Moog DS2100 User Manual Page 1

DS2100 Digital Controller Installation & User’s Manual

DS2100 User's Manual SECTION 1: DS2100 OVERVIEW PAGE 1-8 C27750-001 1.4 Design Standards The DS2100 is CE-Marked under the EU's L

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-56

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-58

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-60

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-62

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-64

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

SECTION 1: DS2100 OVERVIEW DS2100 User's Manual C27750-001 PAGE 1-9 1.5 Power Ratings Specifications Model : G361-x 3Amp 6Amp 8Amp 14Amp 2

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-66

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-68

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-70

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-72

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-74

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 1: DS2100 OVERVIEW PAGE 1-10 C27750-001 1.5.1 Optional Control Logic Backup Power D.C. Bus Minimum Volt

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-76

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-78

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-80

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001

DS2100 User's Manual SECTION 3: WIRING AND INSTALLATION PAGE 3-82

SECTION 4: GETTING STARTED DS2100 User's Manual C27750-001 PAGE 4-1 SECTION 4: GETTING STARTED

DS2100 User's Manual SECTION 4: GETTING STARTED PAGE 4-2 C277

SECTION 4: GETTING STARTED DS2100 User's Manual C27750-001 PAGE 4-3 4.1 Introduction The getting started guide will provide you wi

SECTION 1: DS2100 OVERVIEW DS2100 User's Manual C27750-001 PAGE 1-11 1.5.4.1 RMS Protection The RMS protection acts to limit the current pro

DS2100 User's Manual SECTION 4: GETTING STARTED PAGE 4-4 C277

SECTION 4: GETTING STARTED DS2100 User's Manual C27750-001 PAGE 4-5 4.5 Controller Access At this stage the Windrive software shou

DS2100 User's Manual SECTION 4: GETTING STARTED PAGE 4-6 C277

SECTION 4: GETTING STARTED DS2100 User's Manual C27750-001 PAGE 4-7 Open the parameter database DS2100 → Parameter Database. Click

DS2100 User's Manual SECTION 4: GETTING STARTED PAGE 4-8 C277

SECTION 4: GETTING STARTED DS2100 User's Manual C27750-001 PAGE 4-9 For drives equipped with an internal Regeneration resistor, th

DS2100 User's Manual SECTION 4: GETTING STARTED PAGE 4-10 C27

SECTION 4: GETTING STARTED DS2100 User's Manual C27750-001 PAGE 4-11 4.9 Parameter Utilities The user’s parameters should now be

DS2100 User's Manual SECTION 4: GETTING STARTED PAGE 4-12 C27

SECTION 4: GETTING STARTED DS2100 User's Manual C27750-001 PAGE 4-13 4.11 High Power Application Apply the appropriate 3-phase vol

DS2100 User's Manual SECTION 1: DS2100 OVERVIEW PAGE 1-12 C27750-001 1.6 General Functional Specifications 1.6.1 Digital Inputs (J2A)

DS2100 User's Manual SECTION 4: GETTING STARTED PAGE 4-14 C27

SECTION 4: GETTING STARTED DS2100 User's Manual C27750-001 PAGE 4-15 4.13 Torque Mode Enable Figure 4.23 Torque Mode Drive Enab

DS2100 User's Manual SECTION 4: GETTING STARTED PAGE 4-16 C27

SECTION 4: GETTING STARTED DS2100 User's Manual C27750-001 PAGE 4-17 4.15 Oscilloscope 4.15.1 Oscilloscope Set-up  Open the os

DS2100 User's Manual SECTION 4: GETTING STARTED PAGE 4-18 C27

SECTION 4: GETTING STARTED DS2100 User's Manual C27750-001 PAGE 4-19 4.15.3 Step Response With Velocity p-gain = 0.01 & i-gain

DS2100 User's Manual SECTION 4: GETTING STARTED PAGE 4-20 C27

SECTION 4: GETTING STARTED DS2100 User's Manual C27750-001 PAGE 4-21 4.15.5 Step Response With Velocity p-gain = 0.075 & i-gai

DS2100 User's Manual SECTION 4: GETTING STARTED PAGE 4-22 C27

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 Page 5-1 - SECTION 5: DS2100 FUNCTIONAL OVERVIEW

SECTION 1: DS2100 OVERVIEW DS2100 User's Manual C27750-001 PAGE 1-13 1.6.3 Standard I/O Brake Control (J2D) 2A, 24Vd.c. solid-state high-sid

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-2 C27750-001 TABLE OF CONTENTS SECTION 5: DS2100 FUNCTIONAL OVERVIEW.

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 Page 5-3 - 5.13.1 Power Amplifier Thermal Protection Mechanism...

