Everything’s possible.

DriveWare® 7
User Guide

Setup Software
Operator’s Manual
www.a-m-c.com
MNDGDWUG-12
 Preface

ADVANCED Motion Controls constantly strives to improve all of its products. We review the information in
this document regularly and we welcome any suggestions for improvement. We reserve the right to modify
equipment and documentation without prior notice.

For the latest revision of this manual, visit the company’s website at www.a-m-c.com. Otherwise, contact
the company directly at:

ADVANCED Motion Controls  3805 Calle Tecate Camarillo, CA  93012-5068 USA

This manual is for the exclusive use of ADVANCED Motion Controls. The reproduction, transmission or
use of this document or its contents is prohibited without the expressed written permission of ADVANCED
Motion Controls.

© 2018 ADVANCED Motion Controls. All rights reserved.

General Safety

You must install and operate ADVANCED Motion Controls motion control equipment so that
you meet all applicable safety requirements. Ensure that you identify the relevant standards
and comply with them. Failure to do so may result in damage to equipment and personal
injury.

Read this entire manual prior to attempting to install or operate the drive. Become familiar
with practices and procedures that allow you to operate these drives safely and effectively.
You are responsible for determining the suitability of this product for the intended
application. ADVANCED Motion Controls is neither responsible nor liable for indirect or
consequential damages resulting from the inappropriate use of this product.

High-performance motion control equipment can move rapidly with very high forces.
Unexpected motion may occur especially during product commissioning. Keep clear of any
operational machinery and never touch them while they are working.

MNDGDWUG-12 ii
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Keep clear of enclosed units, motor terminals, and transformer terminals when power is
applied to the equipment. Follow these safety guidelines:
• Always turn off the main power and allow sufficient time for complete discharge before
making any connections to the drive.
• Make sure that the minimum inductance requirements are met. Pulse Width
Modulated (PWM) amplifiers deliver a pulsed output that requires a minimum amount
of load inductance for proper operation.
• Do not rotate the motor shaft without power. The motor acts as a generator and will
charge up the power supply capacitors through the amplifier. Excessive speeds may
cause over-voltage breakdown in the power output stage. Note that an amplifier
having an internal power converter that operates from the high voltage supply will
become operative.
• Do not short the motor leads at high motor speeds. When the motor is shorted, its own
generated voltage may produce a current flow as high as 10 times the amplifier
current. The short itself may not damage the amplifier but may damage the motor.
• Do not make any connections to any internal circuitry. Only connections to designated
connectors are allowed.

ADVANCED Motion Controls, the combined isosceles trapezoid/right triangle logo, and DriveWare are
either registered trademarks or trademarks of ADVANCED Motion Controls in the United States and/or
other countries. All other trademarks are the property of their respective owners.

Document ID Revision Date Changes

MNDGDWUG-03 5.4 7/8/2008 Manual Format Update
- Updated Command Source window information
- Updated Commutation window information
- Added Status Bar section
- Updated Help menu drive information window Software Version and Display the Drive Information
MNDGDWUG-04 5.8.5 1/9/2009
- Changed Working with the Stoplight section to Working with the Command Toolbar, and updated Stoplight
button references throughout to Enable/Disable and Stop buttons
- Updated the Digital Oscilloscope section
- Updated the Tuning and Commutation procedure
- Added Ethernet and USB as connection options when Connecting to the Drive
- Added Troubleshooting information
- Added Control Loop Architecture information
- Changed Positive Target Velocity and Negative Target Velocity event designations to Positive Velocity
Limit and Negative Velocity Limit, respectively
- Added Current Limiting Algorithm information
MNDGDWUG-05 7.0 7/2012 - Updated Current Limits information
- Updated Digital Inputs information
- Added Capture Panel information
- Updated Digital Outputs information
- Added Network Settings information
- Added PDO Configuration information
- Updated for new interface structure
- Added Restricted R/W Mode as an Interface Access Control Option
- Updated Current Loop Tuning procedure for AC Induction motors
MNDGDWUG-06 7.1 6/2013
- Added information for Absolute Encoder (BiSS C-Mode) Feedback Parameters
- Added information for Custom Biquad Filters

MNDGDWUG-12 iii
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Document ID Revision Date Changes

- Added Programmable Limit Switch information
- Added Sequences information
MNDGDWUG-07 7.2 4/2014
- Added Extended I/O information
- Updated Phase Detect information
- Updated Motor Parameters information for EnDat 2.2
MNDGDWUG-08 7.3.0 3/2015
- Updated Motor Parameters information for velocity divider feature
MNDGDWUG-09 7.3.2 7/2015 - Software position limits ignored during homing
- Updated Manual Commutation Procedure information
- Updated Motor Parameters section for Motor Database information
- Added Advanced Commutation information
MNDGDWUG-10 7.4 10/2017
- Added Motor Diagnostics information
- Added Manage Motor Database information
- Updated Dynamic Help information
- Added DriveLibrary as a selectable Command Source option
MNDGDWUG-11 7.4.1 1/2018
- Updated Resolver Feedback Parameters information
- Added Stepper motors as a selection option for motor type
MNDGDWUG-12 7.4.2 5/2018
- Updated information on Absolute Encoder (BiSS C-Mode) Feedback Parameters

MNDGDWUG-12 iv
 Contents

1 Introduction 1

1.1 Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.1.1 Software Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.1.2 Workspace Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Menu Bar and Associated Toolbar Icons . . . . . . . . . . . . . . . 3
System Browser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Status Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Dynamic Help Browser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Status Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Caption Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Using the Setup Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.1 Opening a File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.2 Working with the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Naming the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Connecting to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Disconnecting from the drive . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.3 Hot Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2.4 Working with the Command Toolbar . . . . . . . . . . . . . . . . . 8
1.2.5 Working with the Setup Software Windows . . . . . . . . . . . . 9
Showing/hiding the Toolbars and Caption Bar . . . . . . . . . . 9
Showing/hiding Panels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Arranging the Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Getting Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3.1 Dynamic Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3.2 Technical Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Software Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Display the Drive Information . . . . . . . . . . . . . . . . . . . . . . . 10
1.4 Saving Your Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.4.1 Storing the Changes onto the Drive . . . . . . . . . . . . . . . . . 11

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1.4.2 Saving the Project File onto Your Computer . . . . . . . . . . 11

1.5 Exiting the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2 Connecting to the Drive 12

2.1 Connecting to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.2 Changing Communication Parameters . . . . . . . . . . . . . . . . . . . 14

3 Configuring the Drive 15

3.1 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.1.1 Command Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.1.2 Command Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.2 Loop Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.2.1 Velocity Feedback Source . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.2.2 Position Feedback Source . . . . . . . . . . . . . . . . . . . . . . . . . 20
Auxiliary Encoder Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Auxiliary Encoder Parameters . . . . . . . . . . . . . . . . . . . . . . . 20
3.3 Power-up Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.4 Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4.1 Motor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4.2 Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4.3 Feedback Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4.4 Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.4.5 Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.4.6 Motor Database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Manage Motor Database . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.5 AutoCommutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.6 Encoder Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.7 Inputs / Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.7.1 Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.7.2 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.7.3 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.7.4 Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.7.5 Extended I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.7.6 Programmable Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . 37
3.8 Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

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3.8.1 Current Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

3.8.2 Velocity Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.8.3 Position Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.8.4 Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.8.5 Voltage Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.8.6 Temperature Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.9 Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.9.1 Basic Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.9.2 Advanced Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.10 Network Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Drive Operation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.11 PDO Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.11.1 RPDOs - CAN Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.11.2 TPDOs - CAN Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.11.3 TPDO Events - CAN Drive . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.11.4 RPDOs and TPDOs - Ethernet Powerlink or EtherCAT . . . 47
3.12 Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.12.1 Current Loop Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.12.2 Gain Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Set Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.12.3 Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Velocity Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Custom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.12.4 Advanced Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4 Tuning and Commutation 51

4.1 Current Loop Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Step 1: Inputs/Outputs Configuration setup . . . . . . . . . . . 53
Step 2: Waveform Generator Setup . . . . . . . . . . . . . . . . . . 53
Step 3: Oscilloscope setup . . . . . . . . . . . . . . . . . . . . . . . . . 53
Step 4: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Step 5: (For AC Induction Motors Only) Flux Reference Loop
- Waveform Generator Setup . . . . . . . . . . . . . . . . . . . . . . . 54
Step 6: (For AC Induction Motors Only) Flux Reference Loop
- Oscilloscope Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Step 7: (For AC Induction Motors Only) Flux Reference Loop
- Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Step 8: (For AC Induction Motors Only) Commutation . . 56
4.2 Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

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4.2.1 AutoCommutation™ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
AutoCommutation™ Warnings . . . . . . . . . . . . . . . . . . . . . 58
4.2.2 Manual Commutation Procedure . . . . . . . . . . . . . . . . . . . 59
Setting over speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Performing Manual Commutation (Incremental Encoder,
Sin/Cos Encoder) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Performing Manual Commutation (Absolute Encoder - BiSS,
EnDat, Hiperface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Re-Setting Over Speed Limits . . . . . . . . . . . . . . . . . . . . . . . 61
4.2.3 Advanced Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4.2.4 Phase Detect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.3 Velocity Loop Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Step 1: Waveform Generator setup . . . . . . . . . . . . . . . . . . 64
Step 2: Oscilloscope setup . . . . . . . . . . . . . . . . . . . . . . . . . 64
Step 3: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.4 Position Loop Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Step 1: Waveform Generator setup . . . . . . . . . . . . . . . . . . 66
Step 2: Oscilloscope setup . . . . . . . . . . . . . . . . . . . . . . . . . 67
Step 3: Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

5 Motion Tasks 68

5.1 Motion Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

5.1.1 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.1.2 Indexes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Executing an Index Task . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Dynamic Indexes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
5.1.3 PVT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
How To Construct A PVT Points File . . . . . . . . . . . . . . . . . . . 73
5.1.4 Jogs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Executing a Jog Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.1.5 Sequences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

6 Downloading the Firmware 78

6.1 Prepare for Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

6.2 Open the Firmware Download Window . . . . . . . . . . . . . . . . . . . 78
6.3 Downloading the Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

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A Tools and Functions 80

A.1 Digital Oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Channel Select . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Presets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Trigger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Measure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
A.1.1 Waveform Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
A.1.2 Data Capture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
A.2 Multimeter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
A.3 User Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
A.4 Motion Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Indexes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Dynamic Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
PVT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Motion Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
A.5 Motor Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Procedure Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
A.6 Signal Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Current measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Velocity measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Position measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Commutation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Command Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Interface Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Deadband Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
PWM Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
PLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Capture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
A.7 Drive Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
A.8 Critical Event Activity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
A.9 Event Counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

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 /

B Current Limiting 94

B.1 Understanding the Limit Envelope . . . . . . . . . . . . . . . . . . . . . . . . 94

B.2 Current Limiting Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
B.2.1 Time-Based Peak Current Limiting . . . . . . . . . . . . . . . . . . . 99
B.2.2 Time-Based Non-Peak Current Limiting . . . . . . . . . . . . . . 100
B.2.3 Time-Based Current Recovery . . . . . . . . . . . . . . . . . . . . . 101
B.2.4 Charge-Based Peak Current Limiting . . . . . . . . . . . . . . . 102
B.2.5 Charge-Based Non-Peak Current Limiting . . . . . . . . . . . 103
B.2.6 Charge-Based Current Recovery . . . . . . . . . . . . . . . . . . 104
B.2.7 RMS Current Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
B.3 Calculating Current Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
B.3.1 Example 1: Foldback Current . . . . . . . . . . . . . . . . . . . . . 107
B.3.2 Example 2: Peak Current Recovery . . . . . . . . . . . . . . . . 108

C Control Loop Architecture 109

D Filtering Velocity Feedback 110

D.1 Effects of the Feedback Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

D.1.1 Cutoff Frequency Set to Infinite . . . . . . . . . . . . . . . . . . . 111
D.1.2 Cutoff Frequency Set to 300Hz . . . . . . . . . . . . . . . . . . . . 111
D.1.3 Cutoff Frequency Set to 50Hz . . . . . . . . . . . . . . . . . . . . . 112
D.1.4 Cutoff Frequency Set to 10Hz . . . . . . . . . . . . . . . . . . . . . 112
D.2 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

E Troubleshooting 113

E.1 Setup Software Safety Actions . . . . . . . . . . . . . . . . . . . . . . . . . . 113

E.2 Potential External System Errors . . . . . . . . . . . . . . . . . . . . . . . . . . 113
E.3 Events and I/O Descriptions and Troubleshooting Methods . . 114

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 1 Introduction

This document provides instructions on how to use the setup software to connect to, set up and control digital
servo drives.
These instructions walk you through the commissioning steps necessary to set drive limits, tune the current,
velocity, and position control loops, and assign automated functions to drive events.
The following major sections are covered:
• “Connecting to the Drive” on page 12
• “Configuring the Drive” on page 15
• “Tuning and Commutation” on page 51

Follow the procedures in this chapter to get an overview of many functions. Familiarize yourself with the files
on your computer, the software workspace and controls of the software. Later chapters provide more details in
using these functions.
Before proceeding, you must accomplish the following actions:
 Read the release notes and installation text files for your setup software version.
 Install the setup software.

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 Introduction / Getting Started

1.1 Getting Started

After installing the setup software on your computer, you can run the application from your
Start > Programs menu or desktop icon.

When you first start the setup software, you see the following choices:
• Open - This will allow you to browse through the files on your computer to select a
previously saved project file to open, without having to connect to a drive. The project can
then be configured or modified before downloading the project file into a drive.
• Connect - This will allow you to immediately connect to a drive. The drive can then be set
up and configured for operation, and the information saved as a project file.

1.1.1 Software Files

Look in the folder in which you placed the application; by default, this location is under
C:\Program Files. This folder includes the subdirectories:
• MotorDB holding a library of *.xml database files making up the motor database.
• My Firmware Files holding a library of *.aff firmware files for various drives.
• My Projects holding a library of *.adf project files, each with the parameters and controls
specific to a particular drive-and-motor setup.

1.1.2 Workspace Display

The software provides functions, tools and status to help you set up your drive.
Menu Bar and Associated Toolbar Icons

Caption Bar

Status Panel

System Browser

Dynamic Help

Status Bar

Main Workspace Display

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 Introduction / Getting Started

Menu Bar and Associated Toolbar Icons At the top of the screen are pull down menus
and a toolbar for access to many tools and functions.

Function Menu Pull-down Toolbar Keys

Open a project file File > Open Project Crtl+O

Save a project file to PC Save Project Crtl+S

Save a project file to PC as a file name Save Project As... --- ---
Apply changes made to active window Apply Changes Ctrl+L

Automatically apply changes made Auto Apply Ctrl+U

Close the program Exit --- Alt+F4

Power up or down the bridge Drive > Enable Alt+E

Disable Alt+D

Allow motion to occur or disallow motion by Motion Ready Alt+G

sending a Stop command
Stop Motion Alt+P

Change the active Configuration Switch Configurations Alt+C

Change the active Gain Set Switch Gains Alt+A

Connect to the drive or change connection Connect Ctrl+N

settings once connected
Disconnect from the drive Disconnect Ctrl+D

Store project on the drive Store to drive Alt+O

Upload settings from drive Restore from drive --- ---

Update drive firmware Firmware Download --- ---
Display drive information About Drive --- ---
Turn the Motion Engine on or off Motion Engine > On Alt+R

Reset the Motion Engine Reset Ctrl+R

Open the Scope/Tuning tool Tools > Scope/Tuning Ctrl+E

Open the Multimeter tool Multimeter Ctrl+M

Brings up the Motion Panel window. Motion Panel Ctrl+T

Assign the Disable Drive Hotkey Settings > Hot Key Settings --- ---
Open the User Units window User Units Ctrl+R

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 Introduction / Getting Started

Function Menu Pull-down Toolbar Keys

Show or hide the System Browser View > System Browser --- ---
Show or hide the Status Panel Status Panel --- ---
Show or hide the Caption Bar Caption Bar --- ---
Customize the Toolbar icons Toolbar --- ---
Customize the display themes Theme --- ---
Arrange software windows into horizontal Window > New Horizontal Tab Group --- ---
tabbed group
Arrange software windows into vertical New Vertical Tab Group --- ---
tabbed group
Closes all open tabs Close All Tabs --- ---
Re-arranges all toolbars and panels to their Reset Window Layout --- ---
default locations
Open the software Help file, or display the Help > Help... F1
Dynamic Help Browser
Display software information, version About... --- ---
number, and copyright.

System Browser Navigate between the setup windows to configure the drive. Each panel
contains multiple headings for specific drive parameters. Select a configuration item from the
System Browser to open a window in the main workspace display.

Status Panel The Status Panel provides real-time information on drive events and actions.
• Drive Status - Shows drive events (current and history) and is a useful troubleshooting tool.
• Critical Event Activity - Lists drive faults and fault events along with the time they occurred.
• Event Counters - Lists the number of times faults have occurred since the drive has been in
operation.

Dynamic Help Browser Dynamic Help tracks user movements through the software
workspace and automatically navigates to the appropriate Help topic in the list. Select a topic
from the Dynamic Help Panel to open a new tab with the Help information. The Dynamic Help
automatic tracking feature can be toggled on or off by clicking the Pause button in the Help
Browser pane. The Back and Forward buttons will navigate between previously viewed
Help Topics.

Status Bar The Status Bar provides information on the drive configuration, bridge state, connection
status, and accessibility. From left to right across the bottom of the workspace window, the
Status Bar provides information on:
• Motion - Displays motion tasks the drive is currently performing when the motion engine
is enabled. Will be blank if no task is currently active.
— Config 0: Configuration 0 is currently selected, and no autonomous modes are active.
— Config 1: Configuration 1 is currently selected, and no autonomous modes are active.
— Ready: Motion Engine is on and the drive is ready to receive commands from the Motion
Engine. No motion tasks are currently active.
— Home: Drive is actively in homing mode.
— Jog: Drive is actively in jog mode.
— Index (# or name): Drive is running an index.

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 Introduction / Getting Started

— Waveform: The Waveform Generator is controlling the axis.

— AutoComm: The AutoCommutation process is controlling the axis.
• Bridge - Shows the status of the drive.
— Enabled: Drive is enabled (note that a Stop condition is considered enabled).
— Disabled: Drive is disabled (note that a Dynamic Brake condition is considered disabled).
• Action - Shows the present bridge action as the result of a drive or system event. Hovering
the mouse pointer over the Action status will display the event causing the action.
— Bridge Disabled: The bridge is disabled.
— Negative Disabled: Disable negative direction action is active.
— Positive Disabled: Disable positive direction action is active.
— Dynamic Braking: Dynamic brake action is active.
— Negative Stopped: Negative stop is active.
— Positive Stopped: Positive stop is active.
— Stopped: Stop is active.
• Comm - Shows whether the setup software is connected to a drive. Hovering the mouse
pointer over the Connection status of a connected drive will provide information about
the connection type.
— Connected: Software is connected to a drive.
— Not Connected: Software is not connected to a drive.
• Access - Shows whether the setup software has full control or monitoring access. Will be
blank if the drive is not connected.
— Read/Write: The drive is connected and the software has Read/Write access (full control).
— Read-Only: The drive is connected and the software has Read-Only access (monitoring only).

Caption Bar Displays details about the current drive configuration.

• Command - Shows the present Command Source (either as configured in the active
Configuration window or as selected for motion, tuning, waveform, or commutation
functions).
• Gains - Displays the presently selected Gain Set.
— Set 0: Gain Set 0 is active.
— Set 1: Gain Set 1 are active.
• Loop Configuration -Displays the present loop configuration.
— Position Around Velocity: All loops are enabled.
— Position Around Current: Only the position and current loops are enabled.
— Velocity: Only the velocity and current loops are enabled.
— Current: Only the current loop is enabled.
• Velocity Feedback - Shows the present velocity feedback device as configured in the
Feedback window.
• Position Feedback - Shows the present position feedback device as configured in the
Feedback window.

