, Bus Voltage VBusThresh (Alternating) E2 Ambient Temp Too Low (Alternating) E3 Encoder commutation align failed (Only CommSrc=1) (Alternating) E4 Drive software incompatible with NV memory...
  • Page 65 Extended Faultcodes Value of Description Display ExtFault |VelFB| < 21038 |VelFB| < 1.5*max(|VelLmtxx|) No ExtFault information Resolver calibration data corrupted Excessive dc offset in current feedback sensor DSP incompletely reset by line power dip Excessive dc offset in Analog Command A/D Unable to determine option card type DSP stack overflow Firmware and control card ASIC incompatible...
  • Page 66 Troubleshooting table Problem (and system status numbers) Possible cause Action System status display not No control power. Check that SC955 has AC lit. switch set to INT or SC952, SC953 and SC954, have 115 V ac or 230 V ac applied to J3 pins 5,6.
  • Page 67 Troubleshooting table (cont’d) Problem (and system status numbers) Possible cause Action Controller overtemperature Temperature overload due to: (3). High ambient temperature. Lower ambient temperature to below 50°C (60°C, if derated). Restriction of cooling air Provide sufficient cooling due to insufficient space space.
  • Page 68 Troubleshooting table (cont’d) Problem (and system status numbers) Possible cause Action Output overcurrent, or bus Excessive ac input Reduce ac input voltage to overvoltage (7). voltage. below 264 V ac. Output short circuit. Check for short. Motor cabling wires Check for short. shorted together.
  • Page 69 Troubleshooting table (cont’d) Problem (and system status numbers) Possible cause Action Shunt regulator overload Excessive regen in Increase cycle time. application Reduce the inertia. Add external regen with higher wattage. Improper external regen Check connections on J5. wiring or components on Internal failure.
  • Page 70 Troubleshooting table (cont’d) Problem (and system status numbers) Possible cause Action Bus Undervoltage (E1) VBus < VBusThresh VBusThresh is set too high. VBus is low because bus AC power is low. Check J1-1, J1-2, and J1-3. Ambient temperature too Ambient temperature Measure temperature in low (E2) control cabinet.
  • Page 71 Troubleshooting table (cont’d) Problem (and system status numbers) Possible cause Action Drive transition from Hardware Enable input Disable hardware Enable UnConfigured to Configure active. input. Re-configure drive while enabled (E6) then cycle power. Enable inactive during Return for repair. several configurations, drive still faults.
  • Page 72 Troubleshooting table (cont’d) Problem (and system status numbers) Possible cause Action Parameter checksum Checksum fault reading NV Check for AC momentary error (F3) memory. Typically during glitch. Do not interrupt power cycle or after program program or waveshape download. download with keystroke or power cycle.
  • Page 73 Communications Troubleshooting Table Symptom Corrective Action SC950 will not Verify that SC950 is NOT running a program ( on status respond to display). commands over Verify that axis address is set to 255 using switch S1. the serial link Verify that baud rate and COM port are set correctly in the 950 IDE.
  • Page 74 Pacific Scientific for repair or replacement. is defective Return 1. Call Pacific Scientific at (815) 226-3100 from 8 am to 6 pm procedure Eastern Standard Time to get a Returned Materials Authorization Number (RMA#). Note: Do not attempt to return the servocontroller or any other equipment without a valid RMA#.