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-4 C27750-001 5.1 Introduction This section describes the functionality

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 Page 5-5 - 5.2 DS2100 Conventions This section deals with commonly unde

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-6 C27750-001 5.3 Power Interface Section 5.3.1 High Power Section Des

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 Page 5-7 - 5.3.2 High Voltage Rectification and Filtering The a.c. mai

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-8 C27750-001 5.3.4 Low Voltage Control Power Supply Control power for

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 Page 5-9 - 5.3.5 Regeneration Control Rapid motor deceleration or an ov

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-10 C27750-001 The parameters associated with the regeneration control a

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE 5-11 5.3.6 Power Inter

DS2100 User's Manual SECTION 1: DS2100 OVERVIEW PAGE 1-14 C27750-001 Page Intentionally Blank

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-12 C27750-001 regen_power_capability 0x24A4 22

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE 5-13 5.4 Motor Configuration There are

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-14 0x60F6/10 F32 V/A DS2100_oai current_loop_alpha

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE 5-15 0x2805/2 F32 none DS2100_ntca1 mo

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-16 C27750-001 5.4.8 Motor Configuration Paramet

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE 5-17 encoder_ssi_numbe

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-18 5.5 Resolver Input The resolver input allows the

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE - 5-19 - 5.5.1.2 Resolver transformer turn

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-20 C27750-001 5.5.2 Resolver Parameters Paramete

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-1 SECTION 2: SAFETY & EMC INSTRUCTIONS

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-22 5.6 Encoder Input The encoder input allows the co

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE - 5-23 - 5.6.1.2 Encoder types There are v

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-24 5.6.1.7 Direction of rotation The direction of ro

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE - 5-25 - 5.6.1.12 Set Encoder Position Enc

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-26 C27750-001 5.6.2 Encoder Parameters Parameter N

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-28 5.7 Commutation Module The commutation module allo

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE - 5-29 - 5.7.2 Commutation offset adjustme

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-30 C27750-001 5.7.3 Commutation Parameters Paramet

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE - 5-31 - 5.8 Position Feedback The feedbac

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-2 C27750-001 TABLE OF CONTENTS SECTION 2: SAFETY & EMC INSTRUC

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-32 5.9 Velocity Feedback The feedback signal for the

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE - 5-33 - 5.10 Digital Input and Output Fun

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-34 Index Type Name 0x2C2E/1 U08 hardware_enable_con

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE - 5-35 - • On Power-Up (if configuration h

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-36 drive is performing a homing cycle, the drive will

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE - 5-37 - If the drive is configured to disa

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-38 5.10.1.2 Digital Input Debounce Count The count f

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C27750-001 PAGE - 5-39 - 5.10.2.1 Digital Output Field an

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-40 C27750-001 5.10.3 Digital I/O Parameters Parame

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C2

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-3 2.1 General This user’s manual is intended to provide suff

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-42 5.11 Control Loops There are three loops that can

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-44 In addition, if the absolute value of the position

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-46 5.11.2 Velocity Loop compensator In velocity mode

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-48 Velocity Limittorque100%actual velocity1.05 * Velo

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-50 The filter is not a Butterworth, but instead, is a

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

D Added motor thermal protection notes following UL508C review. Updated boxcar drawing. Apr

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-4 C27750-001 2.2 Safety Regulations 1. The DS2100 controller must

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-52 from the sampled phase A and phase B motor current

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-54 a1 = 1 / (1 + 2*π* motor_velocity_filter_cutoff_fa

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-56 5.11.4.2 Velocity Mode Preset The parameter contr

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-58 C27750-001 5.11.5 Control Loop Parameters Param

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C2

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-60 C27750-001 current_loop_beta_observer_i-gain 0

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-5 2.2.1 System Safeguards a) General Safety Requirements Us

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-62 5.12 Drive Monitoring & Fault Detection 5.12.1

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-64 A list of warnings and faults that should be indic

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-66 5.12.3 Drive Fault Reaction The DS2100 distinguish

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-68 rate task initialisation error FATAL 122 Error ha

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-70 5.12.5 Fault Clearing It is possible to clear all

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-6 C27750-001 A D.C component can occur in the fault current in the ev

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-72 C27750-001 5.12.7 Drive Monitoring & Fault

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C2

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-74 5.13 Self Protection 5.13.1 Power Amplifier Therma

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-76 • If the user wishes to save all parameters, (i.e

SECTION 5: DS2100 FUNCTIONAL OVERVIEW DS2100 User's Manual C2

DS2100 User's Manual SECTION 5: DS2100 FUNCTIONAL OVERVIEW PAGE 5-78 C27750-001 Page Intentionally Blank

SECTION 6: CANOPEN INTERFACE DS2100 User's Manual C27750-001 PAGE 6-1 SECTION 6: DS2100 CANOPEN

DS2100 User's Manual SECTION 6: CANOPEN INTERFACE PAGE 6-2 C27750-001 TABLE O

SECTION 6: CANOPEN INTERFACE DS2100 User's Manual C27750-001 PAGE 6-3 6.1 Introduction This secti

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-7 DS2100 Models Size µµµµA Size 3/11 6/22 Notes Short Cir

