PC3400A Family Hardware Reference Manual KOLLMORGEN

Справочное руководство по оборудованию серии PC3400A KOLLMORGEN

PC3400A Family Hardware Reference Manual

Single axis digital servo amplifier

The PC34xxA Series is a new generation of digital servo amplifiers for controlling Brushless

DC and Brush DC servomotors in position, velocity, or torque (current) modes, feedback

dependent.  Units are available in current ratings of 3, 6, 10 and 20 amps RMS continuous

The PC34xxA Series is a new fourth-generation of digital servo amplifiers for controlling Brushless DC and Brush DC servomotors in position, velocity, or current (torque) modes, feedback dependent.  Units are available in current ratings of 3, 6, 10 and 20 amps RMS continuous. The product series includes four product families: the PC34xxAd, a Digital servo drive, the Intelligent servo drives PC34xxAi and PC34xxAi-001-xI with extended I/O, the high performance DSP model is a PC34xxAc Centennial servo drive. See section 1.2 Model Designations and Specifications for additional detail.  Depending on the model purchased, the PC34xxA product series supports Hall only (Trapezoidal Commutation), Resolver, Comcoder or Hall/Encoder for (Sinusoidal Commutation) or Tach feedback.  Each model of the PC34xxA Series utilizes a space vector control algorithm.  All modes of operation offer a PID loop-tuning feature to optimize the performance of the selected servomotor. Each PC34xxA unit is a power supply, amplifier, controller and heatsink integrated into a single standalone package. The compact size and integrated design of the PC34xxA amplifier simplifies the installation process and reduces down time should the need for replacement arise.  The unit is hardware configured for RS-232 (factory default), RS-422 or RS-485 serial communications with ToolPAC software for configuration, debugging and trouble shooting of the unit.   ToolPAC software allows complete configuration and diagnostics of all features in the unit

Fundamentally, a PC34xxA amplifier is a computer that is dedicated to motion control. Like every other computer it has its own operating system, data storage capabilities, data manipulation capabilities.  The unit also includes a serial interface for data communications.  In addition, its built-in inputs/outputs allow for hard-wired connections for motor feedback and to sensor switches to ensure motion that is in sync with a user’s environment.  All PC34xxA Series servo controllers provide the user with the same basic components, including: 

 • Serial communications port for use with ToolPAC for purposes of trouble shooting and initial drive configuration. 

 • A graphical user interface program, ToolPAC, provides the user with the tools to quickly and easily configure the PC34xxA to a specific motor and application.  ToolPAC provides Wizards for Axis Setup, I/O Configuration, Tuning and is compatible with WIN95/WIN98/NT operating systems. 

 • System software including commands and parameters that allow you to configure the servo controller to your application, to enter and manipulate data, and to tune the performance of the unit to your application. 

 • Methods of control include Position, Velocity, and Current (torque) with the ability to accept Step/Dir, Step+/step- and Encoder quadrature in Following mode whereby you are commanding the servo system in a position following mode.  Master/slave relationships can be developed from the secondary encoder inputs, providing motion output. 

 • Distributed Feedback; A mode of operation where a secondary encoder is used to close the Position loop in an application.  When using Distributed Feedback you will loose the ability to provide Step/Dir, Step+/Step- or Encoder following as the secondary encoder is wired to these HSI inputs. Thus CAM and Master/Slave relationships are likewise not available. 

 • The I/O Configuration Wizard provides the user with the tools to configure Hardware interfaces for High-Speed Encoder inputs, CW, CCW, Home inputs, Brake output that allow you to interface to your machinery/equipment.

The PC34xxAi (Intelligent) Series Controllers accept high level commands directly, eliminating the need for a motion controller and can be operated standalone or networked.  Each unit has the ability to store and execute motion programs. Additional features available are: 

 • Stored program mode refers to a method of control where you create and store motion programs on the servo controller system and execute the programs when required.  Motion programs provide the user with the ability to perform complex, repetitive functions without having to type each individual command line every time you wish to perform the same function.  In this mode you may choose to initiate a program through your communications port or establish a monitor program to allow an input to trigger or begin execution of a particular sequence of commands. 

 • Networked configuration allows for up to 31 axis from a single PC serial port or similar host device.  Multi-axis start and stop, along with on-the-fly speed change, are only a few of the networked features available on these units.  The user must request additional documentation to gain a better understanding of the network requirements. The documents listed below, you may log onto ftp site at the address shown below.

• On the PC34xxAi series, up to 100 data points can be entered to define complex SPLINE tables as a function of time or complex CAM tables as a function of the master encoder input. Master/slave (Electronic Gearing) relationships can be developed from the secondary encoder inputs, providing motion output as a RATIO, CAM, or SPLINE. 

 • The PC34xxAi-001-xI has an additional 16 general-purpose digital inputs and 8 general purpose outputs.

The PC34xxAc (Centennial) Series Servo Controllers are one of the most advanced DSP motion controllers available. It can accept high level commands directly, eliminating the need for a motion controller and can be operated standalone or networked.  Each unit has the ability to store and execute motion programs. Additional features available are: 

 • All modes of operation offer a Real-time Adaptive Tuning feature to optimize the performance of the selected servomotor.  This Real-time Adaptive Tuning feature is bi-directional and includes load and inertia estimation and compensation. It also provides an Active Current Loop Compensation gain and phase.  Optimal performance can be obtained on systems with varying inertial loads up to 50:1. 

 • Real-time clock, date and time stamp of fault history. 

 • Two additional 16-bit analog inputs and two 12-bit analog outputs can be utilized to interface to the user’s environment. 

 • Advanced mathematical capabilities, 40 bit floating point, LOG functions, and trigonometric functions are available to simplify programming of complex motions. 

 • Advanced Electronic Gearing functions are available to meet the most demanding applications. Typical applications are conveyors, packaging and folding, labeling and printing, flying knife, shears and too many others to be mentioned. 

 • Complex SPLINE tables of up to 3000 data points can be entered to define custom motion profiles as a function of time. Complex CAM tables of up to 3000 data points can be entered to define custom motion profiles as a function of the master encoder input or as a function of the Auxiliary PID loop. 

 • Master/slave relationships can be developed from the secondary encoder inputs, providing motion output as a RATIO or CAM. 

 • Auxiliary PID loop with 100 microsecond update rate can be utilized in conjunction with the analog inputs, SPLINE, CAM, and master/slave capabilities.  Applications such as web-tensioning, pump, and motion profiling can be addressed with ease. PATENT US5357178

PC3400A Family Hardware Reference Manual

The information contained in this document is provided for customer use only.  Every effort has been made to ensure the accuracy of this information.  However, Pacific Scientific assumes no responsibility for any errors or omissions.  The information contained in this document is subject to change without prior notice.  Users’ critical evaluation is welcomed to assist in the preparation of future documentation. This document is copyrighted by Pacific Scientific.  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. Copyright  2001 by Pacific Scientific.  All rights reserved. Printed in the United States of America.