apcuserguide_Iss5.pdf

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User Guide
Advanced
Position
Controller
Position Control for
Unidrive SP
Part Number: 0471-0034-05
Issue Number: 5
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General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate,
negligent or incorrect installation or adjustment of the optional operating parameters of
the equipment or from mismatching the variable speed drive (drive) with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests
of a commitment to a policy of continuous development and improvement, the
manufacturer reserves the right to change the specification of the product or its
performance, or the contents of this guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form
or by any means, electrical or mechanical including photocopying, recording or by an
information storage or retrieval system, without permission in writing from the publisher.
Drive software version
This product is supplied with the latest version of user-interface and machine control
software. If this product is to be used in a new or existing system with other drives, there
may be some differences between their software and the software in this product. These
differences may cause this product to function differently. This may also apply to drives
returned from a Control Techniques Service Centre.
If there is any doubt, contact a Control Techniques Drive Centre.
Copyright
© 18 May 2006 Control Techniques Drives Ltd
Issue Code:
5
 
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Contents
1
Using This Manual
7
2
Safety Information
8
2.1
Warnings, Cautions and Notes
8
2.2
Electrical Safety - General Warning
8
2.3
System Design and Safety of Personnel
8
2.4
Environmental Limits
9
2.5
Compliance with Regulations
9
2.6
Motor
9
2.7
Adjusting Parameters
9
3
Introduction
10
3.1
Overview
11
3.1.1
Features
11
3.2
Motion Fundamentals
12
3.3
Clarification of Terms
12
3.4
Positional Feedback/References
13
3.5
Positioning Modes
14
3.5.1
Relative Mode
14
3.5.2
Absolute Mode
14
3.6
Resolution
14
3.6.1
The APC kernel resolution
14
3.6.2
Encoder Resolution
14
3.7
Hardware
16
3.7.1
SM-Applications Module
16
3.7.2
SM-Applications Lite module
17
3.8
High Speed Position Capture
18
3.8.1
Marker Pulse
18
3.8.2
Freeze
18
3.9
Task model
18
3.10
Performance
18
3.10.1
Update Rates
18
3.11
Interfacing
19
3.11.1
Overview
19
3.11.2
Units
19
3.11.3
User Program
20
3
Advanced Position Controller User Guide
Issue Number: 5
www.controltechniques.com
 
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4
Functional Description
22
4.1
APC Overall Diagram
22
4.2
Operational Overview
24
4.2.1
Modes of Operation
24
4.2.2
Reference Switching
24
4.2.3
Profile Generators
24
4.3
Reference and Feedback Encoder Positions
26
4.3.1
Enabling the APC
28
4.3.2
Encoder Source Update.
28
4.3.3
Encoder Source Selection and Main Position Integrators
28
4.3.4
Absolute and Relative Modes
29
4.3.5
Resetting Internal Counters
29
4.3.6
Overview of Resetting Internal Counters
29
4.3.7
Resolution Alignment
30
4.3.8
Freeze and Marker pulse Functionality
30
4.3.9
Reference and Feedback Disable
35
4.4
Stop Reference
36
4.4.1
Profile Stop
36
4.4.2
Instant Stop
36
4.5
Position Reference
37
4.6
Speed Reference
38
4.7
CAM Reference
39
4.7.1
Introduction
39
4.7.2
CAM Co-ordinates
39
4.7.3
Interpolation
43
4.7.4
Constant and Variable Arrays
50
4.7.5
CAM Initialisation
50
4.7.6
CAM Output Ratio
51
4.7.7
Single Shot and Continuous CAM
52
4.7.8
Zero and Absolute CAM Reset
52
4.7.9
CAM Selection by Freeze
52
4.7.10
CAM Single Shot Freeze Re-Arm
53
4.7.11
Calculating CAM Co-ordinates from Slave Positional Information
55
4.7.12
Calculating CAM Co-ordinates from time and distance Information
56
4.8
Digital Lock Reference
57
4.8.1
Introduction
57
4.8.2
Digital Lock Mode
57
4.8.3
Non Rigid Digital lock
58
4.8.4
Rigid Digital Lock
59
4.8.5
Digital Lock Ratio
60
4.8.6
Digital lock selection by Freeze
60
4.9
Position Loop
61
4.9.1
Output Ratio
62
4.9.2
Speed Feed Forward Gain
62
4.9.3
Output Speed Clamp
63
4.9.4
Torque Feed forward
63
4.9.5
External Speed and Position References
64
4.10
CTSync
65
4.10.1
Overview
65
4.10.2
Connections
65
4.10.3
Limitations
65
4.10.4
Motion Engine
65
4.11
APC Output Channel
67
4.12
APC Operation in User Units
69
4.12.1
Setting up a User Unit conversion ratio
69
4.12.2
Reading parameters in User and APC Units
70
4.12.3
Setting positions with remainder
70
4
Advanced Position Controller User Guide
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Issue Number: 5
 
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4.12.4
Calculating positions in User Units with remainder
71
4.12.5
Homing routines in User Units
71
4.12.6
Changing from the Stop reference to the Position reference
72
4.12.7
Inserting positional filters
72
5
APC Command Descriptions
73
5.1
APC Functions
73
5.2
DPL Commands
73
5.2.1
Control and Access Functions
74
5.2.2
Reference and Feedback Encoder
83
5.2.3
CTSync Functions
105
5.2.4
References
107
5.2.5
Profile Generators
130
5.2.6
Position Loop
137
5.3
Conversion Functions
146
5.3.1
Embedded APC Converter
146
5.3.2
User Defined Unit Converter
150
5.3.3
Word Manipulation Function Blocks
151
6
Getting Started
154
6.1
Hardware Selection
154
6.1.1
Motor and Drive
154
6.1.2
Feedback and Reference encoder
154
6.1.3
SM-Applications or SM-Applications Lite
156
6.2
Drive and Encoder setup
156
6.3
SM-Applications Setup for APC
157
6.4
User Program
158
6.4.1
Basic User Program.
158
6.4.2
Enable APC
159
6.4.3
Output Channel
159
6.4.4
Feedback and Reference Source Encoders
159
6.4.5
Stop Reference
160
6.4.6
Position Reference
160
6.4.7
Speed Reference
160
6.4.8
CAM Reference
161
6.4.9
Digital Lock
162
6.5
Using the example code in this section
164
6.6
Final Performance Checks.
164
6.6.1
Checking Speed Loop
164
6.6.2
Checking Position loop
164
7
Program Examples
165
7.1
Position Reference
165
7.2
Digital Lock - Simple Flying Shear
168
7.3
CAM
172
7.4
Speed and Position - Homing
178
7.5
CTSync Master and Digital Lock
183
7.6
CTSync Slave and Digital Lock
188
5
Advanced Position Controller User Guide
Issue Number: 5
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