DS2100 User's Manual SECTION 6: CANOPEN INTERFACE PAGE 6-4 C27750-001 CAN Cabl

SECTION 6: CANOPEN INTERFACE DS2100 User's Manual C27750-001 PAGE 6-5 User's PE GND CAN_L

DS2100 User's Manual SECTION 6: CANOPEN INTERFACE PAGE 6-6 C27750-001 6.3 CAN

SECTION 6:CANOPEN INTERFACE DS2100 User's Manual C27750-001 PAGE 6-7 6.4.3 CAN Controller Parameters Parameter Name CANope

DS2100 User's Manual SECTION 6:CANOPEN INTERFACE PAGE 6-8

SECTION 6:CANOPEN INTERFACE DS2100 User's Manual C27750-001 PAGE 6-9 Power OnReset DriveApplicati

DS2100 User's Manual

SECTION 6:CANOPEN INTERFACE DS2100 User's Manual C27750-001 PAGE 6-11 6.7 Service Data Objects (

DS2100 User's Manual

SECTION 6:CANOPEN INTERFACE DS2100 User's Manual C27750-001 PAGE 6-13 6.8 Process Data Objects (PDO) The drive suppor

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-8 C27750-001 2.2.2 Equipment Safety All persons must observe sound s

DS2100 User's Manual SECTION 6:CANOPEN INTERFACE PAGE 6-14 C27750-001 For rece

SECTION 6:CANOPEN INTERFACE DS2100 User'

DS2100 User's Manual

SECTION 6:CANOPEN INTERFACE DS2100 User's Manual C27750-001 PAGE 6-17 6.9 Sync

DS2100 User's Manual

SECTION 6:CANOPEN INTERFACE DS2100 User's Manual C27750-001 PAGE 6-19 6.10 Communication Profile

DS2100 User's Manual SECTION 6:CANOPEN INTERFACE PAGE 6-20 C27750-001 6.10.5 I

SECTION 6:CANOPEN INTERFACE DS2100 User'

DS2100 User's Manual SECTION 6:CANOPEN INTERFACE PAGE 6-22 C27750-001 6.11 CA

SECTION 6:CANOPEN INTERFACE DS2100 User's Manual C27750-001 PAGE 6-23 6.11.2 Error Indicator The

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-9 Safeguards should be an integral part of a work cell des

DS2100 User's Manual

SECTION 6: CANOPEN INTERFACE DS2100 User's Manual C27750-001 PAGE 6-25 6.13 Additional Functionality Configuration The additional functiona

DS2100 User's Manual SECTION 6:CANOPEN INTERFACE PAGE 6-26 C27750-001 6.13.3 SYNC Transmit In some applications it may be necessary for the

SECTION 6:CANOPEN INTERFACE DS2100 User'

DS2100 User's Manual SECTION 6:CANOPEN INTERFACE PAGE 6-28

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-1 SECTION 7: CANOPEN DRIVE PROFILE: DS402

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-2 C27750-001 TABLE OF CONTENTS SECTION 7: CANOPEN DRIVE PROFILE: DS402...

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-3 7.1 Introduction CAN is an abbreviation for the Controller Area

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-4 C27750-001 7.3 Acronyms and Abbreviations CAN Controller Area Network; I

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-5 7.6 Overview DS402 particularly focuses on the demand generation

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-10 C27750-001 2.2.3 Safety Requirements for Cables a) Requirem

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-6 C27750-001 7.7 Emergency Messages Error messages are triggered by interna

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-7 Index Name Comment 0x1000 device type Value =0x20192, (ser

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-8 C27750-001 GENERAL ISSUES 1. The standard lists all four RPDO’s and TP

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-9 7.9 Motor/Drive Parameters All DS402 motor parameters are optio

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-10 C27750-001 7.9.1 Motor / Drive Parameters Parameter Name CANopen In

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-11 manual mode velocity limit 0x6510 22 no f32 r/w 10.0 0.

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-12 C27750-001 7.10 Device Control The following table lists the parameters

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-13 Bits 0…3, and Bit 7 in the control word control the transitions

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-14 C27750-001 Figure 7.6 Status Word Bits The modes of operation reflect

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-15 6. The manufacturer specific bits are not used or set in the c

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-11 The following table details the recommended cable dimensi

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-16 C27750-001 7.10.1 Device Control Parameters Parameter Name CANopen Inde

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-17 7.11 Factors Group A group of parameters are defined in DS402 f

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-18 C27750-001 Fractional types are implemented as arrays consisting of unsi

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-19 When values are written to the parameters above, the output par

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-20 C27750-001 ROTATIONAL EXAMPLE Consider the case of a rotational example

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-21 121012160600=×⎟⎟⎠⎞⎜⎜⎝⎛×= velocity unit per motor rpm 655366553

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-22 C27750-001 LINEAR EXAMPLE Consider the case of a linear example as show

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-23 )(10sec__60__1xVelNotIndexPosNotIndeunitsposratiogearunitsvelco