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 Introduction / Using the Setup Software

1.2 Using the Setup Software

The setup software provides many tools to configure and monitor the settings for the drive.
Later chapters go into detail about these tools, but briefly, this section describes how to:
• Open a project file
• Name the drive
• Connect to and disconnect from the drive
• Enable and disable the power bridge
• Set the drive behavior when you disable the power bridge
• Use a Hot Key to disable the power bridge
• Show and hide the toolbars
• Move, scroll and arrange the windows

1.2.1 Opening a File

The setup software must be disconnected from the drive before performing this task.
1. To open an existing project file from your computer, perform one of the following actions
— Select File > Open on the main menu bar.
— Click on the Open icon on the tool bar.
2. Browse your computer to the My Projects subdirectory or wherever your project files are
saved, and select a project (.adf extension).

Once opened, you can connect to the drive and if the configuration settings in the drive don’t
match the configuration settings in the setup software, you can choose to either download the
project file configuration settings into the drive, or upload the configuration settings from the
drive into the setup software. For more information, see “Connecting to the Drive” on page 12.

1.2.2 Working with the Drive

There are several tasks you must accomplish to configure and set up the drive. Later chapters
go into detail about these tasks.

Naming the Drive The Drive Name data field allows you to assign a unique name to the drive
(such as "X-Axis"). You may enter a name up to 32 characters.
1. Select Settings from the [DriveName] heading in the System Browser.
2. In the data field, type the name of the drive.
3. Click on the OK button.

Connecting to the Drive You must start communicating with the drive before performing
any configuration and setup. Choose one of these actions:
• Select Drive > Connect on the main menu bar.
• Click on the Connect icon on the tool bar.

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 Introduction / Using the Setup Software

When you connect, you decide whether to upload the configuration settings currently in the
drive or download the current project from the setup software into the drive.

While connected to the drive, the status bar in the lower, right-hand corner of the workspace
reads CONNECTED and you can perform most configuration tasks.

See “Connecting to the Drive” on page 12 for more information.

Disconnecting from the drive When it is time to stop communicating with the drive, you
must disconnect from the drive. Choose one of these actions:
• Select Drive > Disconnect on the main menu bar.
• Click on the Disconnect icon on the tool bar.

After terminating communication with the drive, the status bar in the lower, right-hand side of
the workspace reads NOT CONNECTED.

1.2.3 Hot Key

The Hot Key Settings window allows you to select the behavior associated with a specified Hot
Key. It does not apply to user inhibits or event-related inhibits. Select Settings > Hot Key Settings
on the main menu bar.

This window allows you to assign a Hot Key to either disable the bridge or stop motion.
Disable Bridge The Hot Key will issue a Software Disable. The action associated with a Software Disable may be
specified in the Events window.
Stop Motion The Hot Key will issue a Stop command*.

*Stop behaves differently depending which mode the drive is in. For current mode, Stop will command zero
current. For velocity mode, Stop will decelerate and command a zero velocity. For Position mode, Stop will
decelerate and hold position.

When you press the Hot Key, it is the same action as disabling the drive or stopping motion
through the Menu Bar or clickable icons on the Command Toolbar. You can use the Hot Key at
any time. However, if the Hot Key is set to Stop Motion, it will have no function if the drive is
already disabled. To assign keystrokes for the Hot Key:
1. Select Settings > Hot Key Settings from the menu bar.
This action displays a window allowing you to reassign the key combinations.
2. Make sure the cursor is placed in the edit box.
3. Press any of the function keys (F2-F12).
4. Click the OK button.

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 Introduction / Using the Setup Software

1.2.4 Working with the Command Toolbar

The Command Toolbar has four main functions:
• Controls whether the power bridge circuit is enabled or disabled
• Controls whether the drive is ready to respond to motion commands.
• Switches between user configurations
• Switches between gain sets

In later chapters, when you actually enable the bridge, the motor will
have power and can move. You must take care so as to avoid damage
to equipment or injuries to people.

Command Toolbar Buttons

Icon Action Description
Clicking on the Enable Button will send an Enable instruction to the drive. If there are
Enable Drive no active errors or digital inputs causing the bridge to be disabled, the bridge will
become enabled, allowing the drive to react to motion commands.
Enable / Clicking on the Disable Button will send a Software Disable instruction to the drive. If
Disable the bridge was enabled prior to clicking the button, the bridge will be disabled. This
Disable Drive action will turn off the power bridge circuit. The Stop/Allow Motion button is greyed
out when the drive is disabled. You may configure events to automatically disable the
bridge from within the Events window.
Clicking on the Motion Button will release the drive from the stopped state. This
action allows the drive to react to motion commands. In order to perform functions in
the setup software such as Phase Detect, AutoCommutation, and tuning tasks,
Motion
motion must be enabled. Keep in mind that when the drive has been set to allow
motion commands, the drive is software enabled, but a hardware event (digital input,
invalid hall state, etc.) could still prevent motion.
Clicking on the Stop Button will send a Stop instruction to the drive. This action
prevents the drive from sending motion commands to the motor such that no
Motion / Stop movement is allowed to occur. Note that stopping motion is not the same as disabling
the power bridge. The bridge will still be enabled when motion has been stopped. The
behavior of a Stop command depends on the mode of operation the drive is in. If the
drive is controlling velocity or position, the motor will decelerate according to the
Stop
deceleration limit (specified in the Stop window). When the motor has decelerated to
zero speed, it will continue to servo in this state until the Stop is released or the bridge
becomes disabled. If the drive is controlling current, activating the Stop will issue a
zero current command to the drive. A zero current command will continue until the
Stop is released or the bridge becomes disabled. You may configure events to
automatically Stop motion from within the Events window.
Clicking on the Switch Active Configuration button will change the active user
Switch Active Switch Active configuration from Configuration 0 to Configuration 1, or vice versa. Settings for the
Configuration Configuration user configurations can be configured under Configuration 0 or Configuration 1 in the
System Browser. The Caption Bar will display the currently active user configuration.
Clicking on the Switch Active Gain Set button will change the active gain set from
Switch Active Switch Active Gain Set 0 to Gain Set 1, or vice versa. Values for the gain sets can be input under
Gain Set Gain Set Tuning > Gain Set 0 or Gain Set 1 in the System Browser. The active gain set can
also be assigned in the user configuration windows.

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 Introduction / Using the Setup Software

1.2.5 Working with the Setup Software Windows

The setup software allows for customization of the workspace display for selected features.

Showing/hiding the Toolbars and Caption Bar To allow more room in the
workspace, you can hide the Toolbar icons and Caption Bar. It is recommended to leave the
Toolbars and Caption Bar visible.

To show/hide the toolbars:

1. Select View > Toolbars on the main menu bar.
2. Select or deselect the desired Toolbars, depending on your preference.
3. Alternatively, select the drop-down arrow at the end of each portion of the Toolbar, and
using the Add or Remove Buttons option, choose which icons and customization
selections to have visible.
4. Each portion of the Toolbar can also be dragged off into a floating menu by clicking and
dragging on the Toolbar handle for each portion.

To show/hide the Caption Bar:

1. Select View > Caption Bar to show/hide the Caption Bar.

Showing/hiding Panels To allow more room in the workspace, you can hide the System
Browser, Status Panel, and the Dynamic Help panel. It is recommended to leave all the panels
visible.
1. Select View > System Browser or View > Status Panel to show/hide the System Browser or
Status Panel, respectively.
2. Select Help > Dynamic Help to show/hide the Dynamic Help panel.

Arranging the Windows

• To arrange open windows into a tabbed group, select either New Vertical Tab Group or
New Horizontal Tab Group from the Window menu. Note that not all windows are able to
be arranged into tabbed groups. Typically it is recommended to use the tabbed grouping
option to allow the digital oscilloscope to be visible with the active gain set window to
allow for real-time gain adjustments. It is also helpful to have the Dynamic Help Browser
open in a tabbed group to provide useful information based on the active window.
• To close all open tabs, select Windows > Close All Tabs on the main menu bar.
• To re-arrange all toolbars and panels to their default locations, select Windows > Reset
Window Layout on the main menu bar.

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 Introduction / Getting Help

1.3 Getting Help

The Help topics offer assistance with the setup software. “Troubleshooting” on page 113 in this
manual also offers descriptions and recommended troubleshooting techniques for some
common issues.

To open the help documentation, either:

• Select Help > Help... on the main menu bar.
• Press the F1 key.

1.3.1 Dynamic Help

The Dynamic Help panel offers a direct link to the Help file topic associated with the active
software window. Clicking on certain items or opening certain windows will automatically
shift the Dynamic Help index to the appropriate topic. Click on the topic to open a tab
containing help information.

The Dynamic Help automatic tracking feature can be toggled on or off by clicking the Pause
button in the Help Browser pane. The Back and Forward buttons will navigate
between previously viewed Help Topics.

Alternatively, users can navigate manually through the help index in the Help Browser panel to
find the desired help topic.

1.3.2 Technical Support

If you need to contact technical support with a problem or question, please have this
information readily available.

Software Version To display the version number of your copy of the setup software, select Help
> About... on the main menu bar.

Display the Drive Information To display information about the drive’s internal hardware
and software, select Drive > About Drive from the menu bar. In the Drive Information window,
click the button in the lower right corner of the window to expand/collapse detailed
drive information.

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 Introduction / Saving Your Setup

1.4 Saving Your Setup

After you have configured your drive, be certain to save all parameters and settings.

1.4.1 Storing the Changes onto the Drive

The setup software must be connected to the drive before performing this task.

After you configure and adjust the drive’s settings, use the store function. The drive settings
stored in the drive’s nonvolatile memory (NVM) are used by the drive after an off-on power
cycle.

To save the current drive settings in nonvolatile memory, you would either:
• Select Drive > Store to Drive on the main menu bar.
• Click on the Store icon on the tool bar.

1.4.2 Saving the Project File onto Your Computer

Use this command to save the active configuration project file to its current name and
directory. When you save a project for the first time, the software displays the Save As dialog
box so you can name your project.

To overwrite your project file on the computer with your current changes in the setup
software, you would either:
• Select File > Save on the main menu bar.
• Click on the Save icon on the tool bar.

If you want to change the name and directory of an existing project file before you save it,
choose the Save As command.
1. Select File > Save as on the main menu bar.
2. Enter a file name in the dialog box.

1.5 Exiting the Program

Use this command to end your configuration session. To exit the program, either:
• Select File > Exit on the main menu bar.
• Double-click on the upper left corner of the main window.

The software will prompt you to save documents with unsaved changes.
— Apply Changes to Drive - Apply changes to the drive before exiting.
— Save Project to File- Saves the current project file to the PC before exiting.
— Store Changes to the Drive NVM - Saves the current project settings to the drive non-volatile
memory before exiting.

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 2 Connecting to the Drive

Before proceeding, you must accomplish the following actions:

 Read the data sheet for the drive and the specification sheet for the motor and be familiar
with their capabilities.
 Cable your computer to the drive.
 Wire the drive to the motor.
 Provide electrical power to the drive; the drive, in turn, provides power to the motor.

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 Connecting to the Drive / Connecting to the Drive

2.1 Connecting to the Drive

When you first start the setup software, you see the following choices:

1. Select Connect.

The Connect To Drive window appears when Connect is selected from the opening window.
You must initially connect to the drive using the factory default settings stored in nonvolatile
memory. Once the communication settings have been configured, click Connect.

Connect To Drive Window Settings

Option Default Settings Description
RS232 RS485 Ethernet USB
Drive 63 63 1 63 Selects the address of the drive that is connected to the PC. The valid range of
Address addresses is 1 - 63.
Baud 115200 115200 -- -- Selects the communication baud rate. The recommended baud rate setting is 115200 for
Rate* RS232, and 115200 or higher for RS485. If necessary, a baud rate of 9600 can be used
to connect to the drive, but the baud rate should be increased prior to commissiong the
drive.
Serial Port Selects the serial communication port to which the drive is connected.
Communication Interface Selects the appropriate interface for your application.
Interface Access Control Under normal circumstances, Read/Write should be selected. You may select Read Only
to put the software in a state that allows monitoring through the configuration software
while writing through another interface.
Restricted R/W (Read/Write) control allows Read/Write access to certain tuning features
while writing through another interface. The tuning controls accessible in Restricted R/W
mode are: Current Loop Gains, Gain Set 0, Gain Set 1, Velocity Feedback Filter
Frequency, and Advanced Settings.
Auto Detect (RS232/RS485 communication only) This button allows you to automatically detect the serial port and baud rate stored in your
drive. You can set a range for the COM port scan. When this button is selected, the Scan
for drive... window will pop up. Select Start Scan ... and wait for the program to go
through the detection routine. After successful detection, select Apply Settings.
USB Device (USB communication only) For drive models that connect to a PC via USB, the USB Device option will allow
selection of the appropriate drive via the drop-down menu. Click the USB Search button
to search for compatible drives using the current address entered in the Drive
Address field. Drives will be listed by their serial number for selection.
IP Address (Ethernet communication only) Allows entry of a user defined IP address.
Connect Establishes a connection with the specified settings. If you have a project open, you can
choose to download the current project settings to the drive, or to upload the stored drive
settings into the project. The status bar in the lower right corner of the setup software will
change from NOT CONNECTED to CONNECTED.
Restore Defaults Returns connection settings to the factory default values.
Help Brings up this help document.

If the drive has previously been configured, these settings may have changed. If connecting
fails while attempting to connect over RS232, click on the Auto Detect button.

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 Connecting to the Drive / Changing Communication Parameters

2.2 Changing Communication Parameters

Once communication is established, you may change interface settings.

1. Choose one of the following actions:
— Select Drive > Connect from the menu bar.
— Click on the Connect icon on the tool bar.
2. Choose your desired settings.
3. Click the OK button.

The new settings take effect immediately. In order to retain the new settings upon power-up,
they must be stored in the drive’s nonvolatile memory (see “Storing the Changes onto the
Drive” on page 11.)

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 3 Configuring the Drive

Before proceeding, you must accomplish the following actions:

 Wire the drive to the motor.
 Connect your computer to the drive.
 Use the setup software to successfully recognize the drive.

Configuration requires you to decide upon several parameters for your drive based on the requirements of your
application. The drive must have information about scale factors, feedback devices, motor parameters, and
limits. The setup software provides windows for you to:
• Enter the motor constants.
• Configure the primary feedback.
• Assign the user units of measurements.
• Decide which analog and digital signals will provide input and output for the drive.
• Set the limits for temperature, current, voltage, velocity and position and decide options
for power-up and brake/stop behavior.
• Specify the command source.

All these parameters are collected in a project file. You can save several project files on your
computer (they have the *.adf extension). From your computer, a file can be downloaded to—
or uploaded from—the drive. Once in the drive, you must store the file in the drive’s non-
volatile memory.

This chapter discusses each setup software window and function. Once you have completed
configuration, the drive will be ready for tuning and commutation.

The Restore function loads into your computer’s project file the
parameters stored in the drive’s non-volatile memory. Use Restore when
you wish to revert back to the parameters last stored in the drive if you
find your recent changes result in poor performance.
Note Select Drive > Restore from drive on the main menu bar.

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 Configuring the Drive / Configuration

3.1 Configuration
The Configuration windows are used for defining the Loop Configuration, Gain Set and
Command Source and allows two separate configurations to be saved for mode switching
purposes. Open the desired configuration window by selecting [DriveName] > Configuration 0
or Configuration 1. Note that Mode Switching must be enabled in order for Configuration 1 to
be available to edit. Mode Switching can be enabled in the Drive Settings window ([DriveName]
> Settings) by checking the Enable Second Configuration checkbox. Typically it is only
necessary to define the parameters for one configuration, but for systems where switching
between two configurations is desired, the setup software can switch between Configuration 0
and Configuration 1 in any of the following ways:
• Use the Switch Config icon on the Toolbar
• Set up the Digital Inputs to switch Configurations
• Configure the Power-up Settings to switch Configurations

Loop Configuration

The Loop Configuration option allows selection between the four control loop choices: Current,
Velocity, Position Around Current, and Position Around Velocity. Set the loop configuration for
the final application of the drive system. For instance, if the desired configuration is Position
Around Velocity, it is not necessary to change the loop configuration from Current to Velocity
to Position Around Velocity while tuning each control loop. See “Tuning and Commutation” on
page 51 for information on tuning the control loops.

Gain Set

Most applications will not require gain switching, and therefore should use the default Gain
Set 0. For advanced configurations, a particular gain set can be associated with the
configuration, and can be initiated automatically each time the configuration is initiated or the
drive is power cycled. If the application requires more than one configuration, a single gain set
can be used on both configurations, or a separate gain set may be used for each. See “Gain
Sets” on page 48 for more information.

3.1.1 Command Source

The Command Source option allows selection between any command source supported by the
drive hardware and firmware. After selecting a command source, the available settings for the
chosen command will appear to the right in the Configuration window.

Some command sources may require a specific Loop Configuration for proper operation. In
this case, a message will appear with information on which Loop Configuration is required.
The command source change cannot be applied until the compatible Loop Configuration is
selected.

No Command

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 Configuring the Drive / Configuration

This assigns no command source to the drive. Typically, No Command will be automatically
assigned when major control loop changes are performed. This is a protection feature to
minimize sudden motor movement.

Analog Input

Selects an analog input as the command source for the drive.

Configuration of this input can also be done in the Analog Inputs window. All analog inputs are
shown. If more than one is available, you may select it from the Select available input box. If an
input is disabled (grayed out), that means it is already assigned to another task, and cannot be
selected as a command source.

Configuration allows the assignment of parameter values for the applicable Analog Input.
• Scaling: Provides a ratio between the input command voltage and the drive output, in
terms of applicable user units.
• Offset: Used to apply an offset to the input command signal.
• Deadband: Sets a deadband range in which the input command signal will have no effect.
Deadband will automatically be enabled when an analog input is applied as the command
source, even if the Deadband value is zero.

Status allows for monitoring of the input command signal.

• Measured Value: The value measured at the analog input.
• Commanded Value: The value after applying the specified scaling and offset values,
measured in applicable user units.

Step & Direction

Selects the step and direction inputs to control the motor in a simulated stepper motor
configuration.

Configure input scaling allows entry for the number of input pulses desired to move the motor
by a given amount, defined in the second entry field. Conversion varies depending on which
loop is in control; for example, input counts to amps for Current, input counts to speed units for
Velocity, and input counts to position units for Position.

PWM & Direction

Allows the user to select from either PWM & Direction or Single Input PWM as the command
source input type. The PWM & Direction command option consists of separate PWM (0-
100%) and Direction inputs, while the Single Input PWM option consists of only a single PWM
input signal (Direction input connections are left unconnected). When using Single Input
PWM, a duty cycle in the range of 0-50% will command motion in one direction, while a duty
cycle in the range of 50-100% will command motion in the opposite direction. The PWM input
signal for both command selections has a range of 1kHz to 125kHz.

Configuration allows for parameter setup and configuration of the PWM input signal.

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 Configuring the Drive / Configuration

• Scaling: Assigns the command input in terms of applicable user units that will be
associated with 100% PWM duty cycle. This value may be positive or negative.
• Offset: The offset applied after logic polarity is interpreted. If this offset places the PWM
input signal outside of the available range of 0-100%, the duty cycle will saturate at its
limits. This value may be positive or negative.
• Invert PWM Logic: Inverts the logic polarity of the PWM input.
• Invert Direction Logic: Inverts the logic polarity of the Direction input. This option is only
available for PWM & Direction type input.