  • Page 75: Appendix A Selecting Motor Control Functionality

    Appendix A Selecting Motor Control Functionality Introduction The SC900 family has three distinct modes of controlling the motor shaft and two distinct sources for the shaft command: Modes • Torque Control • Velocity Control • Position Control Commands • Analog Command •...
  • Page 76 Command Figure 1 shows the analog torque block mode has the same signal processing processing as a velocity loop except that the velocity error signal (VelErr) is set to VelCmd not to (VelCmd - VelFB) and that the VelCmd clamp is bypassed. Thus, the analog input goes through a number of signal processing steps before becoming the motor torque current command ICmd.
  • Page 77 Typically, most of the signal blocks are set to directly pass the signal so that ICmd = CMDGain*(AnalogIn) as directly as possible. The set of parameters below accomplish this result. ADF0 = 100,000 Hz to bypass, 1000 Hz by auto set up ARF0 = 100,000 Hz ARF1 = 100,000 Hz ARZ0 = 0 (not active)
  • Page 78 Command The analog input goes through a number of signal processing processing steps before becoming the actual motor velocity command VelCmd as shown by Figure 2. 1. Analog input differential amplifier with 1200 Hz low pass filter. 2. High resolution A/D sampled at the velocity loop update rate and added to the ADOffset parameter.
  • Page 79 A.3 Position Block Modes A.3.1 Digital Command Position Block (BlkType = 2) This mode is just a velocity block mode with the VelCmd coming from the position loop. See Figure 3. In particular, PosError = PosCommand - Position Feedback KVFF ...
  • Page 80 INTEGRATOR STOP RESET INTEGRATOR ARF0 ARZ0 KIP KII ARF1 ARZ1 ICmd (AMP) ILmtPlus MECHANICS 3 PHASE VELOCITY ANTI- DE-ROTATED COMMAND RESONANCE teff TORQUE AND SECOND ORDER (AMP) (RAD/SEC) (AMP) TORQUE QUAD CLAMP FILTER LOOPS FVelErr ILmtMinus TORQUE (RPM) VelErr CURRENT MOTOR BlkType (RPM)
  • Page 81 VelLmtHi (RPM) BlkType BlkType VelCmd (RAD/SEC) To Velocity Loop CLAMP AnalogIn CmdGain VelLmtLo (VOLT) (RPM) (KRPM/VOLT) CmdGain (AMP/VOLT) VelCmd from Position Loop ADF0 ADOffset (VOLT) +13.5 Volt J4-1 DIFF AMP ANALOG CMD PASS AnalogIn 1.2 KHZ LPF (VOLT) (VOLT) FILTER J4-2 CLAMP +13.5 Volt...
  • Page 82 PosCommand Position Command from OC950 (COUNTS) KVFF 1 mSec VelCmd Update (RAD/SEC) (RAD) (RAD) π 2 * KPP To Velocity Loop PosError (COUNTS) RemoteFB RESOLVER INTERFACE EncFreq VelFB VELOCITY (RPM) FROM EncPos MOTOR SHAFT (RAD) POSITION Position (RESOLVER COUNTS) SC950 POSITION CONTROL...

  • Page 83: Appendix Boc950 Specifications

    Parity No parity Data Word 10 bits: 1 start, 8 Data, 1 stop Connector 9 Contact Female D-subminiature OC950 J52 Programmable Inputs / Outputs Input/Output Type 21 Bi-Directional Channels & Quantity Logic Voltage 5 to 24 Volt, 40V Absolute Maximum...
  • Page 84 5 ohms typical, 9.5 ohms maximum at 125° C Impedance Connector 25 Contact Female D-subminiature User +5V Power (OC950 J51-4, J52-25 and SC900 J4-25) Output Voltage 5 Volts ± 5% Output Current 200 milliamperes, Maximum Note: Output current is the combined current of all three connection points.

  • Page 85: Index

    Index 950IDE CA950-IO 3-20 Compiling a Program Configuring System Configuring Your System 2-6 Applying AC Power Creating a New Program 2-7 BaudRate Exiting 2-14 Serial Port Getting Around Connections Installing Diagram On-Line Tuning Creating a New Program Opening a Program 2-14 Enabling Drive Run Program...
  • Page 86 Interfaces and Connections 3-1 Load inertia Diagram Problems with OCIO J52 3-14 PacLAN J53 3-24 Serial Port J51 Maintenance Diagram NVRAM I/O Table Specifications T10 Connections 3-14 OCIO 3-14 +5VDC 3-16 I/O Table 3-14 Connecting to Opto22 3-19 Inputs 3-16 I/O Table 3-14 Outputs...
  • Page 87 Position Block Digital Command T10 Connections Position Loop Torque Block Analog Command KVFF Transfer function 4-10 Overshoot 4-10 Troubleshooting Programmable Option Card 1-1 Table Definition RMA# 5-13 Hardware varieties Tuning, Advanced 4-10 Resonance Velocity Block Return procedure 5-13 Analog Command RMA# 5-13 Velocity Loop...

This manual is also suitable for:

Oc950-501-01Oc950-502-01Oc950-503-01Oc950-504-01Oc950-601-01Oc950-602-01 ... Show all

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