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-24 C27750-001 GENERAL ISSUES 1) The current draft of DS402 standard does

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-25 Value Error Code Comment 1 POS_2_INC_ERROR Error Setting

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-12 C27750-001 Wherever possible, insulated conductors and cables that

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-26 C27750-001 7.11.1 Factor Group Parameters Parameter Name CANopen Index

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-27 ds402 velocity encoder factor denominator 0x6094 2 yes u32 r

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-28 C27750-001 7.12 Direct Torque Mode (Manufacturer Specific) A manufactur

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-29 CONTROL WORD 1. The control word implements the halt bit, as

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-30 C27750-001 7.12.1 Direct Torque Mode Parameters Parameter Name CANopen

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-31 switching frequency 0x60F7 1 no u32 r - - - Hz N A 1194 curre

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-32 C27750-001 7.13 Direct Velocity Mode (Manufacturer Specific) A manufact

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-33 Figure 7.14 Direct Velocity Mode Status Word. GENERAL ISSUE

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-34 C27750-001 7.13.1 Direct Velocity Mode Parameters Parameter Name CANop

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-35 7.14 Profile Velocity Mode In this mode, a target velocity is i

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-13 f) Wiring Practices - Identification of the protective co

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-36 C27750-001 1. A target reached bit is implemented, indicating that the

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-37 7.14.1 Profile Velocity Mode Parameters Parameter Name CANope

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-38 C27750-001 ds402 modes of operation display 0x6061 0 yes s08 r 0

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-39 7.15 Direct Position Mode (Manufacturer Specific) In this mode,

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-40 C27750-001 STATUS WORD 1. The status word is implemented as specified

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-41 If the immediate bit is cleared, is allows for a request-respon

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-42 C27750-001 7.15.1 Direct Position Mode Parameters Parameter Name CANop

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-43 7.16 Profile Position Mode In this mode, a target position is i

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-44 C27750-001 Figure 7.22 Profile Position Mode Control Word 2. The “

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-45 5. The target reached bit is set for both relative and absolut

SECTION 1: DS2100 OVERVIEW DS2100 User's Manual C27750-001 PAGE 1-1 SECTION 1: DS2100 OVERVIEW

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-14 C27750-001 Flexible conduit or flexible multi-conductor cable shal

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-46 C27750-001 SAMPLE SETUP The following section gives an example of a typ

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-47 7.16.1 Profile Position Mode Parameters Parameter Name CANopen

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-48 C27750-001 GENERAL PA

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-49 7.17 Interpolated Position Mode The Interpolated Position Mode

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-50 C27750-001 The buffer can be organised in 2 different ways, as either R

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-51 The following table lists the parameters relating to Interpolat

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-52 C27750-001 STATUS WORD 1. The status word is implemented as specified

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-53 9. In the case of 2 entries in the data record, the user must

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-54 C27750-001 SAMPLE SETUP The following section gives an example of a typ

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-55 7.17.1 Interpolated Position Mode Parameters Parameter Name CA

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-15 2.2.4 EMC requirements for cables Avoid close par

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-56 C27750-001 ds402 interp. sync definition every nth event 0x60C3 2 yes

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-57 7.18 Homing Mode The homing method is used to determine the hom

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-58 C27750-001 Index Name Type Comment 0x607C home offset S32 Differ

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-59 CONTROL WORD 1. The control word is implemented as specified i

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-60 C27750-001 Val. State Description 2 Check neg. limit switch Error s

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-61 6. The default operation of the limit switches is to be activ

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-62 C27750-001 15. The operation of the homing method requires on certain

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-63 7.18.1 Homing Mode Parameters Parameter Name CANopen Index CAN

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-64 C27750-001 7.19 Velocity Control Function The DS402 standard defines a

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-65 4. The standard lists the velocity control record as an array

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-16 C27750-001 2.3 Electromagnetic Compatibility (EMC) The DS

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-66 C27750-001 7.19.1 Velocity Control Parameters Parameter Name CANopen

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-67 7.20 Position Control Function The DS402 standard defines a num

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-68 C27750-001 3. The position window and following error window functions

SECTION 7: CANOPEN DRIVE PROFILE : DS402 DS2100 User’s Manual C27750-001 PAGE 7-69 7.20.1 Position Control Parameters Parameter Name CANopen Index

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402 PAGE 7-70 C27750-001 PAGE INTENTIONALLY BLANK

APPENDIX A: DATA LOGGER DS2100 User's Manual C27750-001

DS2100 User's Manual APPENDIX A: DATA LOGGER PAGE A-2 C27750-001 TABLE OF CONTENTS APPENDIX A DATA LOGGER...