Status allows for monitoring of the PWM input signal.

• Measured Value: The value measured at the digital input. This represents the duty cycle of
the input. It does not reflect the polarity of the command.
• Commanded Value: The value after applying the specified logic polarity, offset, and unit
scaling, measured in applicable user units.

Encoder Following

Selects the secondary encoder input to drive the motor in a master/slave configuration.

Input Type selects the type of input that will be used during Encoder Following.
• Auxiliary encoder will configure the drive to receive input commands from an auxiliary
encoder.
• Virtual encoder will configure the drive to receive input commands via the
communications channel.

Configure input scaling sets the number of quadrature input pulses desired to move the motor
by a given number of output counts. If using an encoder for primary feedback, Input Counts
represents the number of encoder counts to move. If using a resolver for primary feedback,
Input Counts represents the number of resolver counts as determined by the specified resolver
resolution. Values entered in either field may be positive or negative.

Interface Input

Used for RS-485/RS-232 as the command source.

Communication Channel

This command is assigned when the drive is being controlled by an outside source. This
capability is available with network interface products. Selecting Communication Channel will
display the current network settings. Clicking the Edit button will open the Network Settings
window to change the network communication settings.

Do not connect to the drive in Read/Write mode while sending

commands over the communication channel. Instead, connect to the
drive in Read Only mode.

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 Configuring the Drive / Configuration

DriveLibrary
Selecting this option will automatically configure the current project file to operate with
DriveLibrary. DriveLibrary is a high-level API for developers of motion control solutions. The
DriveLibrary API defines a collection of control functions that support the majority of motion
control applications. DriveLibrary applications are written and developed in C++. Users should
be familiar with the C++ language in order to properly develop motion control applications in
DriveLibrary.

Selecting DriveLibrary as the Command Source will automatically configure the current
project file to operate with DriveLibrary. The present network settings will be displayed with
an Edit button to open the Network Settings window to change communication settings if
desired.

Once DriveLibrary is selected, if necessary a list will appear containing a list of the drive
parameters that need to be modified in order to configure the drive for operation with
DriveLibrary. Selecting Apply will accept the changes, and the project file will automatically be
configured for compatibility with DriveLibrary. DriveLibrary will not be assigned as the
Command Source until the parameter requirements are met.

If any attempt is made to change a drive parameter that is required for compatibility with
DriveLibrary (such as disabling the Position Loop) the setup software will provide a
notification window alerting the user that continuing with that action will cause DriveLibrary
compatibility to be lost, and the Command Source will be set to No Command.

3.1.2 Command Limiter

The Command Limiter allows you to limit the change in the input command signal as seen by
the drive. The resulting effect is dependent on the operating mode. This is a command
smoother, not a drive limiter. In other words, it will change how the command is seen by the
drive, but if an event occurs which is not affected by the command, the drive will react
according to drive limits. To change drive limits, see the Limits window.

The Command Limiter has a corresponding drive event, Command Limiter Active, that will be
high (active) if the Command Limiter is enabled and the command is being actively limited by
the Command Limiter settings. The state of this event is dependent upon the target value only
and not the measured value. The Command Limiter parameters will change automatically
depending on the current Loop configuration.

Current Mode
• Linear Ramp: Limits the jerk, or change in commanded current.

Velocity Mode
• Linear Ramp: Limits the acceleration and deceleration independently for positive and
negative velocities.

Position Mode
• Accel/Decel: Allows acceleration and deceleration limits to be set.

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 Configuring the Drive / Loop Feedback

3.2 Loop Feedback

The Loop Feedback window allows specification of which feedback device is used for the
velocity and/or position loop. Open the Loop Feedback window by selecting [DriveName] >
Loop Feedback in the System Browser.

3.2.1 Velocity Feedback Source

Motor Encoder The velocity is derived from the motor mounted encoder. Encoder configuration is available in the Motor window.
Hall Velocity The velocity is derived from the motor mounted hall sensors. When configured for hall velocity mode, the drive will define 1
count to be equal to 1 hall state change (that is, a 4-pole motor has 12 counts per revolution).
Analog Input The velocity is derived from an analog input. Typically used in case of a motor mounted tachometer. The analog signal must
be conditioned not to go outside the hardware limits of the drive (typically ±10V). Select which analog input to use, and
configure the Scaling (ratio between the input voltage and the measured velocity) and Offset.
Interface Input The velocity is provided over the communication interface. Select which interface input to use from the available inputs.
Resolver The velocity is derived from the motor mounted resolver. Resolver configuration is available in the Motor window.

For reference, see “Filtering Velocity Feedback” on page 110.

3.2.2 Position Feedback Source

Motor Encoder The position is derived from the motor mounted encoder. Encoder configuration is available in the Motor window.
Analog Input The position is derived from an analog input. Typically used in case of a load-mounted potentiometer. The analog signal
must be conditioned not to go outside the hardware limits of the drive (typically ±10V). Select which analog input to use, and
configure the Scaling (ratio between the input voltage and the measured position) and Offset.
Auxiliary Encoder The position is derived from the auxiliary encoder input. Note that the auxiliary encdoer pins on the drive may possibly be
assigned to other functions (Encoder Following, Step and Direction, or High Speed Capture). If this is the case, the setup
software will prompt you to reconfigure the digital input settings so that the auxiliary encoder pins are not assigned to any
other function.
Interface Input The position is provided over the communication interface. Select which interface input to use from the available inputs.
Resolver The position is derived from the motor mounted resolver. Resolver configuration is available in the Motor window.

Auxiliary Encoder Input Most ADVANCED Motion Controls’ drives allow for an auxiliary
encoder to be used to close the position loop in a dual loop application. The Auxiliary Encoder
selection provides an interface to enter the auxiliary encoder information to ensure proper
operation and to allow for an auxiliary index to be used for homing. In order for the auxiliary
encoder to be used as the position feedback device, Auxiliary Encoder needs to be specified as
the position loop feedback device in the Drive > Loop Feedback window.

Auxiliary Encoder Parameters Configure the auxiliary encoder by entering the following
specifications:
Field Description
Encoder Type Select if the auxiliary encoder is linear or rotary.
Resolution Enter the resolution of the auxiliary encoder device.
Feedback Polarity Select the polarity of the incoming auxiliary encoder signal.
Index Specify if an index is preset (required for homing to auxiliary index).

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 Configuring the Drive / Power-up Settings

3.3 Power-up Settings

The Power-up window ([DriveName] > Power-up) is used to configure certain software
settings and parameters when the drive initially receives power.
Bridge Status Selecting Software Enable will issue an Enable command upon power-up. Depending on other
software settings or external hardware faults, the drive may remain disabled.
Selecting Software Disable will issue a Disable command upon power-up.
Configuration Select Select the Configuration set the software will default to upon power-up.
Phase Detect Allows for the configuration of Phase Detect power-up settings. Under most circumstances, the
appropriate setting is On First Enable Following Power-up. However, other options may be used
depending on the configuration of your drive and motor.
Set Position Selecting the Set Position checkbox will set the value of the measured position and target position
to the value defined in the Preset Position field defined in the active Gain Set window.
Motion Engine Selecting Enable will enable the Motion Engine upon power-up. Note that the drive will
automatically be set to Position around Velocity mode upon power-up in this configuration.

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3.4 Motor Parameters

The Motor Parameters window can be accessed by going to Motor > Parameters in the System
Browser. The motor data is stored in:
• The drive.
• The project file.

The Motor Parameters window is where you will input the motor ratings, motor-specific data,
feedback information, and commutation information. The values entered in the Motor
Parameters window will have an effect on the values entered in the Limits window.

3.4.1 Motor Selection

From within the Motor window, enter the motor information based on a default template for a
selected motor type.
Motor Type The type of motor used. Selections for rotary motors are Brushed, Brushless, Stepper, and AC Induction.
Selections for linear motors are Voice Coil and Linear Brushless.
Manufacturer The name of the motor manufacturer.
Model The motor model.

• To enter the motor information:

— Select the Motor Type from the Select Motor drop-down options.
— Enter the information for both Manufacturer and Model (optional).
— Begin entering data in the Motor Parameters and Feedback Type fields (see “Motor
Parameters” on page 22 and “Feedback Type” on page 24 for field descriptions).
— Once the motor and feedback information have been entered, click the Apply button
in the toolbar. The motor information will now be saved in the project file.

Rotation Direction

The motor rotation direction can be selected independently of the motor and feedback
selection. Changing the rotation direction will change the direction of the motor for a given
command. Typically, the rotation direction is not determined during initial motor
configuration, but is changed after commutation has been established.

3.4.2 Motor Parameters

Depending on the selected Motor Type, the information available for editing will change in the
Motor Parameters field. Consult the motor datasheet to determine the appropriate values.

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Brushed, Brushless, Linear Brushless, Stepper, and Voice Coil Motor

Parameters
Motor Field Description
Cont Current The nominal (continuous) current that the motor can handle. The setup software will not allow the drive continuous current to be
configured greater than this value.
(Note: The specified current is in units of Adc. For sinusoidally commutated motors, this is the peak of the sine wave through any
phase of the motor within one electrical cycle. To calculate the RMS current, divide the DC value by 1.414. This calculation should not
be used when the motor is commutated trapezoidally.)
Peak Current The peak operating current that the motor can handle. This does not correspond to the de-magnetizing current, which is typically
much higher than the maximum operating current. The setup software will not allow the drive peak current to be configured greater
than this value.
(Note: The specified current is in units of Adc. For sinusoidally commutated motors, this is the peak of the sine wave through any
phase of the motor within one electrical cycle. To calculate the RMS current, divide the DC value by 1.414. This calculation should not
be used when the motor is commutated trapezoidally.)
Max Speed Corresponds to the maximum rated speed of the motor. The setup software will not allow the drive positive velocity limit, negative
velocity limit, or motor over speed to be configured greater than this value.
Motor Poles / (Brushless, Linear Brushless, and Stepper motors only) The number of poles, in case of rotary motors, corresponds to twice the
Pole Pitch number of electrical cycles per motor revolution. The pole pitch, in case of linear motors, corresponds to the length of one electrical
cycle (360 degrees). The numerical value and units can be selected independently (the numerical value will NOT be automatically re-
calculated when a different unit is selected).
Motor In case of Brushed motors it corresponds to the armature resistance. In case of Brushless motors it corresponds to the phase-to-
Resistance phase resistance.
Motor In case of Brushed motors it corresponds to the armature inductance. In case of Brushless motors it corresponds to the phase-to-
Inductance phase inductance.
Motor Ke The voltage constant corresponds to the motor back-EMF constant. The numerical value and units can be selected independently
(the numerical value will NOT be automatically re-calculated when a different unit is selected).
Motor Kt The motor torque (Brushless) or force (Brush) constant. The numerical value and units can be selected independently (the numerical
value will NOT be automatically re-calculated when a different unit is selected).
Max Motor Maximum allowable motor temperature (recommended if using an analog input for motor temperature).
Temp

AC Induction Motor Parameters

Motor Field Description
No Load The no-load (magnetizing) current as specified by the motor manufacturer.
Current
Peak Current The peak operating current that the motor can handle. This does not correspond to the de-magnetizing current, which is typically
much higher than the maximum operating current. The setup software will not allow the drive peak current to be configured greater
than this value.
(Note: The specified current is in units of Adc. For sinusoidally commutated motors, this is the peak of the sine wave through any
phase of the motor within one electrical cycle. To calculate the RMS current, divide the DC value by 1.414. This calculation should not
be used when the motor is commutated trapezoidally.)
Max Speed Corresponds to the maximum rated speed of the motor. The setup software will not allow the drive positive velocity limit, negative
velocity limit, or motor over speed to be configured greater than this value.
Rated Speed The rated speed as specified by the motor manufacturer.
Motor Poles For rotary AC induction motors, the number of motor poles as specified by the motor manufacturer. For linear AC induction motors,
the distance required for one electrical cycle.
Connection Specifies the type of connection used for the motor ratings.
Base The rated frequency for base speed as specified by the motor manufacturer.
Frequency
Rated Voltage The rated motor voltage as specified by the motor manufacturer.

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Motor Field Description

Max Motor Maximum allowable motor temperature (recommended if using an analog input for motor temperature).
Temp
Motor Power Motor power as specified by the motor manufacturer.
Phase Selects either Equivalent Circuit or Name Plate Parameters. The selected item will display the phase parameters associated with that
Parameters item.
Equivalent Circuit
- R1: as determined by the motor’s equivalent circuit model
- R2: as determined by the motor’s equivalent circuit model
- X1: as determined by the motor’s equivalent circuit model
- X2: as determined by the motor’s equivalent circuit model
- Xm: as determined by the motor’s equivalent circuit model
Name Plate Parameters
- Stator Resistance: The stator transient resistance as specified by the motor manufacturer.
- Stator Transient Inductance: The stator transient inductance as specified by the motor manufacturer.
Power Factor The power factor as specified by the motor manufacturer.
Efficiency The motor efficiency as specified by the motor manufacturer.

3.4.3 Feedback Type

The Feedback Type area holds information about the motor feedback device. The feedback
device and parameters listed will be dependent on the drive model and the firmware currently
used in the drive.
• The primary feedback device will be shown along with the configurable parameters.
• For universal feedback drives, the present primary feedback device will be shown as a
selection option.
— To change the primary feedback device, choose the new type of feedback from the
selections. A message will appear stating that a firmware change is required to
support the selected feedback device. Click ’OK’ to open the Firmware Download
window to download the required firmware into the drive.
— Once the download is complete, return to the Motor window, and the primary
feedback device will reflect the firmware change.

The parameters for each type of feedback device are as follows:

Incremental Encoder Feedback Parameters

Field Description
Polarity Represents the polarity of the selected feedback device signal. AutoCommutation will determine the polarity.
Resolution Represents the counts per revolution (counts/rev) for a rotary motor, or the counts per distance (counts/in or
counts/mm, depending on the units selected for pole pitch) for a linear motor.
Index / Ref Indicates if there is an encoder index pulse.
Marker

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Absolute Encoder (Hiperface® or EnDat® 2.1) Feedback Parameters

Field Description
Polarity Represents the polarity of the selected feedback device signal. AutoCommutation will determine the polarity.
Serial Interface Selects the serial interface for the absolute encoder in use (Unassigned, Hiperface, or EnDat).
Abs Range Represents the number of absolute steps per revolution for the absolute encoder. Must be a multiple of the
Encoder Cycles/Rev value. This value is not influenced by the total number of turns supported by the encoder.
Resolution Represents the Sin/Cos encoder cycles per revolution for a rotary motor, or the encoder cycles per distance (mm,
in) for a linear motor.
Interpolation The interpolation is configurable in powers of 2 from 1 to 512 lines per Sin/Cos cycle. Represents the Sin/Cos
interpolation of the position loop which determines how many counts are defined per encoder cycle. The number
of counts per cycle is the interpolation value multiplied by 4, giving an interpolated encoder resolution from 4 to
2048 counts per Sin/Cos cycle.
Index / Ref Indicates if there is an encoder index pulse.
Marker

Absolute Encoder (BiSS C-Mode) Feedback Parameters

The BiSS encoder parameters can be auto-filled by clicking on the "Choose Template" button,
then selecting a manufacturer from the available options. Verify that the parameters match the
values on the BiSS encoder manufacturer’s datasheet. If necessary, the Polarity and Resolution
can be edited to match the device in use. If the manufacturer of the BiSS encoder in use is not
listed in the available template selections, the "Custom" option can be chosen to allow manual
entry of the data values. Contact the manufacturer for information on how to properly proceed
with configuration.
Field Description
Manufacturer Displays the BiSS encoder manufacturer.
Polarity Represents the polarity of the BiSS encoder.
Number of Displays the number of turns of the BiSS encoder.
Turns
Resolution BiSS encoder resolution.
Data Width and Displays the Single Turn and Multi Turn Data Width and Justifcation of the BiSS encoder. By default, these fields
Justification are hidden from view as they should not be edited when using a standard manufacturer template. To view these
fields, click on the small arrow button in the Feedback Type panel. Note that the values entered are subject to the
following requirements:
- When the single-turn data width is left justified, the single-turn data width cannot be greater than 32.
- The sum of the single- and multi-turn data widths cannot exceed 64.
- The single-turn resolution cannot be greater than the single-turn data width.
- The multi-turn resolution cannot be greater than the multi-turn data width.
- The single-turn resolution cannot be greater than 31.
- The sum of the single- and multi-turn resolutions cannot exceed 31.
- When the single-turn data is right justified, the single-turn resolution has to be equal to the single-turn data
width.
- When the multi-turn data is left justified, the multi-turn resolution has to be equal to the multi-turn data width.
Velocity Divider A scaling factor for the velocity feedback counts. This adjusts the useful range for velocity loop gains, and is
particularly beneficial for high working resolution encoders. If the working resolution is between 16 bits and 25
bits, it is recommended to use the default velocity divider of 256. For working resolutions above 25 bits, select a
velocity divider of 512.

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Absolute Encoder (EnDat® 2.2) Feedback Parameters

Field Description
Polarity Represents the polarity of the selected feedback device signal. AutoCommutation will determine the polarity.
Serial Interface Displays the serial interface for the absolute encoder in use (EnDat 2.2).
Encoder and The encoder resolution used by the drive for positioning. The Working Resolution may be less than or equal to the
Working Encoder Resolution. The sum of the Singleturn and Multiturn resolution must not exceed 31 bits. When the
Resolution Singleturn resolution is changed, the Multiturn resolution will automatically be adjusted by the software to
optimize the available data from the encoder.
Velocity Divider A scaling factor for the velocity feedback counts. This adjusts the useful range for velocity loop gains, and is
particularly beneficial for high working resolution encoders. If the working resolution is between 16 bits and 25
bits, it is recommended to use the default velocity divider of 256. For working resolutions above 25 bits, select a
velocity divider of 512.

1Vp-p Sin/Cos Encoder

Field Description
Polarity Represents the polarity of the selected feedback device signal. AutoCommutation will determine the polarity.
Resolution Represents the Sin/Cos encoder cycles per revolution for a rotary motor, or the encoder cycles per distance (mm,
in) for a linear motor.
Interpolation The interpolation is configurable in powers of 2 from 1 to 512 lines per Sin/Cos cycle. Represents the Sin/Cos
interpolation of the position loop which determines how many counts are defined per encoder cycle. The number
of counts per cycle is the interpolation value multiplied by 4, giving an interpolated encoder resolution from 4 to
2048 counts per Sin/Cos cycle.
Index / Ref Indicates if there is an encoder index pulse.
Marker

Resolver Feedback Parameters

Field Description
Polarity Represents the polarity of the resolver. AutoCommutation will determine the polarity.
Resolution Specify either Low or High resolution. Low (12-bit) means an equivalent 4096 counts/resolver cycle. High (14-bit)
means an equivalent 16384 counts/resolver cycle.
Carrier Displays the frequency of the resolver excitation signal.
Frequency
Amplitude Displays the amplitude of the resolver excitation signal.
Transformation Displays the transformation ratio of the resolver excitation signal.
Ratio
Multi-speed Enables multi-speed or multi-turn resolvers.
Cycles/rev Number of cycles per revolution or pole pairs of the resolver. Resolvers that are not multi-speed have one pole
pair or cycle per revolution. Note that electrical cycles must be a multiple of resolver cycles.

