Emerson 400276-01 operation manual External Drive Interface, Command Signals

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525 Programmable Motion Controller

The 525 PMC uses PCX Version 6.02 or newer for setup, calibration and programming. A single PCX program can control multiple axes including a mixture of Positioning Drives and 525 PMC's.

All 525 PMC gain settings are pre-programmed and can be changed from PCX software (see PCX 6.X Operators Manual P/N 400240-01). A fine position loop adjustment is provided on the front of the 525 PMC which allows you to fine tune the system without requiring a personal computer. The servo amplifier and the 525 relationship is determined by a programmable command voltage to RPM ratio with a default of 10 volts = max RPM of the motor.

The 525 PMC is designed accept a series of application modules called "PCM" modules. The PCMs are attached by simply plugging them onto the front of the 525 PMC. The PCM modules are designed to share the 525's power supply and include 12 additional optically isolated inputs/outputs (making a total of 24).

The 525 PMC can operate with either 115 or 220 VAC single phase power (switch selectable). The 525 PMC includes a pulse follower mode (see "Operating Modes" on page 4).

External Drive Interface

The 525 PMC is designed to be used with common servo drive systems. A perfect match is a servo drive that has a +/- 10 volt input equalling +/- maximum velocity and an encoder feedback signal that equates to the actual motor position.

Command Signals

The 525 PMC command signal tells the servo amplifier (by the polarity and level of the command) how fast and in what direction to move. The feedback position is compared to the command position to determine whether the motor is doing what it has been commanded to do. If an error between command and feedback exists, the error is multiplied by a programmable gain and used to add or subtract the command to the amplifier.

The input velocity scaling of the external drive must match the 525 PMC command output scaling. By using the PCX system calibration screens, you can modify the Calibrated Velocity and the Calibrated Velocity Command Voltage. Using these values the 525 PMC is able to provide the proper command voltage with minimum error.

Some drives have little or no speed regulation below 10% to 40% of the command signal. Although this may be ok for simple velocity control, the 525 PMC must control the speed from zero to ± full velocity. Without low speed regulation the 525 PMC cannot accelerate to the commanded speed without gross positional errors and a possible fault condition.

The ability to accelerate or decelerate a load is a function of the external drive. The 525 PMC will linearize the velocity profile through positional feedback control. The overall performance of the 525 PMC is tied directly to the drive's performance. The 525 PMC's ability to generate a command signal in excess of any particular drive's capability does not mean that the 525 PMC can improve that drive's capability to produce torque.

Special compensation of a specific amplifier may be required to accommodate a specific application or load mismatch. Consult with the amplifier manufacturer for specific details.

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Contents Programmable Motion Controller Installation Programmable Motion Controller Programmable Motion Controller Disclaimer Introduction Product OverviewCommand Signals External Drive InterfaceAnalog Mode Indexing ModePulse Mode Operating ModesProgrammable Motion Controller Installation Overview SafetyAC Input Line GroundingElectrical Noise System Grounding illustrationWiring Layout Magnetic Coil NoiseShielding Selecting An Enclosure Enclosure SizeEncoder Feedback Encoder Model SDC-15-1, 1024 Line DensityEncoder Sine Wave Signals Encoder, Model SDC-25-1, 1024 Line DensityEncoder Square Wave Signals Encoder Signal QualityEncoder Feedback Cables Model SDC-15-1 Encoder ConnectionsExternal Drive Connections To The 525 PMC Signal DiscriptionsEncoder input signals Encoder +5VDC supplySignal Path Command + and Command OutputCommand Output Polarity ShieldDrive Enable Outputs Feedback CurrentInputs 1 Drive Enable Outputs Drive Reset OutputsMinimum System Configuration Minimum System ConfigurationControl Interface Command Device Operating ModesControl Mode Selection Dip Switches/Mode Selection Factory Defaults ShownPulse Mode Pulse ModeCommand Connector Circuit Example Of Sinking/Sourcing Connections Analog Mode Velocity or Torque Analog Velocity/Torque ModeCommand Input Circuit Serial a Multi-Drop ConfigurationSerial Interface Serial BDip Switch Settings Multi-Drop ConnectionDip Switches Factory Defaults Shown Dip Switch Function Descriptions Serial CablesTIX-XXX & TIA-XXX Wiring Diagrams 525 PMC To IBM Serial Port Input Output Interface O NomenclatureInput and Output Wiring, Sinking and Sourcing Input and Output FunctionsInstallation of Application Modules PCM Modules I/O ConnectionsO Connections IOM-1 And PCM Modules Fault Polarity Setting the Fault Input PolarityOverview Fault Input Setup Fault System CalibrationSetting the System Calibration System Calibration Calibrate VelocitySystem Calibration Encoder Lines System Calibration Index Number System Calibration Position Loop Gain System Calibration Adjustment Range Programmable Motion Controller Specifications Mounting Information Mounting Information
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