APPENDIX A: DATA LOGGER DS2100 User's Manual C27750-001

DS2100 User's Manual APPENDIX A: DATA LOGGER PAGE A-4 C27750-001 A.1.2 Time base The data logger normally runs at the main interrupt f

APPENDIX A: DATA LOGGER DS2100 User's Manual C27750-001

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-17 Shielded cable is required to be installed by the user for

DS2100 User's Manual APPENDIX A: DATA LOGGER PAGE A-6 C27750-001 A.1.5 Example 1. set trigger mode to stop (trigger_mode = 0x03) 2.

APPENDIX A: DATA LOGGER DS2100 User's Manual C27750-001 PAGE A-7 A.1.6 Data logger parameters Parameter Name CANopen Index CANope

DS2100 User’s Manual APPENDIX A: DATA LOGGER PAGE A-8 C27750-001 A.1.7 Trigger parameters Parameter Name CAN

APPENDIX A: DATA LOGGER DS2100 User's Manual C27750-001 PAGE A-9 A.1.8 Data logger scaling and output parameters Parameter Name C

DS2100 User’s Manual APPENDIX A: DATA LOGGER PAGE A-10

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-1 APPENDIX B GUI

DS2100 User's Manual APPENDIX B: GUI PAGE B-2 C27750-001 B.1 Contents APPENDIX B GUI...

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-3 B.3.16.34 Limiting Status...

DS2100 User's Manual APPENDIX B: GUI PAGE B-4 C27750-001 B.2 Introduction This manual describes the installation and operation of t

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-5 B.3 Getting Started / Common Features B.3.1 Introduction Moog WinDrive is a g

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-18 C27750-001 L1 The following table details the mechanical dimension

DS2100 User's Manual APPENDIX B: GUI PAGE B-6 C27750-001 B.3.4 Main Window The Main Window is displayed after selecting a controller

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-7 B.3.8 Navigator The Navigator is one of the four large panels in the Main Wind

DS2100 User's Manual APPENDIX B: GUI PAGE B-8 C27750-001 B.3.9 Panel View The Panel View is one of the four large panels in the Main

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-9 B.3.11 Event Logger The Event Logger is one of the four large panels in the M

DS2100 User's Manual APPENDIX B: GUI PAGE B-10 C27750-001 Log Write Parameter The Log Write Parameter toggle button needs to be d

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-11 Play Macro Clicking the Play Macro button commences playing the currently l

DS2100 User's Manual APPENDIX B: GUI PAGE B-12 C27750-001 B.3.15 Driver The Moog WinDrive Driver runs as a separate process from t

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-13 B.3.16 Panel Descriptions B.3.16.1 RS232 Interface Mode • Controller Mo

DS2100 User's Manual APPENDIX B: GUI PAGE B-14 C27750-001 B.3.16.2 Software ID The Software ID panel allows the user to see embedde

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-15 B.3.16.5 Control with GUI The Control with GUI panel allows the user to cont

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-19 EMC filter can produce high leakage currents to ground (Pr

DS2100 User's Manual APPENDIX B: GUI PAGE B-16 C27750-001 B.3.16.6 Control with Step Function Generator The Control of Drive with S

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-17 B.3.16.7 Control with Sine Function Generator The Control of Drive with Sine

DS2100 User's Manual APPENDIX B: GUI PAGE B-18 C27750-001 B.3.16.8 CANOpen Setup Configuration The CANOpen Setup Configuration pan

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-19 B.3.16.9 CANOpen Non-Standard Features This panel provides access to some add

DS2100 User's Manual APPENDIX B: GUI PAGE B-20 C27750-001 B.3.16.10 CANOpen State • CANOpen State → This parameter allows the us

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-21 B.3.16.11 DS402 Factor Group Input The DS402 Factor Group Input Parameters p

DS2100 User's Manual APPENDIX B: GUI PAGE B-22 C27750-001 B.3.16.12 DS402 Factor Group Output The DS402 Factor Group Output panel a

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-23 B.3.16.13 DS402 Supported Drive Modes The DS402 Supported Drive Modes panel

DS2100 User's Manual APPENDIX B: GUI PAGE B-24 C27750-001 B.3.16.14 DS402 Common Entries This panel displays parameters that are com

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-25 B.3.16.15 DS402 Device Control Parameters • Control Word → This paramete

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-20 C27750-001 All external Regen (Regenerative circuit) resistor

DS2100 User's Manual APPENDIX B: GUI PAGE B-26 C27750-001 B.3.16.16 DS402 Control Word The DS402 Control Word panel allows the user

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-27 B.3.16.17 DS402 Status Word The DS402 Status Word panel allows the user to se

DS2100 User's Manual APPENDIX B: GUI PAGE B-28 C27750-001 B.3.16.18 DS402 Direct Torque Mode INPUT PARAMETERS → Allows the user

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-29 B.3.16.19 DS402 Direct Velocity Mode INPUT PARAMETERS → Allows the user t

DS2100 User's Manual APPENDIX B: GUI PAGE B-30 C27750-001 B.3.16.20 DS402 Profile Velocity Mode In this mode, a target velocity

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE B-31 B.3.16.21 DS402 Direct Position Mode In this mode, a target position is s