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3.4.4 Commutation
The commutation section allows configuration of basic commutation settings. The available
settings will depend on the type of motor and feedback in use:
Field Description
Commutation Indicates that commutation sensors are to be used.
Sensors (Halls)
Commutation Selects the Hall phasing angle. Note that the Hall phasing angle will be automatically selected after running
Angle AutoCommutation. If the Hall sensor phasing differs from 60º or 120º by more than 10 electrical degrees, "Other"
will be automatically selected.
Trapezoidal / Selects between Trapezoidal or Sinusoidal commutation. Trapezoidal is disabled for Resolver and Absolute
Sinusoidal Encoder feedback, and is only enabled for other types of feedback if Commutation Sensors is checked and a valid
Commutation Angle of 60º or 120º is selected.
Reset Reset Commutation is used primarily for systems unable to complete AutoCommutation that need commutation
Commutation angles set to known good angles.
- If the existing commutation setting is 120º, Reset Commutation will reset the commutation angles to the drive
default angles for 120º phasing.
- If the existing commutation setting is 60º, Reset Commutation will reset the commutation angles to the drive
default angles for 60º phasing.
- If the existing commutation setting is "Other", Reset Commutation will change the commutation angle to 120º
and reset the commutation angles to the drive default angles for 120º phasing.
External Selects the two phases the drive will output current to when using a brush type motor.
Commutation
Between
Phases

3.4.5 Braking
The Brake checkbox allows a brake to be assigned with an event action. The brake can be
assigned to a digital output in the Digital Outputs window. Checking or unchecking the Brake
checkbox may result in certain event actions changing. Look in the Advanced Events window
to view the assignments. The following event actions will be affected:
• When "Brake" is checked, events configured for "Disable Bridge" or "Dynamic Brake" will
be changed to "Apply Brake and Disable Bridge" or "Apply Brake and Dynamic Brake",
respectively.
• When "Brake" is unchecked, events configured for "Apply Brake and Disable Bridge" or
"Apply Brake and Dynamic Brake" will be changed to "Disable Bridge" or "Dynamic Brake",
respectively.

In addition, the brake output can be configured to use delays between external braking and
enabling/disabling the drive. This delay is designed to prevent loads from falling or coasting
when the effects of gravity or other external forces are seen in the system.
Field Description
Brake Applied Delay after applying external brake before disabling power bridge or performing dynamic braking.
Delay
Brake Released Delay before releasing external brake after enabling power bridge or discontinuing dynamic braking.
Delay

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3.4.6 Motor Database

The Motor Database allows motor information to be saved and stored in a database for
convenient access. Motor information can be saved directly from the Motor Parameters
window, or imported via an .XML file. Motor information from the database can also be
exported as an .XML file. Importing and exporting of motor information is accomplished in the
Tools > Manage Motor Database Menu Bar window.
• To save motor information:
— Enter the motor information into the Motor Parameters window.
— Click the Save button in the Motor Database pane.
— The motor information is now stored in the User Database section in the Motor
Database.
— The Motor Database is saved in the default installation folder where the "My Projects"
folder is located.
• To select and load previously saved motor information:
— Click the Select button in the Motor Database pane.
— In the Motor Database Selection window that opens, expand the heading of the User
Database category.
— Motors are organized in the following structure: [Database Name] > [Manufacturer] >
[Model]. Locate the desired motor, and click Select at the bottom of the Motor
Database Selection window.
— The desired motor information will auto-populate into the Motor Parameters fields.
• To edit previously saved motor information:
— Load the desired motor information as described above.
— Modify fields in the Motor Parameters window. Do not change the Manufacturer or
Model fields. Changing these will save the information as a separate motor in the
database.
— Click the Save button in the Motor Database pane.
— The motor information in the database will be updated with the new changes.

Manage Motor Database The Manage Motor Database window is used to import, export,
and delete motor information from the Motor Database. Motor information is imported or
exported in .XML file format.

Contact the setup software manufacturer for assistance in creating an .XML file that is
compatible with the Motor Database.

Import

Allows an .XML file that contains motor parameters for one or more motors to be imported
into the Motor Database. Click Import, then navigate to the .XML file in the window that opens.
The imported information will then be saved in the User Database section of the Motor
Database.

Export

Creates an .XML file that contains motor parameters from the Motor Database. Check the box
for the desired motor from the available options, and then click Export to choose the save

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 Configuring the Drive / Motor Parameters

location of the .XML file. Note that information for multiple motors can be exported into the
same .XML file.

Delete

Deletes one or more motor database entries. Check the box(es) for the motor entry to be
removed from the database, then click Delete. Click OK in the warning prompt to delete the
motor entry.

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 Configuring the Drive / AutoCommutation

3.5 AutoCommutation
The AutoCommutation routine detects the motor feedback type and polarity, and then
configures the drive commutation parameters appropriately.

Before running AutoCommutation:

• Enter in the correct motor information in the Motor Parameters window.
• Specify the correct feedback information.
• Specify limits to protect the motor.
• Tune the current loop.
• De-couple the motor from any load and secure the motor. Sudden motion will occur!

If you have not done the preceding, see the corresponding sections in this manual.

See “AutoCommutation™” on page 57 for information on how to run the AutoCommutation

routine.

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 Configuring the Drive / Encoder Output

3.6 Encoder Output

Certain drive models that support a 1Vp-p Sin/Cos encoder or Absolute encoder feature either
a Buffered Encoder Output or an Emulated Encoder Output that emit a 5V square wave that
can be used to synchronize the command to other axes or to close the position loop. The
buffered encoder output has a 1:1 input-to-output ratio, while the emulated encoder input-to-
output ratio is configurable.

The Divide Amount field sets a value by which the interpolated encoder resolution is divided to
get the emulated encoder output resolution (counts/rev). The Emulated Index Position field
allows you to specify an absolute position for the output index relative to the emulated output
counts. Additionally, you may select to have this index repeat for every specified number of
output counts in the Emulated Index Period field. The index period is specified as the number
of emulated counts between emulated indices. The index period must be zero, or divisible by 4.
If zero is used, the effective period will be 232 emulated counts.

For Sin/Cos feedback, the emulated output will be re-initialized each time the absolute
position of the drive is initialized (i.e. via homing, Set Position, etc.). Until the drive position is
initialized, no emulated index will be output by the drive.

For certain drive models that support resolver feedback, the emulated output will match the
resolver resolution setting. For example, selecting Low Resolution (12-bit) will give an
equivalent 212 (4096) counts/rev at the output. There will be a small phase lag between the
sinusoidal feedback to the drive and the emulated output due to the time required to process
the emulated signal.

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3.7 Inputs / Outputs

Inputs / Outputs allows configuration and diagnostics of all digital and analog programmable
inputs and outputs.

The following tabs are available:

• Analog Inputs
• Analog Outputs
• Digital Inputs
• Digital Outputs

3.7.1 Analog Inputs

Each programmable analog input can be assigned a certain drive function through the
Command, Feedback, or Limits windows. When a function is assigned to an analog input, the
Analog Inputs window will display the assignment, the configuration settings, and the
currently measured value. Analog Inputs cannot be assigned to a function in the the Analog
Inputs window.

Check the drive datasheet to find the number of available analog inputs.

Each assigned input can be scaled, according to the selected function, to provide an optimal
range by entering a value in the "Scale" column. Entering the numerical value of the chosen
function for a 1V input signal performs the scaling. An offset (in volts) can also be defined.

A programmable deadband can be configured for 200

analog inputs assigned to the command source. The

deadband sets a voltage range which will have no
effect on the command. This is particularly useful 100
Dead Band
when the analog command source is configured to
control velocity.
Output (mV)

The drive handles anything within the deadband

range as zero, and subtracts the deadband value
from all other values. For example, with a deadband -100

setting of ±100 mV, the drive ignores any signal

between -100 mV and +100 mV.
-200 -100 0 100 200
Input (mV)

Selections become effective after clicking the Apply button.

Note

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3.7.2 Analog Outputs

Each programmable analog output can be assigned to a certain drive variable.

Each output can also be scaled, according to the selected variable, to provide an optimal range.
Entering the numerical value of the chosen variable for a 1V output signal performs the
scaling. An offset (in volts) can also be defined.

Selections become effective after clicking the Apply button.

Note

Check the drive data sheet to find the number of available analog outputs. A list of available
output signals and their definitions can be found in “Signal Definitions” on page 88.

3.7.3 Digital Inputs

To assign a function to a digital input, drag-and-drop one or more functions from the Input
Functions field to the desired digital input in the Input Assignments field. High Speed Capture
functions may only be assigned to High Speed (HS) digital inputs, while other functions may be
assigned to either General Purpose (GP) or High Speed digital inputs. The Capture Panel
allows configuration of High Speed Capture functions once they have been assigned to a High
Speed input.

The present status of each input is displayed by the LED graphic beside each digital input
number (clear = Not Active, green = Active). The Active column displays the input polarity.
Active Low means the input must be pulled-down for the input to be considered ON. Set the
input polarity by selecting either the Active Low or Active High button at the bottom of the
window. Each input can be assigned to one or more functions. If more than one function is
assigned to a single input, the following priority rules apply (from highest to lowest):
1. Inhibit
2. Dynamic brake
3. Positive or negative limit
4. Phase Detection

The User Disable, User Aux Disable, and the Motor Over Temperature functions depend on the
selected Action in the Events windows.

Functions can be removed from a digital input by highlighting the selected function, then
hitting Delete on the keyboard, or the button in the Digital Inputs window.

Selections become effective after clicking the Apply button.

Note

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Capture Panel
Captured Signal This field shows the selected signal to be captured.
Captured Value This shows the last value captured by the drive.
Trigger Edge You may select between Rising, Falling, or Both to set when the signal will be
captured.
Trigger Mode Single mode will allow the signal to be captured only once per set/reset.
Continuous will allow the signal to be captured any time it is triggered while
capture is set.
Set / Reset Input Displays the Digital Input assigned to reset the capture signal.

Digital Input Definitions

User Disable (Level Sensitive) Disables the drive. User Disable can be set to either Disable
Power Bridge or Dynamic Brake in the Advanced Events window. The default
configuration assigns Disable Bridge to this function.
Use Aux Disable (Level Sensitive) Disables the drive. User Aux Disable can be set to either
Disable Power Bridge or Dynamic Brake in the Advanced Events window. The
default configuration assigns Dynamic Brake to this function.
User Stop (Level Sensitive) Activates the User Stop event. When User Stop is active, the
drive will issue a Stop command to halt motor motion.
User Positive Limit (Level Sensitive) Activates the User Positive Limit event. User Positive Limit
can be set to either Positive Stop or Disable Positive Direction in the Events
window to cease motor motion in the positive direction. The default
configuration assigns Positive Stop to this function.
User Negative Limit (Level Sensitive) Activates the User Negative Limit event. User Negative Limit
can be set to either Negative Stop or Disable Negative Direction in the Events
window to cease motor motion in the negative direction. The default
configuration assigns Negative Stop to this function.
Motor Over Temp (Level Sensitive) Activates the Motor Over Temperature event. Motor Over
Temperature can be assigned to a number of different setup software safety
actions to prevent the motor from over-heating. The default configuration
assigns Bridge Disable to this function.
Phase Detect (Edge Sensitive) Activates the Phase Detect routine. Phase Detect is a
function used to initialize the correct commutation angle for brushless motors
lacking commutation sensors. The drive can be configured to run Phase Detect
automatically on power-up in the Power-up window.
Zero Position Error (Edge Sensitive) When triggered, a pulse command is sent to the position
target, setting it equal to the measured position. Note: if the position command
source is an absolute source such as an analog input, the target position will
immediately be overwritten by the command source with the next position loop
update.

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Set Position (Edge Sensitive) When triggered, a pulse command is sent to both the position
measured and position target, setting both equal to the value defined in the
“Preset Position” field within the position gain set. Note: if the command source
and/or position feedback device is an absolute device such as an analog input,
the target position and/or measured position will immediately be overwritten
with the next position loop update.
High Speed Capture (Edge Sensitive) When triggered, the assigned signal is instantly captured. The
signal is held in memory until the capture function is reset. This signal can be
read over the network. High Speed Capture settings are configured in the
Capture Configuration window that becomes accessible once a capture is
mapped to a high speed input. High speed captures can only be mapped to
unused high speed inputs.
Set/Reset Capture A (Level Sensitive) Sets or Resets Capture A. This signal must be active before
the High Speed Capture function can be used. For single trigger captures, the
capture is reset by toggling this input off/on.
Set/Reset Capture B (Level Sensitive) Sets or Resets Capture B. This signal must be active before
the High Speed Capture function can be used. For single trigger captures, the
capture is reset by toggling this input off/on.
Set/Reset Capture C (Level Sensitive) Sets or Resets Capture C. This signal must be active before
the High Speed Capture function can be used. For single trigger captures, the
capture is reset by toggling this input off/on.
Home Execute (Edge Sensitive) Enables and initiates the selected Home routine. Note: If the
Motion Engine is not enabled, this input must remain active until the homing
procedure is completed.
Home Switch (Edge Sensitive) Acts as a Home Switch when a compatible homing routing is
selected.
Reset Events (Edge Sensitive) When triggered, latching and history status events are reset.
Note: Certain critical events cannot be reset via the digital input, and instead
require a drive reset or network commands to reset. These events are: Drive
Internal Error, Current Overshoot, Parameter Store Error, and Parameter
Restore Error, Phase Detection Failure, Software Disable.
Configuration Select (Edge Sensitive) Changes the active configuration when two configurations are
used. Falling Edge = Configuration 0. Rising Edge = Configuration 1.
Gain Select (Edge Sensitive) Changes the active gain set when two gain sets are used.
Falling Edge = Configuration 0. Rising Edge = Configuration 1.
Motion Execute (Edge Sensitive) When triggered, the selected Index or Sequence will initiate
(depending on whether the drive is in Indexer or Sequencer mode). Note: the
motion engine must be enabled before the drive will respond to this function.
Motion Select 0,1,2,3 (Level Sensitive) Defines the selected Index or Sequence (depending on
whether the drive is in Indexer or Sequencer mode). Represents a binary
number allowing up to 16 Indexes or Sequences to be independently selected.
Motion Select 0 represents the least significant bit with Motion Select 3
representing the most significant bit. Active = 1. Inactive = 0. The Motion
Engine must be enabled before motion can be executed.
Motion Enable (Edge Sensitive) Enables the Motion Engine. The Motion Engine must be
enabled before Indexes or Sequences can be executed.

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Motion Mode (Edge Sensitive) Toggles the drive between Indexer or Sequencer mode.
Active = Sequencer; Inactive = Indexer.
Motion Reset (Edge Sensitive) Resets the Motion Engine when a Motion Engine fault has
occurred.
Jog Select 0, 1 (Level Sensitive) Defines the selected jog velocity when jogs are used.
Represents a binary number allowing up to 4 jogs to be independently
selected. Jog Select 0 represents the least significant bit with Jog Select 1
representing the most significant bit. Active = 1. Inactive = 0. The Motion
Engine must be disabled before jogging can be executed.
Jog Forward (Edge Sensitive) Activates the selected Jog speed in the forward direction. The
Motion Engine must be disabled before jogging can be executed.
Jog Reverse (Edge Sensitive) Activates the selected current Jog speed in the reverse
direction. The Motion Engine must be disabled before jogging can be executed.

3.7.4 Digital Outputs

To assign a function to a digital output, drag-and-drop one or more functions from the Output
Functions field to the desired digital output in the Output Assignments field.

The present status of each output is displayed by the LED graphic beside each digital output
number (clear = Not Active, green = Active). The Active column displays the output polarity.
Active High means the output is pulled-down if the output is considered OFF. Set the output
polarity by selecting either the Active Low or Active High button at the bottom of the window.

Each output can be assigned one or more functions. If more than one function is assigned to a
single output, the functions are OR-ed, which means that if one of the functions is true, the
output will be turned ON. Functions can be removed from a digital output by highlighting the
selected function, then hitting Delete on the keyboard, or the button in the Digital Outputs
window.

Selections become effective after clicking the Apply button.

Note

3.7.5 Extended I/O

Certain drive models allow the allocation of additional external digital and analog I/O beyond
the standard number of I/O pins available on the drive hardware. The I/O Allocations pane in
the Inputs / Outputs > Extended I/O window determines the number of drive I/O that will be
assigned for external I/O expansion. Selecting a value in the drop-down combo boxes will
automatically assign pre-determined drive I/O for expansion purposes, and the approriate
I/O will appear labeled as such in the Digital I/O windows. Attempting to assign a drive action
or event to I/O that is allocated for external I/O expansion will bring up a dialog box warning
of the I/O resource conflict. For more information on expanded I/O capabilities, please contact
technical support.

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3.7.6 Programmable Limit Switch

The setup software is configurable to support two independent programmable limit switch
(PLS) outputs. These allow the drive to activate digital outputs that are position dependent. The
pulse time and repeatability are configurable. The following requirements must be met before
the PLS outputs can be used:
• A free digital output must be available to be assigned to the PLS function.
• A compatible position loop feedback device must be configured and connected. The
position loop does not need to be closed.
• An absolute position must be defined. If using an incremental encoder to close the position
loop, an absolute position can be set using Homing or the Set Position function.

It is recommended to use the setup software to configure the PLS function. It is also possible to
configure using direct network commands. For more information on PLS configuration using
network commands, refer to the appropriate communication manual for the supported
network type.

Programmable Limit Switch Parameters

Field Description
Source Allows selection of either Position Demand or Position Measured as the input signal to the PLS outputs.
Rollover Selecting the Rollover checkbox will place the PLS outputs in Rotary Mode, and allow the configuration of a Rollover Count value (in user
units) that specifies the position value at which the PLS position counter will return to zero. In Rotary Mode, the following requirement
must be met:
0 < Lower Edge < Upper Edge < Rollover Count
Level Specifies the active polarity of the digital output(s) mapped to the PLS
Direction Specifies the direction of motion that will trigger the PLS function (rising edge sensitive). Selecting Bidirectional will trigger the PLS in both
rising edge Forward and rising edge Reverse directions.
Type Sets the width of the PLS pulse to be either Position or Time based.
When configured for Position, the pulse width is defined by the position values entered in the Lower Edge and Upper Edge fields.
When configured for Time, the pulse width is defined by the time value entered in the Pulse Time field. For a single trigger that occurs at
the same location regardless of direction, set the Lower Edge and Upper Edge fields to the same value. For different trigger locations
depending on direction, set the Lower Edge to be the trigger position for the forward direction, and the Upper Edge to be the trigger for the
reverse direction.
Lower Edge Starting location for the PLS pulse (position user units).
Upper Edge Ending location for the PLS pulse when position based, or a separate directional pulse when time based (position user units)
Pulse Time Sets a fixed time width of the PLS pulse when time based.
Repeats Sets the number of pulses to be repeated. Selecting the Infinite checkbox will cause the PLS pulse to continue repeating until the Rollover
Count is reached (in Rotary Mode) or the maximum allowable position value is reached (in Linear Mode).
Repeat Delta Sets the distance between repeated pulses (position user units). Note that when specifying a repeat pattern, the following requirement
must be met:
(Lower Edge + Repeat Delta) > Upper Edge

The parameters for PLS1 and PLS2 will become active when the Source
signal has been chosen and the Enable checkbox for the respective PLS
output has been selected.

Note

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3.8 Limits
Limits allows configuration of general drive parameters.

The following selections are available regardless of which loops are enabled:
• Current
• Velocity
• Position
• Stop
• Voltage
• Temperature

3.8.1 Current Limits

Use this window to set the drive output current limits within the hardware capabilities of the
drive.

The specified current is in units of peak current. This is the peak value
allowed to go through any phase of the motor within one electrical
cycle. To calculate the RMS current, divide the peak value by 1.414. This
calculation should not be used when the motor is commutated
Note trapezoidally. For an in-depth explanation of how the drive limits current,
see “Current Limiting” on page 94.

Peak Current Maximum output current (limited output time).

Peak Current Time The maximum time duration of peak current.
Continuous Current The maximum continuous current level the drive will output.
Foldback Time The time the drive will use to reduce the current to the continuous current level setting.
Current Limiting Algorithm Selects between Time-Based Limiting or RMS Charge-Based Limiting (for supported drive models
only). RMS Charge-Based Limiting will allow the drive to output more continuous current during
motor movement. See “Current Limiting Algorithm” on page 98 for detailed information on current
limiting.
Current Limit Scaling You may assign an input to change the current limit dynamically. The scaling value can be adjusted
Source in the I/O Configuration window (see “Inputs / Outputs” on page 32).

The drive can output its rated peak current for a maximum of 2 seconds with a foldback time
within 10 seconds. This defines the maximum current capability curve. Current profiles that
intersect with the maximum current capability curve will be limited to stay within this
envelope.

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3.8.2 Velocity Limits

The following velocity-related limits can be set:

Motor Over Speed The maximum speed in which the motor should be able to go. The action following a motor overspeed event can be defined
in Event Manager (active in all operating modes).
Zero Velocity Window The measured velocity values, within which the motor is considered to be at zero velocity (active in all operating modes).
At Velocity Window The "At Velocity" event will be set when the measured velocity reaches the target velocity, within the "At Velocity" window
(active in velocity mode only).
Velocity Following Error The maximum allowed velocity error (difference between target velocity and measured velocity), prior to setting the "Velocity
Following Error" event (active in velocity mode only).
Positive Velocity Limit The maximum allowed demand velocity in the positive direction (active only when the velocity loop is closed).
Negative Velocity Limit The maximum allowed demand velocity in the negative direction (active only when the velocity loop is closed).

3.8.3 Position Limits

The following position-related limits can be set:

In-Home Position Window Defines a window around the Home Position Value, such that when the measured position is within
this window, the In Home Position event will be active.
In-Position Window Defines a window around the target position, such that when the measured position is within this
window, the At Command event will be active.
Position Following Error The maximum allowed position error (difference between target position and measured position)
Window prior to setting the "Position Following Error" event (active in position mode only).
Max Measured Position Maximum allowed measured position. The Max Measured Position event will become active if the
Limit measured position exceeds this value.
Min Measured Position Minimum allowed measured position. The Min Measured Position event will become active if the
Limit measured position exceeds this value.
Max Target Position Limit Maximum allowed target position. The Max Target Position event will become active if the target
position exceeds this value.
Min Target Position Limit Minimum allowed target position. The Min Target Position event will become active if the target
position exceeds this value.
Disable Position Limits Allows you to disable position limits so the motor has no maximum or minimum position value.
Checkbox

Note that position limits will be ignored during homing routines. This setting can be changed
via network commands.

3.8.4 Stop
The Stop window configures software deceleration behavior. This field controls the
deceleration limit for all stop actions and direction stops. If the drive is controlling velocity or
position, the load decelerates according to the user-defined deceleration limit. If the drive is
controlling current, the drive will command zero current with no deceleration control.

Events that trigger the Stop function can be configured in “Events” on page 43. Be sure to use
deceleration values that are realistic and physically possible given the system constraints. For
example, the more inertia a motor has, the longer it will take to stop. If you try to use limits that
are not physically possible, the motor may move unpredictably during the deceleration period.

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3.8.5 Voltage Limits

Use this window to set the User Under- and Over-Voltage limits. These limits are restricted to
fall within the hardware capability of the drive. The Nominal DC Bus Voltage should contain the
normal operating DC voltage supplied to the drive. If using an AC input drive, the Nominal DC
Bus voltage is equal to the AC voltage multiplied by 1.41.

Shunt regulator operation

The shunt regulator (if available, depending on drive model) can be enabled/disabled and its
turn-on voltage can be set at any given voltage below the hardware over-voltage limit of the
drive. The internal shunt resistor parameters, if present, are displayed.

If the drive has provision for connection of an external shunt resistor, the parameters for that
resistor can be entered. If that provision is not available, these fields will not be available. Check
the data sheet for your drive to see if an external shunt resistor can be connected.

The shunt regulator method is used to dissipate excess energy during periods of rapid
deceleration. In most cases, this energy can be consumed in a matter of milliseconds. If a
longer regeneration time is needed, the drive will limit the output to the resistor according to
the following information.
• Measured Bus Voltage
• Shunt resistor Power
• Shunt resistor Resistance
• Shunt resistor Inductance (if unknown, use zero)

If the stated resistor power or resistance is incorrect, the drive cannot

reliably regulate the power dissipated.

Note

There is a limit to the amount of current the drive can output to the shunt
without damaging the circuitry. The resistance of the external resistor
should be large enough to handle this current. Follow the table below to
determine the absolute minimum resistance that the shunt circuitry can
handle.

Drive Power Module Minimum Shunt Resistance (Ohms)

015A400 N/A
030A400 20
060A400 10
100A400 10
030A800 Consult Factory
060A800 40
C060A400 20
C100A400 25

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 Configuring the Drive / Limits

External shunt resistor power selection

During a regenerative event, the shunt output will initially turn on for 10ms, and the entire bus
voltage is placed across the shunt resistor to allow the excess bus voltage to fall below the
shunt enable threshold during normal regeneration.

This initial turn-on is independent of the shunt resistor information entered;

therefore the power dissipated through your shunt resistor may exceed
the rated power during the first 10ms. If using an external shunt resistor,
be sure the resistor can handle this 10ms pulse.

After this initial pulse, if the bus voltage is still higher than the shunt turn on voltage, the shunt
output will turn on and off rapidly in order to regulate the power dissipated. For both external
and dual shunt modes, the on time and period are adjusted such that the shunt is on for
approximately 3 time constants while maintaining the same duty cycle. The highest duty cycle
attainable is 50%. The drive sets the on-time PWM output to a duty cycle such that:
2
V bus
-----------  DC = P max
R
Vbus = measured bus voltage (Vdc)
R = shunt resistance (ohms) - specified in setup software for
external shunt
Pmax = maximum shunt power (W) - specified in setup software for
external shunt
DC = PWM duty cycle

The period of the PWM output is set as [Vbus2/(R * Pmax)] * Ton, with Ton=2/Fs, where Fs is the
switching frequency of the drive (Hz). The average current going through the shunt resistor
will be less than or equal to Vbus/2R. The average power through the shunt resistor during
this time will be less than or equal to (Vbus)2/4R.

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3.8.6 Temperature Limits

The Temperature Limits tab allows configuration of an external temperature sensor.
Configuration options are dependent upon the specific drive hardware. Certain drives accept
an external temperature sensor in the form of either a switch or a thermistor. Use the "Sensor
Type" pull down list to select the type of sensor in use.

Switch

For applications using a switch as an external temperature sensor, select whether the Motor
Over Temperature event will occur when the switch is open or closed.

Thermistor

For applications using a thermistor as an external temperature sensor, input the resistance
value when Motor Over Temperature will activate, and at what resistance Motor Over
Temperature will become inactive. Acceptable input values range from 0 to 5000 . Both
negative thermal coefficient (NTC) and positive thermal coefficient (PTC) thermistors are
supported. The setup software will automatically determine the thermistor type based on the
values entered in the Event Action fields.

If the Event Action Active Level is greater than or equal to the Event Action Inactive Level, then:
• The Motor Over Temperature event will turn on when the resistance becomes higher
than the Event Action Active Level.
• The Motor Over Temperature event will turn off when the resistance becomes lower than
the Event Action Inactive Level.

If the Event Action Active Level is set less than the Event Action Inactive Level, then:
• The Motor Over Temperature event will turn on when the resistance becomes lower than
the Event Action Active Level.
• The Motor Over Temperature event will turn off when the resistance becomes higher
than the Event Action Inactive Level.

Other drives are capable of accepting an analog temperature sensor that can be connected to
an analog input of the drive. You can configure a maximum allowable motor temperature at
which point the drive will be disabled. The motor temperature level at which the drive can be
re-enabled can also be configured. For a digital temperature sensor, see the digital inputs
section of “Inputs / Outputs” on page 32.

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3.9 Events
The Basic and Advanced Events windows let you configure or review actions associated with
certain drive events. For a full list of drive events and recommended troubleshooting methods,
see “Events and I/O Descriptions and Troubleshooting Methods” on page 114.

The diagrams below illustrate the behavior of an event and the corresponding event action.

The Event Actions that can be assigned to drive events are as follows (note that not all event
actions are available for each event):
Event Action Description
No Action Event Action is disabled
Disable Power No power is delivered to the motor. Motor is allowed to move freely.
Bridge
Disable Positive Disables the drive from outputting to the motor in the positive direction, while allowing commanded motion in the negative
Direction direction. The result is dependent on the mode of operation. This action is not recommended in vertical applications because
the load will be free to fall once the limit is activated. For vertical loads, we recommend using 'Positive Stop'.
Disable Negative Disables the drive from outputting to the motor in the negative direction, while allowing commanded motion in the positive
Direction direction. The result is dependent on the mode of operation.
Dynamic Brake Motor leads are virtually shorted together internally. However, the bridge enables to protect motor by regulating motor current.
Positive Stop If the drive is controlling velocity or position, the load decelerates according to the deceleration limit specified in the Stop Limits
window. If the drive is controlling current, the drive will command zero current with no deceleration control. Commanded motion
in the positive direction has no affect. Motor continues to servo with zero command in the positive direction.
Negative Stop If the drive is controlling velocity or position, the load decelerates according to the deceleration limit specified in the Stop Limits
window. If the drive is controlling current, the drive will command zero current with no deceleration control. Commanded motion
in the in the negative direction has no affect. Motor continues to servo with zero command in the negative direction.
Stop If the drive is controlling velocity or position, the load decelerates according to the deceleration limit specified in the Stop Limits
window. Commanded motion has no affect. Motor continues to servo with zero command.
Apply Brake then Brake output is turned on, and then the bridge is disabled. The delay is set in the Braking window.
Disable Bridge
Apply Brake then Brake output is turned on, and then the dynamic brake is applied. The delay is set in the Braking window.
Dynamic Brake

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3.9.1 Basic Events

The Basic Events window allows for simple configuration of some common drive events. Select
an Event Action from the drop-down lists for each drive event.
• Latch: If the latch box is checked, the selected Event Action will remain active until the
event is removed or you perform one of these actions:
— Cycle power to the drive
— Refresh the Drive Status

3.9.2 Advanced Events

The Advanced Events window allows in-depth customization of the way the drive responds to
certain drive events. Events under Advanced Settings can correspond to one of the following
groups.
Group Description
Fault Critical events that result in the drive being disabled.
User Action Event actions that are activated via a digital input or other external interface.
Software Action Event actions that are a result of an internal event.
Motor Events directly related to the motor.
Feedback Events directly related to the motor feedback signals.
Command Events related to the command source or command signal.
Current Events related to the current output as measured by or limited by the drive.
Velocity Events related to the velocity as measured by or limited by the drive.
Position Events related to the position as measured by or limited by the drive.
Shunt Applicable to drives that support a shunt regulator only. Event indicates when the shunt regulator is active.

Each event has several programmable attributes that can be edited by clicking on an event
row:
• Delay: The time delay between the actual occurrence of the event and the event action.
• Action: The action to be taken by the drive after the response time has elapsed. For safety
reasons some actions are not available with some events.
• Recovery: The time after which the selected event action will be removed when the cause
of the event is no longer present.
• No Repeat: The time, after the recovery time and subsequent removal of the event action,
during which the drive will NOT consider an occurrence of the event as a new occurrence.
The Event Action will still be applied in case an event does occur within this window.
However, that occurrence will not be counted as a new occurrence with regard to the
Maximum Recoveries attribute.
• Recoveries: The number of occurrences of the event prior to a permanent event action.
The number of recoveries can be set to a specific value, or to Latch or Unlimited.

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 Configuring the Drive / Network Settings

3.10 Network Settings

The Network > Settings window allows configuration of network communication settings.
Note that the settings entered in the Network Settings window are not necessarily the same as
the connection settings used to connect to the drive. Network Settings fields may only be
changed when connected over the serial interface (RS232 or USB, depending on the drive
model). The window display is specific to the type of network the drive hardware is compatible
with (note the type of Ethernet protocol is selected in the [Drive Name] > Settings window in
the System Browser).
Network Type Configurable Settings Description
CANopen Address Sets the CANopen Node ID (1 - 127)
Baud Rate Selects the CAN bus speed (kbit/s).
Initial Mode of Operation Specifies the mode of operation (6060) initial value. This is the initial mode after a
(6060) communication reset or power cycle. The mode changes will be applied upon drive reset.
Cyclic Mode Period Defines the cyclic interpolation cycle time (ms). Value should be equal to the target update rate
sent by the host in cyclic position, velocity, or torque mode.
Guard Time Guard Time and Life Time Factor (both in ms) determine a "Lifetime" for each NMT slave in the
network (Lifetime = Guard Time x Life Time Factor). If a node does not receive a Node Guard
Life Time Factor
message within its Lifetime, the node assumes communication with the host is lost and triggers
a communication error event. Each node may have a different Lifetime.
RS485 / Drive Address Sets the RS485 drive address (1 - 63)
Modbus RTU Baud Rate Selects the RS485 communication baud rate (kbit/s).
Disable Modbus Select this option when using RS485 communication.
EtherCAT Station Alias Sets the Station Alias of the drive (0 - 256)
Initial Mode of Operation Specifies the mode of operation (6060) initial value. This is the initial mode after a
(6060) communication reset or power cycle. The mode changes will be applied upon drive reset.
Cyclic Mode Period Defines the cyclic interpolation cycle time (ms). Value should be equal to the target update rate
sent by the host in cyclic position, velocity, or torque mode.
Ethernet / Node ID Sets the Node ID (1 - 255)
Ethernet Powerlink / User Defined IP Allows entry of a user defined IP address by selecting the checkbox.
Modbus TCP* Initial Mode of Operation Specifies the mode of operation (6060) initial value. This is the initial mode after a
(6060) communication reset or power cycle. The mode changes will be applied upon drive reset.
Cyclic Mode Period Defines the cyclic interpolation cycle time (ms). Value should be equal to the target update rate
sent by the host in cyclic position, velocity, or torque mode.
*When using Modbus TCP, only the User Defined IP address is configurable

Drive Operation Mode On certain drives, the Drive Operation options in the [Drive Name] >
Settings window are available to configure the drive for Network Mode or Stand-Alone Mode.
• Network Mode should be used when the drive will be controlled over the network, and will
restrict the drive to use the state machine defined by the network. This means a network
command is required to transition the drive out of the fault state before the bridge can be
enabled.
• Stand-Alone Mode should be used when the drive will not be connected to a network.
Stand-Alone Mode allows the drive to automatically recover from disabling events such as
User Disable when the event is no longer active.

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 Configuring the Drive / PDO Configuration

3.11 PDO Configuration

The PDO Configuration windows are available for drives that support the CANopen
communication protocol and are opened by selecting the appropriate option under the
Network heading in the System Browser.

The PDO Configuration windows allow the configuration of PDO mapping assignments, and
the option of exporting the project file as a .DCF (CANopen drives) file by clicking the Export
DCF button.

3.11.1 RPDOs - CAN Drive

The CAN drive RPDO mappings are pre-configured and cannot be changed in the setup
software. However, each RPDO can be manually enabled or disabled in one of two ways:
• Click on the Load Preset button to select a pre-determined RPDO configuration.
• Select the desired RPDO in the Object Assignments box, then check or uncheck the PDO
Enabled checkbox.

The PDO Settings box allows further RPDO configuration:

Setting Description
COB-ID Enter the COB-ID for the selected RPDO (181h - 57fh)
Transmission Type Set the transmission type for the selected RPDO

3.11.2 TPDOs - CAN Drive

The CAN drive TPDO configuration and settings controls function in the same way as the
RPDOs (“RPDOs - CAN Drive” on page 46) with the addition of RTR and period configuration.
Setting Description
RTR Allowed Allow or disallow RTR (Remote Transmission Request) access for the selected TPDO
COB-ID Enter the COB-ID for the selected TPDO (181h - 57fh)
Transmission Type Set the transmission type for the selected TPDO
Period For Sync Cyclic transmission type, enter the number of sync pulses for the selected TPDO

Except for TPDO 26, the CANopen TPDO mappings are pre-configured and cannot be changed
in the setup software. TPDO 26 can hold up to eight objects, or 64 bits. The number of objects
that can be assigned will be limited by the size of the objects.

To map an object to TPDO 26, drag an object from the Available Objects box over to the Object
Assignments field. Objects will be relegated to TPDO 26 automatically in the order in which they
are assigned. To change the order of a selected object assigned to TPDO 26, use the and
buttons. The button will remove the selected object from TPDO 26.

The Mapping Capacity bar displays how much space remains for objects to be assigned to
TPDO 26.

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 Configuring the Drive / PDO Configuration

3.11.3 TPDO Events - CAN Drive

The CAN drive TPDO Events tab is used to assign TPDOs to specific events. Drag TPDOs from
the Available PDOs box to one of the event fields. By clicking on a desired event, the Event
Settings box can then be used to further configure the event, or to remove the assigned
TPDO(s).

Timer Events

Sets the cycle time of the assigned TPDOs. If the cycle time is set to 0, the assigned TPDOs will
be transmitted continuously.

Bit Monitor Events

The Bit Monitor identifies an object which is observed continuously. Select an object from the
Observed Object drop down box. If the observed bits change the TPDO(s) assigned to the Bit
Monitor will be sent. The observed bits are defined by the Bit Mask field (0 to FFFF in hex).

Value Events

The Value Changed event observes an object continuously, defined by the Observed Object drop
down box. If the object changes by the user defined value entered into the Target Value field
the assigned TPDO(s) will be sent.

The Value Reached event observes an object continuously, defined by the Observed Object drop
down box. If the object reaches the user defined value entered into the Target Value field in the
selected Direction, the assigned TPDO(s) will be sent.

3.11.4 RPDOs and TPDOs - Ethernet Powerlink or EtherCAT

When using an Ethernet Powerlink or EtherCAT network, up to 16 words can be mapped to
the RPDO and TPDO. A 16-bit object will take up 1 word, and a 32-bit object will take up 2
words. Objects can be assigned in one of two ways:
• Click on the Load Preset button to select a pre-determined RPDO or TPDO configuration.
• Drag-and-drop objects from the Available Objects field to the Object Assignments field. Use
the , , and buttons to change the order or remove assigned objects.

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 Configuring the Drive / Tuning

3.12 Tuning
The selections under Tuning in the System Browser are used to set the control loop gains and
configure filters and other tuning tools.

3.12.1 Current Loop Gains

There are two options for current loop (torque and flux) parameters:
• Proportional Gain and Integral Gain: Set the gain values according to conventional PI
tuning rules.
• Proportional Gain and Motor Pole: Use for zero-placement in the current loop
algorithm. The proportional gain setting is the overall gain of the current loop algorithm.
When the Motor Pole value matches the actual motor electrical pole (the inverse of the
motor electrical time constant), a critically damped response can be obtained with the
largest overall proportional gain.

The Calculate button can be used to automatically set the current loop gains based on the
values entered in the Motor and Limits windows. Typically these values will provide a good
starting point and further gain adjustment is required for optimal tuning. Make sure proper
motor and application data are entered prior to using this function.