DS2100 User's Manual APPENDIX B: GUI PAGE 32 B.3.16.22 DS402 Profile Position Mode In this mode, a target position

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 33 FEEDBACK PARAMETERS → Allows the user to see the value of the three feedback pa

DS2100 User's Manual APPENDIX B: GUI PAGE 34 B.3.16.23 DS402 Interpolated Position Mode This mode is used to contro

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 35 • Inter. Sync Defn every nth event → interpolation synchronization performed a

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-21 Figure 2.3 DS2100 µA Cable Shield Terminations

DS2100 User's Manual APPENDIX B: GUI PAGE 36 B.3.16.24 DS402 Homing Mode This method is used to determine the home

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 37 FEEDBACK PARAMETERS → Allows the user to see the value of the four feedback

DS2100 User's Manual APPENDIX B: GUI PAGE 38 B.3.16.25 CAN Receive/Transmit PDO 1 - PDO 2 – PDO 3 – PDO 4 The dr

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 39 B.3.16.26 Position Mode Preset The Position Mode Preset panel allows the u

DS2100 User's Manual APPENDIX B: GUI PAGE 40 B.3.16.27 Velocity Mode Preset The Velocity Mode Preset panel allows

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 41 B.3.16.28 Torque Mode Preset The Torque Mode Preset panel allows the user t

DS2100 User's Manual APPENDIX B: GUI PAGE 42 B.3.16.29 Feedback Sources The Feedback Sources panel allows the user

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 43 B.3.16.30 Limiting Configuration The Limiting Configuration panel allows the

DS2100 User's Manual APPENDIX B: GUI PAGE 44 B.3.16.31 I2T Limiting The I2T Limiting panel allows the user to set the

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 45 B.3.16.32 Thermal Limiting The Thermal Limiting panel allows the user to set th

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-22 C27750-001 Figure 2.4 DS2100 A & B Cable Shield Terminations

DS2100 User's Manual APPENDIX B: GUI PAGE 46 For the bridge the parameters are: • End Bridge temp. → read only value

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 47 B.3.16.33 Manual Mode Limiting The Manual Mode Limiting panel allows the user t

DS2100 User's Manual APPENDIX B: GUI PAGE 48 B.3.16.34 Limiting Status The Limiting Status panel allows the user to se

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 49 B.3.16.35 Current Loop The Current Loop panel allows the user to set/read the c

DS2100 User's Manual APPENDIX B: GUI PAGE 50 FEEDBACK • iq demand (pre thermal limiting) (A) → The requested curren

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 51 B.3.16.36 Velocity Loop Compensators The Velocity Loop Compensators panel allo

DS2100 User's Manual APPENDIX B: GUI PAGE 52 B.3.16.37 Position PI Loop Compensators The Position PI Loop Compensator

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 53 B.3.16.38 Position TO Loop Compensators The Position TO Loop Compensators pane

DS2100 User's Manual APPENDIX B: GUI PAGE 54 B.3.16.39 Nominal Bus Voltage The Nominal Bus Voltage panel allows the

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 55 B.3.16.40 SOFTSTART VOLTAGE PARAMETERS The Softstart panel allows the user to

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-23 Figure 2.5 DS2100 C Cable Shield Terminations

DS2100 User's Manual APPENDIX B: GUI PAGE 56 B.3.16.41 Continuous Bus Voltage The Continuous Bus Voltage panel shows

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 57 B.3.16.42 Generic Filters The Generic Filters panel allows the user to set the

DS2100 User's Manual APPENDIX B: GUI PAGE 58 B.3.16.43 Velocity Feedback Filters The Velocity Feedback Filters panel

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 59 B.3.16.44 Command Direction The Command Direction panel allows the user to set

DS2100 User's Manual APPENDIX B: GUI PAGE 60 B.3.16.45 Current Limits The Current Limits panel allows the user to see

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 61 B.3.16.46 Velocity Limits The Velocity Limits panel allows the user to set the

DS2100 User's Manual APPENDIX B: GUI PAGE 62 B.3.16.47 Acceleration Limits The Acceleration Limits panel allows the us

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 63 B.3.16.48 Regen Parameters The Regen Parameters panel allows the user to see an

DS2100 User's Manual APPENDIX B: GUI PAGE 64 B.3.16.49 Internal Regen The Internal Regen panel allows the user to see

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 65 B.3.16.50 External Regen The External Regen panel allows the user to see the ex

DS2100 User's Manual SECTION 1: DS2100 OVERVIEW PAGE 1-2 C27750-001 TABLE OF CONTENTS SECTION 1: DS2100 OVERVIEW...