3.12.2 Gain Sets

For a motion control system to work properly, the drive must be correctly tuned to the motor
and/or system. This is accomplished with a set of gain values for each of the control loops in
the drive. Most applications will not require gain switching, and therefore should use the
default Gain Set 0. However, more than one set of gains may be required as the machine
mechanics may change shape (effecting inertia) or the system is loaded or unloaded. The setup
software allows the configuration of two separate sets of gain values, Gain Set 0 and Gain Set 1.
Each gain set can be assigned to either Configuration 0 or Configuration 1 in the Configuration
window.

To set the gain values, access the Gain Set windows by clicking on Tuning > Gain Set 0 or Gain
Set 1 from the System Browser. Note that Gain Switching must be enabled in order for Gain Set
1 to be available to edit. Gain Switching can be enabled in the Drive Settings window (Drive >
Settings). For a step-by-step guide to tune the drive to the system, see “Tuning and
Commutation” on page 51.

The Gain Set values can be set according to conventional PID tuning rules:
Proportional Gain (Kp) Increase for faster response and increased stiffness. Excessive proportional gain can cause
overshoot and oscillation.
Integral Gain (Ki) Increase to eliminate steady-state error and increase accuracy (i.e. amount torque/force per
deflection). Excessive integral gain can cause instability and jitter.
Derivative Gain (Kd) Increase to dampen response and reduce overshoot. Excessive derivative gain results in a more
sluggish response. Depending on the feedback source, it may cause excessive jitter and noise.

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 Configuring the Drive / Tuning

Accel Feed Forward (Aff) Creates a direct current demand, based on the change in velocity demand (Velocity Loop) or the
second derivative of the position demand (Position Loop). This gain does not affect closed loop
behavior, but can help improve velocity/position-tracking capability.
Velocity Feed Forward (Vff) Creates a direct velocity demand based on the change in position demand. This gain does not
(Position Loop only) affect closed loop behavior, but can help improve position-tracking capability.

Set Position The Set Position function will change the value of the measured position and target
position to the values defined in the "Preset Position" field. It is recommended to use the Set
Position feature to avoid unexpected motor movement when enabling the bridge, as a large
difference between the measured and target position may cause the motor to spin rapidly
upon receiving power.

3.12.3 Filters
The Filters selections (Tuning > Filters) allow configuration of additional gain parameters that
can be used for more in-depth loop tuning behavior. Note that the values entered in the Filters
windows will effect both Configuration 0 and Configuration 1:

Velocity Feedback
Parameter Description
Feedback Filter Cut-off Frequency Sets the cutoff frequency for the velocity feedback filter. This low-pass filter reduces velocity ripple
(due to digitization). However, this will also affect closed loop performance. A typical setting is
between 50 Hz and 1500 Hz.
Low Speed Smoothing When using a standard incremental encoder, Low Speed Smoothing stabilizes the velocity loop
(incremental encoder feedback only) during low-speed movement. To tune the low speed gain, use the Waveform Generator to command a
low speed (1 or 2 rpm) and look at the velocity measured with the oscilloscope. Adjust the low speed
gain to minimize the velocity spike as seen by the scope. Alternatively, this gain can be used to
reduce jitter when position is tuned around the velocity loop.

Custom The Custom Filters window allows the specification of biquad filter coefficients for
different locations in the servo drive’s control loop. A separate biquad filter can be enabled for
both Configuration 0 and Configuration 1. See “Control Loop Architecture” on page 109 for
biquad filter locations. Note that only one biquad filter can be enabled at a given time for each
Configuration. Determination of biquad coefficients is accomplished using a data computing
language such as MATLAB or a similar programming environment. Most servo applications
will not require the use of custom biquad filters. Implementation of the digital filter in the
drive is according to Direct Form II. which results in a transfer function in z domain:

YBQ(z)=K*(b0*z2+b1*z+b2)/(z2-a1*z-a2)

Note that numbers may be rounded due to the fixed-point representation. It is the
responsibility of the user to determine system stability when user-specified coefficients are
used.

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 Configuring the Drive / Tuning

3.12.4 Advanced Settings

The Advanced Settings window (Tuning > Advanced Settings) allows configuration of the
Velocity and Position Integrator Decay functions.
Parameter Description
Integrator Decay Enabling Integrator Decay will reduce the integrator output each sampling cycle by the specified rate
(0-100%) of the Integral Gain. This prevents the integrator from commanding a high current while
trying to resolve a small error signal in high stiction applications. When Velocity Integrator Decay is
enabled, decay will trigger if the velocity error going into the integrator is within the specified decay
Active Window. When Position Integrator Decay is enabled, decay will trigger if the position error is
within the specified decay Active Window.

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 4 Tuning and Commutation

Before proceeding, you must accomplish the following actions:

 Configure the limits and events parameters
 Connect the motor power and feedback

Drive tuning is a multi-step process that involves proper tuning of up to three different servo loops. Before
tuning, the drive should have the appropriate parameters and limits configured as per the "Limits" on page 38.
Following are the summary tasks you must perform; later in this chapter you will find the actual procedures
with individual steps.

Sudden motion may occur! Tuning should only be performed after you
have specified motor information, drive limits and events, and user units.

1. Current Loop Tuning: Once the drive parameters are configured properly, the current
loop must be tuned. This is the innermost loop and forms the basis of all motion. You can
select to have the current loop gains calculated based on motor and application data. This
will typically provide a good starting point although some applications may require
further refinement of the tuning parameters.

Make sure the drive is disabled before selecting Calculate Gains.

2. AutoCommutation™: This routine collects data on the motor and feedback parameters
and asks the user to verify that they match what is entered into the Motor Data page.
Some applications may have motors that cannot perform this routine due to mechanical
constraints. See "Manual Commutation Procedure" on page 59 if you must perform
manual commutation.

It is crucial to make sure the motor is unloaded during commutation; any

load applied to the motor will skew the results of the routine.

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 Tuning and Commutation /

3. Velocity Loop Tuning: If you want to operate the drive in velocity mode, you must tune
the current loop and set up the drive to commutate the motor (steps 1 and 2). A very tight
current loop inside of a relatively tight velocity loop may cause audible noise. If maximum
bandwidth is not necessary, de-tuning the current loop usually removes most of the
audible noise. The velocity loop will have to be adjusted any time the current loop tuning is
changed.
4. Position Loop Tuning: You can either tune the position loop around the velocity loop, or
around the current loop. Generally, it is much easier to tune a position loop around a
velocity loop because only the proportional gain is needed. When tuning position around
the current loop, a high derivative gain may be necessary on top of both proportional and
integral gains.

For a diagram of how the setup software control loop architecture is implemented, see "Control
Loop Architecture" on page 109.

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 Tuning and Commutation / Current Loop Tuning

4.1 Current Loop Tuning

Before beginning current loop tuning, make sure that the motor is free to move and de-coupled
from the load, as sudden motion may occur. The motor and drive limits information must be
correctly specified in the Motor and Limits windows before tuning the current loop. For
current loop tuning, the Loop Configuration in the active Configuration can be set to any of the
available options.

It is recommended to disable the drive by clicking on the Disable icon on the toolbar before
beginning tuning. The procedure below will prompt you to enable the drive when necessary
for tuning.

Step 1: Inputs/Outputs Configuration setup

1. Select Inputs/Outputs >Digital Inputs from the System Browser.
2. If an external Inhibit/Enable circuit is used during setup, assign the digital input that will
be used to the User Disable function, and set the proper polarity (e.g., active high or active
low).
3. If no external Inhibit/Enable circuit is to be used during setup, then the Enable/Disable
icons on the toolbar will be used to control drive enabling.

Step 2: Waveform Generator Setup

1. Open the Scope/Tuning tab by clicking on the Scope/Tuning icon from the toolbar.

2. In the Waveform Generator pane, select the waveform Target as Current Loop.
3. Select the Square waveform Type.
4. Set Frequency to 100 Hz. If your motor has low inertia and is very responsive, use 150 Hz
or 200 Hz.
5. Ensure Offset is zero.
6. Ensure Symmetry is 50%.
7. Set the waveform Amplitude to an appropriate value. Begin with 10% of the drive
continuous current rating or 50% of the motor continuous current rating, whichever is
lower.
8. Click the ON button to turn on the Waveform Generator.

Step 3: Oscilloscope setup

1. Select the Current oscilloscope preset from the Presets drop-down menu in the Scope/
Tuning tab, or to manually configure the settings follow the steps below.
2. Change the channel 1 signal to Current Target.
3. Change the channel 2 signal to Current Measured.
4. Change the Trigger Source to Current Target with the Level set to zero.
5. Ensure Trigger Mode is Normal.
6. Change Time/Div to either 1 msec or 500  sec.

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 Tuning and Commutation / Current Loop Tuning

Step 4: Tuning
1. With the Scope/Tuning window still open, select Tuning > Current Loop Gains from the
System Browser.
2. To set starting values for the Current (Torque) Loop proportional (Kp) and integral (Ki)
gains, click the Calculate button to calculate gains that utilize the values entered into the
Motor Parameters, Feedback, and Limits windows. The specified motor inductance,
resistance, and bus voltage determine the accuracy of the calculated values. If accurate data
is not available, begin with Proportional Gain = 1 and the Integral Gain = 0.
3. Enable the drive by clicking the Enable icon. The motor should emit an audible noise but
remain still.
4. Proper current loop tuning starts with zero integral gain while increasing the proportional
gain until a 'knee' is formed (with no overshoot) in the Current Measured trace.

5. At this point, the proportional gain is done and the Integral gain must be slowly increased
to close the steady state error between the Current Target and Current Measured traces.

6. Tuning changes with signal amplitude. Therefore you should now re-adjust the current
amplitude in the Waveform Generator tab according to your most common application
current requirements and re-tune. Contouring applications generally use small signal
transients while point-to-point applications use larger signal transients.
7. When current loop gain adjustments are complete, disable the drive .
8. Turn off the Waveform Generator to remove the command signal from the drive by
clicking the OFF button in the Waveform Generator pane.
9. Click Store on the toolbar to store the parameters to the drive’s nonvolatile memory.
10. For Brushed or Brushless motors, no further current loop tuning is required. Skip to
"Commutation" on page 57 to continue the Tuning and Commutation process. For AC
Induction motors, continue to Step 5.

For reference, see "Current Limiting" on page 94.

Step 5: (For AC Induction Motors Only) Flux Reference Loop - Waveform

Generator Setup

MNDGDWUG-12 54
 Tuning and Commutation / Current Loop Tuning

The preceding Steps 1 through 4 must also be performed for AC Induction motors.

1. Open the Scope/Tuning tab by clicking on the Scope/Tuning icon from the toolbar.

2. In the Waveform Generator pane, select the waveform Target as Flux Reference Current.
3. Select the Square waveform Type.
4. Set Frequency to 1 Hz.
5. Ensure Offset is zero.
6. Ensure Symmetry is 50%.
7. Set the waveform Amplitude to the No Load Current (as entered on the Motor Parameters
page).
8. Click the ON button to turn on the Waveform Generator.

Step 6: (For AC Induction Motors Only) Flux Reference Loop - Oscilloscope

Setup
1. Change the channel 1 signal to Flux Ref. Current Target.
2. Change the channel 2 signal to Flux Ref. Current Measured.
3. Change the Trigger Source to Flux Ref. Current Target with the Level set to zero.
4. Ensure Trigger Mode is Normal.
5. Change Time/Div to 100 msec.

Step 7: (For AC Induction Motors Only) Flux Reference Loop - Tuning

1. With the Scope/Tuning window still open, select Tuning > Current Loop Gains from the
System Browser.
2. To set starting values for the Flux Loop proportional (Kp) and integral (Ki) gains, click the
Calculate button that calculates gains that utilize the values entered into the Motor
Parameters, Feedback, and Limits windows. The specified motor inductance, resistance,
and bus voltage determine the accuracy of the calculated values.
3. Enable the drive by clicking the Enable icon. The motor should emit an audible noise but
remain still.
4. Proper loop tuning will look similar to the figure below. Adjust Kp and Ki accordingly to
remove any overshoot.

5. When flux reference loop gain adjustments are complete, disable the drive .
6. Turn off the Waveform Generator to remove the command signal from the drive by
clicking the OFF button in the Waveform Generator pane.
7. Click Store on the toolbar to store the parameters to the drive’s nonvolatile memory.

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 Tuning and Commutation / Current Loop Tuning

Step 8: (For AC Induction Motors Only) Commutation

1. For AC Induction motors, all that is required for motor commutation is to command a DC
current into the current loop.

2. Open the Scope/Tuning tab by clicking on the Scope/Tuning icon from the toolbar.
3. Select the waveform Target as Current Loop.
4. Select the DC waveform Type.
5. Set the waveform Amplitude to an appropriate value.
6. Click the ON button to turn on the Waveform Generator.
7. Enable the drive by clicking the Enable icon. The motor should spin quickly and smoothly
in a constant direction. If the motor does not spin, or spins very slowly, it is likely the
feedback polarity will need to be changed. Disable the drive . From the System Browser,
select Motor > Parameters and change the feedback polarity, then Apply the change. Return
to the Scope/Tuning window, and command the same DC current into the drive. The
motor should now spin quickly and smoothly.
8. No further motor commutation is required for AC Induction motors. Skip to "Velocity Loop
Tuning" on page 64 to continue the tuning process.

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 Tuning and Commutation / Commutation

4.2 Commutation
Motor commutation is dependant on the type of motor and feedback available from the motor.
Brushed motors have a commutator built into the motor housing; therefore the drive does not
have to be configured to commutate them. Brushless DC (Trapezoidal), and AC (Sinusoidal),
motors require a correctly configured drive to commutate.

Commutation of a permanent magnet servomotor is the process that maintains an optimal

angle between the permanent magnet field and the electromagnetic field created by the motor
current(s). This process ensures optimal torque or force generation at any motor position,
regardless of speed, for brushless motors.

There are two ways to configure a digital drive to commutate a motor:

• AutoCommutation™: Most applications can use the AutoCommutation routine for config-
uring a drive to a specific motor. This routine will detect the feedback devices attached to
the motor and ask the user to verify them against the motor’s datasheet.
• Manual Commutation requires more time, and may not be as accurate as AutoCommuta-
tion. You will have to perform this method if:
— Your motor is mechanically restrained such that it is not free to move 2 revolutions +
1 electrical cycle in both directions (3 electrical cycles for a Brushless linear motor).
— Your motor or load has a significant amount of inertia.
— Your motor cannot be unloaded, or is a vertical load.
— Your motor has a high degree of stiction.

4.2.1 AutoCommutation™
The AutoCommutation routine detects the motor feedback type and polarity, and then
configures the drive commutation parameters appropriately.

Brushless and linear motors with insufficient travel distance (two revolutions plus one
electrical cycle for rotary motors, or three electrical cycles for linear motors) or large amounts
of inertia will require the Manual Commutation Procedure instead. AutoCommutation
detection is not required for brush-type motors.

Before you run AutoCommutation, be sure you:

• Enter in the correct motor information in the Motor window page.
• Specify the correct feedback information.
• Specify limits to protect the motor.
• Tune the current loop.
• De-couple the motor from any load and secure the motor. Sudden motion will occur!

If you have not done the preceding, see the corresponding sections in this manual.

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 Tuning and Commutation / Commutation

For brushless, stepper, and linear motors with sufficient travel distance, proceed as follows:

1. In Motor > Parameters, ensure that Sinusoidal Commutation is selected in the

Commutation section of the window.
2. Open the AutoCommutation window (Motor > AutoComm).
3. If the drive is disabled, click the Enable icon to enable the drive.
4. Click Start AutoCommutation to begin the process. During the AutoCommutation process,
monitor the distance traveled in each direction. The motor will move at 60 electrical
degrees per second. Rotary motors will turn two revolutions plus one electrical cycle in
each direction. Linear motors will move three electrical cycles in each direction. Motors
with a high pole count will take a longer time to complete.
5. When AutoCommutation is complete, select whether the motor has moved the proper
distance or has not moved the proper distance. If the motor did not move the proper
distance, verify the pole count or pole pitch in the motor parameters window.
6. Once the motor has properly completed the AutoCommutation routine, verify the proper
commutation and synchronization settings:
— Commutation:
Trapezoidal - The drive uses Hall Sensors to commutate trapezoidally.
Sinusoidal - The drive uses a feedback device to perform sinusoidal
commutation.
External Commutation (Brush) - The drive does not commutate the motor.
Commutation is performed externally.
— Synchronization: (It is recommended to synchronize on the index any time that an
index exists. This will allow the drive to home to an index. If a different method of
synchronization is selected other than on the index, the drive will not be able to home
to an index.)
None - No synchronization is performed.
Halls - each hall cycle - Synchronization is performed on every rising edge of
Hall A.
Index - Synchronization is performed on the rising edge of the encoder index
pulse.
7. Click Apply from the toolbar to save the AutoCommutation parameters.
8. Click the Store Settings icon to store parameters to non-volatile memory.

For brushless or stepper motors with encoder feedback and no Hall

Sensors, the Phase Detection function must be utilized whenever power
to the drive is cycled or a loss of sinusoidal commutation occurs. See
"Phase Detect" on page 62.
Note

AutoCommutation™ Warnings After running AutoCommutation, it is possible that a

warning (or warnings) may appear due to wiring errors or discrepancies between the
information on the Motor Data page and the results of AutoCommutation.

Follow these steps to successfully complete AutoCommutation:

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 Tuning and Commutation / Commutation

1. Review the information in the AutoCommutation warning box, then select OK.
2. Select ’Edit Motor Data’ from the options in the lower right hand corner.
3. Click ’OK’ in the Pre-Loaded data dialog box.
4. On the Motor Data page, the relevant information will have been changed to correspond
with the AutoCommutation results. Click ’OK’, then click ’OK’ in any dialog boxes to return
to the AutoCommutation window.
5. Select ’Accept’ in the AutoCommutation window. If the ’Accept’ button is still grayed out,
consult the general guidelines in the following table to diagnose and correct any
AutoCommutation warnings, then re-run AutoCommutation.

AutoCommutation Warning Warning Description

Text
Primary Feedback Polarity AutoCommutation detected that the feedback polarity of the primary encoder is the opposite of
Opposite from Motor Data what is specified on the Motor Data page. This does not necessarily indicate an error, only that
the observed polarity is different. In this case, it is best to trust AutoCommutation.
Different Feedback Devices AutoCommutation detected a feedback device (usually Hall Sensors) that was not specified on
from Motor Data the Motor Data page. Check motor data to be sure accurate information was entered.
Other Hall Phasing AutoCommutation found Hall Sensor spacing that is outside the normal range for 60 degree or
120 degree Hall spacing. This does not necessarily indicate an error. It is acceptable to run with
other Hall spacing.
Invalid Hall Sensors AutoCommutation detected inconsistent Hall Sensors. This usually means one or more Hall
Sensors are shorted or not properly connected. Check Hall wiring between motor and drive.
Inconsistent Index Transitions AutoCommutation did not find the index signal consistently during its travel. Check to make sure
the index signal of the encoder is properly wired to the drive. Can also indicate a noise issue.
Check to make sure cables are properly shielded.
Inconsistent Encoder AutoCommutation did not find encoder transitions during its travel. Check to make sure that the
Transitions encoder’s A and B channels are properly wired to the drive, and that the encoder is properly
powered. Can also indicate a noise issue. Check to make sure cables are properly shielded.

4.2.2 Manual Commutation Procedure

The large majority of applications do not require this method for configuring a drive to
commutate the motor. However, because some applications cannot use the AutoCommutation
routine, each drive defaults to a standard switching sequence that will commutate one of the
six motor phase wiring combinations for a given feedback wiring configuration.

Before you perform manual commutation, be sure you have:

• Entered in the correct motor information in the motor data page.
• Specified the correct feedback information.
• Specified limits to protect the motor.
• Tuned the current loop.
• De-coupled the motor from any load and secured the motor. Sudden motion will occur!

Setting over speed limits

1. From the System Browser, go to the Limits > Velocity window, and set the maximum speed
you wish the motor to spin for this test. Set this fairly high but not so fast it is dangerous if
the motor spins away.

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 Tuning and Commutation / Commutation

2. From the System Browser, go to the Events > Advanced window. In the Motor group, set
the Motor Over Speed event Action to Disable Power Bridge and Unlimited Recoveries.

Performing Manual Commutation (Incremental Encoder, Sin/Cos

Encoder)
1. Ensure Trapezoidal Commutation is selected in the Commutation window.
2. If the drive is enabled, click the Disable icon to issue a Software Disable and disable the
drive.
3. Check the Drive Status panel for any faults or user inhibits that may be disabling the drive
or preventing operation, and take corrective action to clear them. Software Disable should
remain applied.
4. In the Motor > Manual Commutation window, it is recommended to use the default settings
for Current, Rate, and Offset in the Drive Parameters and Procedure Settings and Status
panes.
5. Enable the drive. Click and hold the Move Positive or Move Negative button in the
Measurement pane. The needle in the diagram will begin to revolve. The measured
commutation settings will appear as solid lines in the diagram.

6. Once the needle has travelled a complete rotation, release the Move... button. (Optionally,
after completing a full rotation in one direction, click and hold the Move... button in the
opposite direction for another full rotationto increase resolution). If the measured
commutation settings (solid lines) do not match up with the configured commutation
settings (dashed lines), change the Commutation Sequence from the Drive Parameters
pane so that the solid lines line up with the dashed lines.

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 Tuning and Commutation / Commutation

7. To set the properEncoder Direction, click and hold the Move Positive button. As the needle
rotates, pay attention to the Position counter field. If the value is increasing as the needle
moves forward, Encoder Direction should be set to Standard. If the value is decreasing as
the needle moves forward, Encoder Direction should be set to Inverted.
8. Apply the commutation settings by clicking the Apply button in the Toolbar.

Performing Manual Commutation (Absolute Encoder - BiSS, EnDat,

Hiperface)
1. If the drive is enabled, click the Disable icon to issue a Software Disable and disable the
drive.
2. Check the Drive Status panel for any faults or user inhibits that may be disabling the drive
or preventing operation, and take corrective action to clear them. Software Disable should
remain applied.
3. In the Motor > Manual Commutation window, it is recommended to use the default settings
for Holding Current, Holding Time, and Commanded Phase Angle in the Procedure Settings
pane.
4. Enable the drive. Click the Start button. The motor should begin to rotate slowly (the
current and position can be monitored in the Status pane).
5. Once the configured Holding Time has been reached, the Calculated Null Torque Angle
(NTA) will be displayed in the Drive Settings pane. The Feedback Polarity will also be
automatically adjusted to the correct setting, if necessary.
6. Apply the commutation settings by clicking the Apply buttonin the toolbar.

Re-Setting Over Speed Limits

1. In the Limits > Velocity window set the desired application Motor Over Speed.
2. In the Events > Advanced window, configure the desired event actions for the application.
3. Click the Store Settings icon on the toolbar to store the parameters to the drive non-
volatile memory. The drive is now ready either for tuning the outer loops, or final
commissioning and use.

4.2.3 Advanced Commutation

The Advanced Commutation window provides setup and commutation information for more
advanced or non-typical commutation configurations or environments. Most applications will
not require any adjustment of the Advanced Commutation values.

Note that not all of the Advanced Commutation parameters listed below are available for every
drive. Only the commutation parameters specific to the drive and feedback device in use will
be displayed in the setup software.

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 Tuning and Commutation / Commutation

Changing settings in the Advanced Commutation window will automatically adjust settings
that are also available in other windows (i.e. wiring polarities, commutation type,
synchronization source, etc.).
Commutation Parameter Description
Wiring Configures motor and feedback rotation and wiring information
Rotation Direction - Specifies the direction of motor rotation
Wiring Polarity - Specifies the polarity of the motor wiring
Feedback Polarity - Specifies the polarity of the feedback device connections. The proper setting for Feedback
Polarity is necessary to prevent a motor runaway condition.
Phase Registration Displays the counts per electrical cycle of the motor, and the Null Torque Angle at Zero Count. The NTA is
configurable when using an absolute encoder.
Halls For drives using Hall Sensors for commutation, displays the Hall Sensor phase centers.
Commutation Configures the drive for Sinusoidal or Trapezoidal commutation. Also enables or disables Synchronization via an
Index or Halls, and allows the configuration of Null Torque Angle values for the First Edge and Second Edge.

4.2.4 Phase Detect

Phase Detect is required for use with brushless and stepper motors with encoder feedback
and without hall sensors. This routine must be performed before the motor can properly be
commutated each time the drive power is cycled, or anytime sinusoidal commutation is lost.

The Phase Detect window will not be available in all cases, as the Phase
Detect routine is not required for setup in all scenarios.

The reason is that without hall sensors, the motor position is initially unknown, and therefore
cannot be properly commutated until a positioning routine is followed. Phase Detect will
require motor motion for several seconds, and can be set up to be performed via a digital
input, or automatically on power-up.

Be sure to enter motor data and run AutoCommutation if possible before running Phase
Detect. Couple the motor to the load before you perform Phase Detection. Phase Detect is also
used with absolute feedback devices (i.e., resolver or absolute encoder). This form of Phase
Detect does not require motor motion.
• Power-up Option: Under most circumstances, the appropriate setting in the [DriveName]
> Power-up tab is On First Enable Following Power-up. However, other options may be used
depending on the configuration of your drive and motor.
• Disable Events: The positive and/or negative limit switches may be disabled in the Phase
Detect window by checking the disable checkboxes under Configuration. This will prevent
the limit switches from causing a premature phase detect failure.
• Settling Time: For Phase Detect to complete successfully, the absolute position must be
determined when the motor is at a standstill. For motors with high inertia or low friction,
the motor may take a longer time to come to a stop after the initial Phase Detect move-
ment. Entering a Settling Time value greater than the amount of time that the motor takes
to settle will allow Phase Detect to complete successfully in these cases. Depending on the
motor, typical settling time values may range from one second to several seconds. The

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current that the drive will command to hold the motor at a standstill for the Settling Time
duration will be the maximum continous current value allowed by the hardware, or the
software Peak Current level (if set below the hardware continous current). If the Settling
Time is longer than the the software Peak Current Time, then the commanded current will
foldback to the software Continuous Current value.
• Restrict Motion: Unrestricted motion is recommended if the system will allow it for the
best chance of successful Phase Detection. Unrestricted motion Phase Detection can be
used against a hard stop. Restrict Motion should be used when sudden motor motion of up
to ±1/2 electrical cycle is unacceptable in the system. Enable the Restrict Motion checkbox,
and enter a motion value within the physical limits. The required motion for the Phase
Detect routine is no more than ±1/2 of an electrical cycle. Phase Detect can complete suc-
cessfully with less motion, but the success rate will be reduced.
• Pulse Current: This is the current used to excite the motor during a restricted motion
Phase Detect. It should be large enough to move the motor (and load) smoothly, but not so
much that the motor overshoots. A good starting current is one quarter of the RMS cur-
rent to be used in your application. If you are trying to perform Phase Detect with no load
on the motor, very little current will be required.

To perform Phase Detection, use the following procedure:

1. You may wish to monitor the following status events: Phase Detection, Phase Detection
Complete, and Phase Detection Fault. These can be monitored with the Drive Status panel
or can be assigned to digital outputs and monitored with a controller.
2. Configure the Phase Detect settings for Settling Time and Disable Positive/Negative Limits
for what is appropriate for the system. For a restricted motion Phase Detect, select the
Restrict Motion checkbox, and enter a motion value within the physical limits of the
system, and an appropriate Pulse Current value.
3. Click the Phase Detect Button. Motion will occur, before the drive will hold the motor in a
fixed location. This process may repeat multiple times while the drive collects data. If a
restricted motion window has been defined, the motion will be confined within that
window. Otherwise, Phase Detect will command several small moves of 45 electrical
degrees.
4. Check Drive Status to make sure the Phase Detect routine was successful.
5. If Phase Detect was unsuccessful, the routine may automatically repeat again. It may be
necessary to vary the Pulse Current and motion parameters to ensure successful Phase
Detection.

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 Tuning and Commutation / Velocity Loop Tuning

4.3 Velocity Loop Tuning

Tuning of the velocity loop should only be performed after current loop tuning and motor
commutation. Velocity loop tuning is dependent on the mechanical load, and therefore will
change with any mechanical system changes. Velocity loop tuning should be performed with
the motor installed in the system and connected to the load. Make sure that the load is free to
move as sudden motion may occur. For velocity loop tuning, the Loop Configuration setting in
the active Configuration must be set to either Velocity or Position around Velocity.

It is recommended to disable the drive by clicking on the Disable icon on the toolbar before
beginning tuning. The procedure below will prompt you to enable the drive when necessary
for tuning.

Step 1: Waveform Generator setup

1. Open the Scope/Tuning tab by clicking on the Scope/Tuning icon from the toolbar.
2. Select the waveform Target as Velocity Loop.
3. Select the Square waveform Type.
4. Set Frequency to around 1-3 Hz. The frequency should be slow enough to achieve
commanded velocity, but fast enough to prevent the system from reaching a mechanical
limit.
5. Ensure Offset is zero.
6. Ensure Symmetry is 50%.
7. Set the waveform Amplitude to approximately 10% of motor nominal speed.
8. Click the ON button to turn on the Waveform Generator.

Step 2: Oscilloscope setup

1. Select the Velocity Scope Preset, or to manually configure the settings follow the steps
below.
2. Change the channel 1 signal to Velocity Target.
3. Change the channel 2 signal to Velocity Measured.
4. Change the Trigger Source to Velocity Target with the Level set to zero.
5. Ensure Trigger Mode is Normal.
6. Change Time/Div to 10-20msec.

Step 3: Tuning
1. With the Scope/Tuning tab still open, select Tuning > Gain Set 0 or Gain Set 1 from the
Sysytem Browser, depending on which Gain Set is currently used for the active
Configuration.
2. Begin by setting all the velocity loop gains to zero (Kp-Proportional, Ki-Integral, Kd-
Derivative, Aff-Feedforward).
3. Enable the drive by clicking the Enable icon.
4. Proper Velocity loop tuning starts with zero integral gain while increasing the proportional
gain until a "knee" is formed (with no overshoot) in the Velocity Measured trace as shown

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 Tuning and Commutation / Velocity Loop Tuning

below. There may or may not be an error between the Target and Measured traces, the key
is to have a smooth knee shape.

5. At this point the Proportional gain is left alone and the Integral gain is increased slowly
until the "knee" begins to deform as shown below. It is OK if the waveform does not start
to distort until the integral gain is very high. When the distortion occurs, back off the
Integral gain until the knee becomes smooth again.

6. Next, in order to improve the smoothness of the response, it may be beneficial to adjust
the velocity feedback filter cutoff frequency in the Tuning > Filters window. The Filter
Frequency is used to dampen oscillations and noise in the velocity measurements. For
most systems, the ideal cutoff frequency will be somewhere between 50Hz and 1500Hz.
7. Most systems will be tuned properly at this point. If your system requires fine-tuning, you
may adjust the derivative and feed-forward gains. If the motor starts to make audible
noise, increase the Low Speed Smoothing in the Loop Filters window until the vibration
and noise stops.
8. When tuning is complete, disable the drive by clicking the Disable icon on the toolbar. Turn
off the Waveform Generator by clicking the OFF button in the waveform generator pane.
9. Click Store on the toolbar to store the parameters to the drive’s nonvolatile memory.

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 Tuning and Commutation / Position Loop Tuning

4.4 Position Loop Tuning

Position loop tuning is dependant on the mechanical load, and therefore will change with any
mechanical system changes. Position loop tuning should be performed with the motor
installed in the system.

The position loop can be closed around velocity or current (torque) mode. If it is closed around
velocity mode, the position loop algorithm output becomes the new velocity set point. If it is
closed around torque mode, the position loop algorithm output becomes the new current
(torque) set point. There are some important differences in the tuning process and
application of these two approaches:
• Position around Velocity: This mode is most common in "contouring" application,
where a position trajectory must be tracked very closely. The velocity loop provides addi-
tional "stiffness", and keeps the dynamic position errors minimal, since the system now
reacts to not just position errors, but also velocity errors (which can be interpreted as
position error changes). It is important to start with a stable yet responsive velocity loop.
Typically, it is sufficient to just use the position loop proportional gain. Feedforward gain
can be added to improve tracking performance (i.e. minimize the difference between com-
manded and actual position). It is best to use a small step command as a reference signal
during tuning.
• Position around Current (Torque): This mode is most common in point-to-point
applications, where actual motion between start and end point is not very critical. In this
case, velocity loop tuning can be avoided. This can be advantageous if the velocity feedback
is poor (e.g., low resolution encoder, poor encoder quadrature, etc.). In this case, the tuning
process requires that the position loop proportional and derivative gain are increased
simultaneously, unless the system has sufficient friction, in which case no derivative gain
is necessary. Once a stable response is achieved, integral gain can be added to improve
stiffness. It is best to use a triangular waveform or a step command with the Command
Limiter enabled as a reference signal during tuning.

For position loop tuning, the Loop Configuration setting in the active Configuration must be
set to either Position around Current or Position around Velocity.

It is recommended to disable the drive by clicking on the Disable icon on the toolbar before
beginning tuning. The procedure below will prompt you to enable the drive when necessary
for tuning.

Step 1: Waveform Generator setup

1. Open the Scope/Tuning tab by clicking on the Scope/Tuning icon from the toolbar.
2. Select Position Loop as the waveform Target.
3. Select the Square waveform Type.
4. Set Frequency to around 1-3 Hz. The Frequency should be slow enough to allow the motor
to settle in position.
5. Set Offset to zero.
6. Ensure Symmetry is 50%.
7. Leave the Amplitude at zero for the moment.
8. Click the ON button to turn on the Waveform Generator.

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 Tuning and Commutation / Position Loop Tuning

Step 2: Oscilloscope setup

1. Select the Position Scope Preset, or to manually configure the settings follow the steps
below.
1. Change the channel 1 signal to Position Target.
2. Change the channel 2 signal to Position Measured.
3. Change the Trigger Source to Position Target with the Level set to zero.
4. Ensure Trigger Mode is Normal.
5. Change Time/Div to 20-50 msec.

Step 3: Tuning

1. With the Scope/Tuning window still open, select Tuning > Gain Set 0 or Gain Set 1 from the
System Browser, depending on which Gain Set is currently used for the active
Configuration.
2. In the Gain Set tab, set all gains to zero (Kp-Proportional, Ki-Integral, Kd-Derivative, Vff-
Velocity Feedforward, and Aff-Acceleration Feedforward).
3. The Set Position function is used to set the measured and target position to the value
defined in the Preset Position field. It is recommended to set the Preset Position to zero
before beginning tuning to avoid any unexpected jumps when the drive is enabled. Enter
"0" in the Preset Position field, then click the Set button.
4. Enable the drive by clicking the Enable icon. Set the waveform Amplitude between 1/8 and
1/2 revolution for a rotary motor. Use the Proportional Gain, Integral Gain, and Derivative
Gain sliders or arrow buttons in the Position Loop window to adjust the Position
Measured waveform on the oscilloscope and match the Position Target as closely as
possible without excessive overshoot. It is not necessary to adjust the Velocity or
Acceleration Feed-forward Gains.
5. Readjust the Gains as Necessary.
6. When position loop gain adjustments are complete, disable the drive by clicking the
Disable icon on the toolbar. Turn off the Waveform Generator by clicking the OFF button
in the waveform generator pane.
7. Click the Store icon on the toolbar to store parameters to the drive’s nonvolatile
memory.

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 5 Motion Tasks

The Base Motion and Motion Engine selections of the System Browser are used to configure motion tasks.
These features are used when it is desired to distribute motion to the drive, offloading the HMI, PC or PLC from
calculating motion trajectories. This functionality provides greater flexibility to modify the drive behavior for the
application.
Before executing any Motion Tasks, be sure to have:
 Entered in the motor and feedback parameters.
 Configured the drive limits and events.
 Tuned the necessary control loops and successfully completed AutoCommutation.

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 Motion Tasks / Motion Tasks

5.1 Motion Tasks

Motion Tasks are commands in the drive that will cause pre-defined motion on the axis. The
tasks will generate trajectories that will be fed into the position loop. Motion Tasks may be
performed on the benchtop or with a load on the motor. There are five types of Motion Tasks
available for configuration in the setup software.
• Homing
• Indexes
• PVT
• Jogs
• Sequences

5.1.1 Homing
Homing is a Motion Task that defines Absolute Position to the drive with respect to the
machine typically involving a sensor or switch located at a known position. The Home Task is
not required to be used in applications with an absolute feedback device. The absolute
position can be defined in the case of an absolute feedback device through the Phase Detect
routine. Note that position limits will be ignored during homing routines. This setting can be
changed via network commands.

Many different homing routines are supported. These routines rely on signals such as limit
switches, home switches, and encoder indexes to accurately position the load.

To open the Home window, select Base Motion > Home from the System Browser. Set the
Homing Speeds and Acceleration, then configure the Homing Method.
Home Description
Parameter
Fast Velocity Value of the maximum velocity that can be commanded during search for first switch.
Slow Velocity Value of the maximum velocity that can be commanded during search for Home. The slower the velocity, the
more accurate the homing routine should be.
Homing Value of the acceleration and deceleration for motion.
Acceleration
Home Position Position value set as the Home location.
Index Selects whether an Index pulse is used on motor feedback for Homing.
Home Switch Selects whether a Home Switch is in use.
Limit Switch Selects whether a Limit Switch is in use.
Direction Selects whether motion during the Home Task will begin in the positive or negative direction.

If no switches, index, or direction are selected, the homing routine will default to "Current
Position". The "Current Position" homing routine will set the measured position equal to the
specified home position value (typically zero) when executed.

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 Motion Tasks / Motion Tasks

The example below uses the index, the falling home switch edge and the positive limit switch to
define the homing routine. The direction in which homing ends is in the negative direction as
shown by the arrow.

1
2 3

For this particular routine, there are three possible scenarios. The scenarios are described as
shown from top to bottom.
1. The home switch is inactive. Motion begins in the positive direction. When the home
switch is encountered, motion starts in the negative direction. Homing completes at the
first index pulse after the falling edge of the home switch.
2. The home switch is active. Motion begins in the negative direction. Homing completes at
the first index after the falling edge of the home switch.
3. The home switch is inactive. Motion begins in the positive direction. When the positive
limit switch is encountered, motion starts in the negative direction. Homing completes at
the first index after the falling edge of the home switch.

Homing method The set of drawings below illustrate the different components used to define
the different homing routines. The components are grouped in the diagram to show events
relative to motor/load position.

Load and physical limits: The square near the middle of the drawing shows the load object
that is to be moved. The end points represent physical limitations or barriers in which the load
cannot travel past. The left side is in the negative direction with the right side in the positive
direction.