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-24 C27750-001 Figure 2.6 DS2100 D Cable Shield Terminations

DS2100 User's Manual APPENDIX B: GUI PAGE 66 B.3.16.51 Digital Input Configuration The Digital Input Configuration pa

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 67 DIGITAL INPUT (1, 2, 3, 4, 5, 6, 7) • Configuration → Associate a function

DS2100 User's Manual APPENDIX B: GUI PAGE 68 B.3.16.52 Digital Output Configuration The Digital Output Configuration

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 69 B.3.16.53 Motor Parameters The Motor Parameters panel allows the user to set/re

DS2100 User's Manual APPENDIX B: GUI PAGE 70 B.3.16.54 Resolver Parameters The Resolver Parameters panel allows the us

APPENDIX B: GUI DS2100 User's Manual C27750-001 PAGE 71 B.3.16.55 Encoder Parameters The Encoder Parameters panel allows the user to se

DS2100 User's Manual APPENDIX B: GUI PAGE B-72 B.3.16.56 Commutation Parameters The Commutation Parameters panel allows the user to set the

APPENDIX B: GUI DS2100 User's Manual PAGE B-73 B.3.16.57 Moog Standard Motors: Full Database Select a motor by double-clicking on the

DS2100 User's Manual APPENDIX B: GUI PAGE B-74 B.3.16.58 Moog Nonstandard Motors The ‘Create Entry’ button allows the user to create a n

APPENDIX B: GUI DS2100 User's Manual PAGE B-75 On selecting the Moog Nonstandard Motors tab again, the new non-standard motor is includ

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-25 Figure 2.7 DS2100 E Cable Shield Terminations

DS2100 User's Manual APPENDIX B: GUI PAGE B-76 B.3.16.59 Status The Status panel allows the user to see the state of all status bytes. Op

APPENDIX B: GUI DS2100 User's Manual PAGE B-77 B.3.16.60 General Status Byte GENERAL STATUS BYTE : • Shared Resources Status → Show

DS2100 User's Manual APPENDIX B: GUI PAGE B-78 B.3.16.61 Board Status Byte 1 DIGITAL BOARD STATUS BYTE 1 : • FPGA Configuration Trans

APPENDIX B: GUI DS2100 User's Manual PAGE B-79 B.3.16.62 Board Status Byte 2 DIGITAL BOARD STATUS BYTE 2 : • COM1 loopback → The r

DS2100 User's Manual APPENDIX B: GUI PAGE B-80 B.3.16.63 Board Status Byte 3 DIGITAL BOARD STATUS BYTE 3 : • COM2 loopback → The resu

APPENDIX B: GUI DS2100 User's Manual PAGE B-81 B.3.16.64 Board Status Byte 4 DIGITAL BOARD STATUS BYTE 4 : • TPU Initialisation →

DS2100 User's Manual APPENDIX B: GUI PAGE B-82 B.3.16.65 Exception Status Byte 1 The processor exceptions indicate serious internal fa

APPENDIX B: GUI DS2100 User's Manual PAGE B-83 B.3.16.66 Exception Status Byte 2 The processor exceptions indicate serious internal f

DS2100 User's Manual APPENDIX B: GUI PAGE B-84 B.3.16.67 Exception Status Byte 3 The processor exceptions indicate serious internal faul

APPENDIX B: GUI DS2100 User's Manual PAGE B-85 B.3.16.68 Memory Status Byte 1 MEMORY STATUS BYTE 1 : • NVM Write → Indicates a pro

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-26 C27750-001 2.4 UL Requirements Detailed below are the specific UL

DS2100 User's Manual APPENDIX B: GUI PAGE B-86 B.3.16.69 Memory Status Byte 2 MEMORY STATUS BYTE 2 : • Power Save NVM Checksum → Indi

APPENDIX B: GUI DS2100 User's Manual PAGE B-87 B.3.16.70 Power Status Byte 1 POWER STATUS BYTE 1 : • Bus Over-Voltage → Indicates

DS2100 User's Manual APPENDIX B: GUI PAGE B-88 B.3.16.71 Power Status Byte 2 POWER STATUS BYTE 2 : • 3.3 V Supply → Indicates whether

APPENDIX B: GUI DS2100 User's Manual PAGE B-89 B.3.16.72 Software Status Byte 1 SOFTWARE STATUS BYTE 1 : • Programming Fault → Thi

DS2100 User's Manual APPENDIX B: GUI PAGE B-90 B.3.16.73 Software Status Byte 2 SOFTWARE STATUS BYTE 2 : • Rate Task 1 Time Overrun →

APPENDIX B: GUI DS2100 User's Manual PAGE B-91 B.3.16.74 Database Status Byte PARAMETER DATABASE STATUS BYTE : • Database NVM Fau

DS2100 User's Manual APPENDIX B: GUI PAGE B-92 B.3.16.75 CANOpen Status Byte CANOPEN STATUS BYTE : • Bus Off → Indicates that the dri

APPENDIX B: GUI DS2100 User's Manual PAGE B-93 B.3.16.76 Drive Status Byte 1 DRIVE STATUS BYTE 1 : • Loss of Encoder Fault → Indica

DS2100 User's Manual APPENDIX B: GUI PAGE B-94 B.3.16.77 Drive Status Byte 2 DRIVE STATUS BYTE 2 : • Enable Attempted → Indicates that

APPENDIX B: GUI DS2100 User's Manual PAGE B-95 B.3.16.78 Drive Status Byte 3 DRIVE STATUS BYTE 3 : • Drive OK→ Shows the drive reso

SECTION 2: SAFETY & EMC INSTRUCTIONS DS2100 User's Manual C27750-001 PAGE 2-27 • Motor Overload Protection: The DS2100 does not incorpor

DS2100 User's Manual APPENDIX B: GUI PAGE B-96 B.3.16.79 Drive Status Byte 4 DRIVE STATUS BYTE 4 : • DSP Phase A Current Offset → Indi

APPENDIX B: GUI DS2100 User's Manual PAGE B-97 B.3.16.80 Drive Status Byte 5 DRIVE STATUS BYTE 5 : • Resolver Sine Out Of Range → t

DS2100 User's Manual APPENDIX B: GUI PAGE B-98 B.3.16.81 Diagnostic Information DIAGNOSTIC INFORMATION PARAMETERS : • Digital Input Sta

APPENDIX B: GUI DS2100 User's Manual PAGE B-99 B.3.16.82 Clear Faults The Clear Faults panel allows the user to attempt to clear all t

DS2100 User's Manual APPENDIX B: GUI PAGE B-100 B.3.16.83 Temperatures The Temperature panel allows the user to see the values of motor, br

APPENDIX B: GUI DS2100 User's Manual PAGE B-101 B.3.16.84 Voltages The Voltages panel displays the actual voltage. VOLTAGE STATUS :

DS2100 User's Manual APPENDIX B: GUI PAGE B-102 B.3.16.85 ETI’s The ETI panel allows the user to see the Elapsed Time Indicators. ELAPS

APPENDIX B: GUI DS2100 User's Manual PAGE B-103 B.3.16.86 Drive Parameter Load/Save The Drive Parameter Load/Save panel allows the us

DS2100 User's Manual APPENDIX B: GUI PAGE B-104 B.3.16.87 Encoder Parameter Load/Save The Encoder Parameter Load/Save panel allows the u

APPENDIX B: GUI DS2100 User's Manual PAGE B-105 B.3.16.88 Parameter Database This is the database of all parameters implemented in the s

DS2100 User's Manual SECTION 2: SAFETY & EMC INSTRUCTIONS PAGE 2-28 C27750-001 Page Intentionally Blank

DS2100 User's Manual APPENDIX B: GUI PAGE B-106 B.3.16.89 Oscilloscope The DS2100 configuration of WinDrive contains the above Oscillosco

APPENDIX B: GUI DS2100 User's Manual PAGE B-107 First Sample On Screen: This represents the horizontal offset of the display area with re

DS2100 User's Manual APPENDIX B: GUI PAGE B-108 B.3.16.90 Firmware Upgrade The firmware upgrade panel provides access to functions that r

APPENDIX B: GUI DS2100 User's Manual PAGE B-109 B.3.16.91 Parameter Database Upload The parameter database used in the GUI is synchro

DS2100 User's Manual APPENDIX B: GUI PAGE B-110 B.3.16.93 Configuration Upload

APPENDIX B: GUI DS2100 User's Manual PAGE B-111 This function allows the user to upload the values for all of the configuration paramet

DS2100 User's Manual APPENDIX B: GUI PAGE B-112 B.3.16.94 Configuration Download This function allows the user to download a configuration

APPENDIX B: GUI DS2100 User's Manual PAGE B-113

DS2100 User's Manual APPENDIX B: GUI PAGE B-114 B.3.16.96 Fault History This panel allows the user to examine the internal event log of t

APPENDIX B: GUI DS2100 User's Manual PAGE B-115 B.3.16.97 Device Information This panel displays useful information: Device Name – Mo

SECTION 3: WIRING AND INSTALLATION DS2100 User's Manual C27750-001 PAGE 3-1 SECTIO

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SECTION 1: DS2100 OVERVIEW DS2100 User's Manual C27750-001 PAGE 1-3 1.1 Introduction This section gives an overview of the available DS2100

DS2100 User's Manual

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DS2100 User's Manual SECTION 1: DS2100 OVERVIEW PAGE 1-4 C27750-001 1.2 DS2100 Models The DS2100 family is available in nine base mode

DS2100 User's Manual

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SECTION 1: DS2100 OVERVIEW DS2100 User's Manual C27750-001 PAGE 1-5 G361 X X X XX X - XX - XXXModel Series DesignatorCurrent Model Design Sta

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DS2100 User's Manual SECTION 1: DS2100 OVERVIEW PAGE 1-6 C27750-001 Moog also provides and recommends a variety of accessories for the

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SECTION 1: DS2100 OVERVIEW DS2100 User's Manual C27750-001 PAGE 1-7 1.3 Environmental Specifications DS2100 Electronics Temperature for sto

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