Direction of travel: The vertical line on the right side represents the starting position. The
load travels in the direction of the arrow. In the drawing shown, the load would begin traveling
in the negative direction and then switch directions to move in the positive direction. The
circle represents the home position. This position is captured before the motor decelerates to
zero velocity.

Index Pulse: Each vertical line represents one index pulse.

Limit and Home Switches: As shown, the switch can be either high or low. The vertical lines
represent a toggle point.

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 Motion Tasks / Motion Tasks

5.1.2 Indexes
An Index task is defined by a set of basic parameters that define a profiled move. Up to 16
separately defined Index tasks can be configured (Index 0 - Index 15). An Index task can be
either of the following types:
• Absolute - Commands a pre-defined move to an absolute position.
• Relative - Commands a pre-defined move relative to the current position.

To configure an Index task, select Motion Engine > Indexes > Index 0...15 from the System
Browser. Each Index task (Index00 - Index15) can be assigned a unique identifier in the Name
field in the Indexes window, and any further labels or important information can be added in
the Comment Field. Select the Index Type (Absolute or Relative) from the drop-down menu,
then configure the Index task by setting values for the following parameters:
Index Parameter Description
Position/Distance - (Absolute Index) The target position for the task.
- (Relative Index) The target distance for the task relative to the current position.
Velocity Value of the maximum velocity of the profile that can be commanded. The motion may not reach the
maximum velocity depending on the values set for Acceleration, Deceleration, and Position/Distance.
Acceleration Value of the acceleration for the profile. The profile will continue at this rate until Velocity is reached or the
profile enters the deceleration phase.
Deceleration Value of the deceleration for the profile. The profile will continue at this rate until the axis reaches zero
velocity. The profile starts decelerating at a position so that the axis is at zero velocity at the Position value.
Dwell After completion of motion the axis will dwell for this period of time. The task is still active during dwell time.
Start Location Define a starting position for the index task.

Click Apply to save the Index configuration once the values are entered.

Executing an Index Task To perform an Index task, note that the drive and the Motion
Engine must be enabled. The active drive Configuration should be set to Position around
Velocity, and the Absolute Position Valid status must be active via the Homing, Phase Detect, or
Set Position functions. Homing parameters are configured in the Base Motion > Home window
in the System Browser. See "Homing" on page 69 for information on how to configure the
Homing routine.
1. Configure an Index task from the Indexes window as described above.
2. Enable the drive by clicking the Enable icon on the toolbar. Select Motion Engine > Run
from the menu bar or click the Motion Engine On icon on the toolbar to enable the
Motion Engine.
3. Select Tools > Motion Panel from the menu bar to display the Motion Panel controls.
4. Use the drop-down arrow at the top-right of the Motion Panel window to select Indexes.
5. In the Motion Panel window, select a configured Index task from the Motion drop-down
box in the Identification section. The selected index parameters will then be displayed in
the Motion Panel.
6. Click the Home icon on the Motion Panel toolbar to home the drive.

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 Motion Tasks / Motion Tasks

7. To execute the selected Index task, click one of the following.

Index Motion Commands Description
Repeatedly Execute Motion in Reverse (Loop Reverse) - Relative Indexes only

Execute Motion in Reverse (Reverse) - Relative Indexes only

Execute Motion (Forward)

Repeatedly Execute Motion (Forward Loop) - Relative Indexes only

Loop over Forward and Reverse Motion (Cycle Motion) - Relative Indexes only

8. For a looped Index task, once the desired motion has occured click the Halt Motion icon
at the top of the Motion Panel to complete the move.

Dynamic Indexes Dynamic Index tasks are configurable within the Motion Panel window. Both
Absolute and Relative Index tasks can be defined using the Dynamic Index tool. The drive and
the Motion Engine must be enabled to perform a Dynamic Index task. The active drive
Configuration should be set to Position around Velocity, and the Absolute Position Valid status
must be active via the Homing, Phase Detect, or Set Position functions. Homing parameters are
configured in the Base Motion > Home window in the System Browser. See "Homing" on
page 69 for information on how to configure the Homing routine.To execute a Dynamic Index
task:
1. Enable the drive by clicking the Enable icon on the toolbar. Select Motion Engine > Run
from the menu bar or click the Motion Engine On icon on the toolbar to enable the
Motion Engine.
2. Select Tools > Motion Panel from the menu bar to display the Motion Panel controls.
3. Use the drop-down arrow at the top-right of the Motion Panel window to select Dynamic.
4. In the Motion Panel window, select the Index Type (Absolute or Relative).
5. Enter the desired motion parameters (Position, Velocity, Accel, Decel, and Dwell) into the
Motion Panel.
6. Click the Home icon on the Motion Panel toolbar to home the drive if necessary.
7. To execute the selected Dynamic Index task, click one of the following.
Dynamic Index Motion Commands Description
Repeatedly Execute Motion in Reverse (Loop Reverse) - Relative Indexes only

Execute Motion in Reverse (Reverse) - Relative Indexes only

Execute Motion (Forward)

Repeatedly Execute Motion (Forward Loop) - Relative Indexes only

Loop over Forward and Reverse Motion (Cycle Motion) - Relative Indexes only

8. For a looped Dynamic Index task, once the desired motion has occured click the Halt
Motion button at the top of the Motion Panel to complete the move.

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 Motion Tasks / Motion Tasks

5.1.3 PVT
Typically, Position-Velocity-Time (PVT) is used to stream motion data between multiple axes for
coordinated motion. Arbitrary position and velocity profiles can be executed on each axis. A
PVT command contains the position, velocity, and time information of the motion profile’s
segment end points. The servo amplifier performs a third order interpolation between
segment end points. This results in a kind of partial trajectory generation where both host
controller and servo amplifier generate a specific portion of the overall move profile trajectory.
The host controller calculates position and velocity of intermittent points on the overall
trajectory, while the servo amplifier interpolates between these intermittent points to ensure
smooth motion. The actual position loop is closed within the amplifier. This reduces the
amount of commands that need to be sent from host controller to amplifier, which is critical in
distributed control systems. The number of segments and the time duration of each segment
need to be selected based upon required accuracy and network bandwidth.

Suppose the motor is at rest and the values P1, V1, and T1 are entered in the buffer to
represent a PVT point S1 = (P1, V1, T1). If the profile is executed, the drive will attempt to
move the motor a distance of P1 in T1 seconds with a final velocity of V1. The path of motion is
calculated by using the difference between the initial and the target position and velocity
points, and running them through a third order equation to produce a smooth motion profile.
The figure below shows an example which involves multiple PVT points S1, S2, S3,..., Sn and
displays how smooth motion between these points can be produced.

PVT Plot

How To Construct A PVT Points File A PVT file can be constructed using any simple-text
editor (such as Microsoft® NotePad). Each line in the file represents a PVT point by specifying
position, velocity, and time separated by semicolons.

Position and velocity are specified in user units (see "User Units" on page 85) whereas time is
always in milliseconds. Furthermore, velocity is specified on an absolute basis whereas time is

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 Motion Tasks / Motion Tasks

specified on an incremental basis with the largest allowable increment being 65535
milliseconds. Position must be absolute.

CAN standard supports a time step up to and including 255 milliseconds.

Enter the desired PVT points in a text file and load that data into the Motion Panel. When first
saving a PVT file, be sure to replace the default *.txt extension with *.pvt when specifying the
file name.

If using the Repeatedly Execute Motion (Forward Loop) option with a PVT file, be sure that the
first PVT point in the file can follow logically after the last point in the PVT file, and that they
contain the same position value. Lastly, when looping through several PVT points with small
incremental times, be aware of the fact that the PVT buffer may have time to empty out all of
its points before the PVT Generator has time to refill the buffer. Such an event will result in no
more than the PVT Buffer Empty status becoming active and is the result of restrictions on the
RS232 baud rate used by the software to communicate with the drive.

There is no limit to the number of PVT points you can place in the PVT file. These files are
useful to repeat a desired sequence several times or to save the data for future use.
1. To get started, select the Open PVT File button.
2. Navigate to your PVT file (make sure it has a *.pvt extension).
3. The file name is displayed below the Open PVT File button.
4. To execute the selected PVT file, click one of the following.
PVT Motion Commands Description
Execute Profile (Run)

Loop over Profile (Repeat)

5. For a looped PVT command, once the desired motion has occured press the Halt Motion
button at the top of the Motion Panel to complete the move.

An example of a PVT file with correct formatting, named pvt_points_file.pvt, is shown below.

PVT Points File Example

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 Motion Tasks / Motion Tasks

5.1.4 Jogs
Jogs are Position Mode Motion Tasks that command motion at a defined constant velocity with
infinite distance. Four separate Jog velocities can be defined (Velocity 0, 1, 2, and 3).

To configure a Jog Task, select Base Motion > Jog from the System Browser, then enter values
for the following parameters:
Jog Parameter Description
Velocity (0,1,2,3) Value of the maximum velocity of the profile that can be commanded.
Acceleration Value of the acceleration for the profile. Shared by all Jog Velocity parameters. (Note: Value may be rounded after
entry to account for drive unit conversion).
Deceleration Value of the deceleration for the profile. Shared by all Jog Velocity parameters. (Note: Value may be rounded after
entry to account for drive unit conversion).
Display Time Sets the Jog graph time duration. For estimation/graphing purposes only, does not affect actual duration of Jog
motion.

Click Apply to save the Jog parameters.

Executing a Jog Task To perform a Jog Task, the drive must be enabled. Note that the Motion
Engine must be disabled before a Jog Task can be executed. If the Motion Engine is currently
turned on, select Motion Engine > Run from the menu bar or click the Motion Engine ON icon
on the toolbar to turn off the Motion Engine.
1. Configure a Jog Task from the Jog window as described above.
2. Enable the drive by clicking the Enable icon on the toolbar.
3. Select Tools > Motion Panel from the menu bar to display the Motion Panel controls.
4. Use the drop-down arrow at the top-right of the Motion Panel window to select Jog.
5. In the Motion Panel window, select the desired Jog Velocity. The selected Jog parameters
will then be displayed in the Motion Panel.
6. To execute the selected Jog Task, click and hold one of the following.
Jog Motion Commands Description
Execute Motion in Reverse (Reverse)

Execute Motion (Forward)

7. The Jog motion will continue as long as the motion task button is held down. Release the
motion task icon when the desired motion is complete.

5.1.5 Sequences
A Sequence is a set of steps that are Motion Tasks and Control Functions linked together and
executed in a sequential order. With the exception of Jogs, any Motion Task can be used in a
Sequence. Control Functions are all the non-motion steps that impact the flow of a sequence.

The setup software allows up to 16 different Sequences to be saved and stored to the project
file and drive NVM. The Storage Used field will automatically update with the amount of
memory used by the configured Sequences. Each Sequence can be given a unique name or
number as an identifier, and selected by using the Seq ID drop-down menu or by choosing the
desired Sequence from the System Browser tree view.

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 Motion Tasks / Motion Tasks

Each step in a Sequence is a distinct state of the Sequence. Steps are organized into one of the
following groups: Motion, Sequence, If/Then, Wait For, and Set/Clear. Drag-and-drop step
items from the Functions pane over to the Sequence list area in the Sequence pane to create a
Sequence. The order of steps within a Sequence can be changed by using the , , or
buttons in the Sequence window.

Functions
Motion Description
Home Runs the currently configured Homing routine.
Index Runs an Index routine. After dropping the Index function into the Sequence list area, select the desired Index
routine from the Identification pane. Indexes may be pre-configured or configured directly in the Sequence
window.

Sequence Description
Start Used to start a new Sequence, allowing Sequences to be chained together.
End Used to end a Sequence. Note that it is not required to place an End function as the last step of a Sequence.
Label Assigns a label to a point in a Sequence. After dropping the Label function into the Sequence list area, the label
name can be entered in the Label Step pane. Labeled steps within a Sequence can be called out in other
Sequence control functions within the same Sequence.
Jump To Commands the Sequence to jump to a pre-configured Label within the same Sequence. Note that the labeled step
in the Sequence must be configured before it can be selected in the Jump step. After dropping the Jump function
into the Sequence list area, select the labeled point to jump to from the Jump to Step pane.

If/Then Description
Event / Input / If/Then commands are used as test statements within a Sequence. Events, Digital Inputs and Logic Bits are
Logic Bit selectable as test items. After dropping the desired test function into the Sequence list area, select the item to be
tested from the If Event drop-down menu, and select whether to test if the item state is Set or Clear (Active or
Inactive). The action the test step will take can then be selected from the then: drop-down menu. Some actions
will only be available if the appropriate step has already been configured. For example, the option to "Jump To" a
specific point in the Sequence will only be available if a Label has already been configured.

Wait For Description

Event / Input / Wait For commands will hold a Sequence from progressing to the next step for either a defined time period or until
User Bit / Time / a specified event or action has occured. A Time-out duration and subsequent Action can be entered for Wait For
Value commands that are waiting for an event or action to occur. The setup software allows Wait For commands for
certain drive Events, Digital Inputs, User Bits, and Measured and Target Position Values. The configurable Action
taken at the end of the Time-out duration if the specified event has not occured can be one of the following
options: End the current Sequence, Start a new Sequence, Jump to a labeled point within the current Sequence,
or Continue to the next step in the current Sequence.

Set/Clear Description
Output Commands a specified Digital Output to either trigger or clear.
Logic Bit Commands a specified Logic Bit to either trigger or clear.

Break Points
• Up to two Break Points can be added to an inactive or active Sequence to pause the
Sequence at a desired location. The Sequence will remain paused until either the Run or
Single-Step button is selected to restart the Sequence progression.
• Break Points are added or removed by clicking on the white space between the Sequence
# and the Sequence Step name in the Sequence list area.

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 Motion Tasks / Motion Tasks

I/O Assignments
• The I/O Assignments pane lists all the Digital Inputs and Outputs that may be selected for
use in a Sequence.
• Digital Inputs or Outputs that are already assigned to other drive functions will be marked
as "In Use".

Invalid Sequence Steps

• In the case where a step in any of the sequences has not been properly configured or
initialized, a red flag icon will be visible next to the invalid step in the step list. All invalid
sequence steps must be corrected before any sequences can be executed.
• If an invalid sequence step exists, the red flag button at the bottom of the Sequences
window will automatically open the first sequence that contains an invalid step.

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 6 Downloading the Firmware

Each time the manufacturer releases a new setup software version or issues a firmware patch, you should
update the firmware on your existing digital drives. When you work closely with the manufacturer, particularly
for custom products, firmware changes may be required several times throughout your development process.

6.1 Prepare for Download

1. Connect to the drive.
2. Open the Connection Settings window by going to Drive > Connect, and changing the
connection setting to a high baud rate.
3. Make sure the parameters are correct in both the setup software and the drive.
4. Store parameters to the drive’s nonvolatile memory.

6.2 Open the Firmware Download Window

Select Drive > Firmware Download on the menu bar to open the Firmware Download window.

This window allows changes and upgrades to the drive run-time firmware. For example, you
may need to upgrade when a new version of software is to be used with an older drive or when
a new drive needs a previous version to work in a system.

Check the Current Information window to view which firmware is currently in the drive. If the
firmware file name matches the recommended name in the Select Firmware window, a
firmware upgrade is unnecessary and you may click the cancel button. If the two names are
different, you should update the firmware.

Browse Folder/Browse File: If the drive firmware is not installed in the default directory, you
may need to browse for it. Use these buttons to navigate to where the firmware file is located.

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 Downloading the Firmware / Downloading the Firmware

6.3 Downloading the Firmware

1. Select the recommended firmware file.
2. Click on the Download button.
This process may take several minutes depending on your connection.
3. The Close the dialog box when download completes box is checked by default so that you
will return to the main workspace after firmware upgrade completes.
4. If the ’Bridge State on Power-up’ option in the Power-up Control tab in Limits and Options
is set to Enable, you will see a dialog window during the download asking if you would like
to reset the drive after the firmware download is complete:
Be aware that resetting the drive in this case will cause the power bridge to be enabled
after the download is complete, unless there is a hardware limiting event active (invalid
halls, digital inputs, etc). If you choose not to reset the drive, the bridge will be disabled
upon download completion, and the drive will not go through its normal power-up
sequence.
5. When the upgrade is complete, store the parameters to nonvolatile memory.
6. Read the release notes for information about new features and issues.

Do not power down or lose your connection during the process. If

this happens, you may have to restart the download, or in
extreme cases, send the drive back to the manufacturer.

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 A Tools and Functions

This appendix describes helpful tools provided by the setup software.

A.1 Digital Oscilloscope

The digital scope is a powerful tool used for tuning and diagnostics. You can select from more
than forty different signals to monitor while testing or troubleshooting your machine. Slower
baud rates can affect the scope performance.

To open the digital oscilloscope, do one of the following:

• Select Tools > Scope/Tuning on the menu bar.
• Click on the Scope/Tuning icon on the tool bar.
• Select Control Loops > Scope/Tuning from the System Browser.

The oscilloscope provides real-time feedback and adjustment during tuning and setup. This
multichannel digital scope behaves similarly to a traditional oscilloscope but provides access
to internal drive signals. You can show up to eight channels at any time depending on the
bandwidth used for each channel. The units used in the vertical division setting depend on the
selected signal.

Standard prefixes such as  (micro-), m (milli-), k (kilo-), M (mega-), are used for scaling
factors. The bridge does not need to be enabled to use the scope. All that is required is that the
drive be powered up and connected.

Channel Select The Channel Select section provides selection of oscilloscope signals.
• Add Signal: Adds a new channel to the scope (if available) and allows you to select a
corresponding signal of your choice. This button will be disabled (grey) if all oscilloscope
channels are used.
• Change: Changes the currently selected signal to another one of your choice.
• Remove: Removes the selected channel from the scope.

A list of available channels and their definitions can be found in the “Signal Definitions” on
page 88.

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 Tools and Functions / Digital Oscilloscope

Presets Automatically configured oscilloscope settings that are frequently used when tuning the
drive. Each preset has pre-determined unit and time per division scaling. Click on the
corresponding button to either load a preset or save the existing layout as a preset. The
presets will be reset to the defaults when DriveWare is closed and re-opened.
• Current: Configures the oscilloscope settings for monitoring a target current command
and the measured drive output current.
• Velocity: Configures the oscilloscope settings for monitoring a target velocity command
and the measured motor velocity.
• Position: Configures the oscilloscope settings for monitoring a target position command
and the measured motor position.

Display The Display section provides configuration of the oscilloscope display settings.
• Time/Div: Shows the horizontal scaling time per division for the corresponding signal as
seen in the digital scope display.
• Scale: Shows the units per division for the corresponding signal as seen in the digital
scope display.
• Offset: Shows the offset associated with the signal as seen in the digital scope display.
• Horizontal Location: Allows adjustment of the horizontal (time-based) level at which the
scope triggers.

Trigger The Trigger section provides configuration of the oscilloscope settings.

• Source: Displays the currently selected signal to be used as a trigger.
• Level: Allows you to select the level at which you want the scope to trigger.
• Slope: Sets the trigger slope to positive slope or negative slope.
• Mode: Sets the trigger mode to one of the following:
— Normal Mode: The scope triggers according to the settings specified.
— Single: The scope triggers once, according to the settings specified, after Run/Stop
button is selected.
— Auto: The scope triggers automatically, ignoring the settings specified.
— Roll: The scope triggers in a continuous roll. Note: you will be limited to 200 msec/Div
minimum while in roll mode.

Measure The Measure section provides real-time measurement between any two signals
displayed on the oscilloscope.
• Time: This allows you to measure time differences between any two points on the scope
display. Click the Time checkbox to display two vertical lines on the scope plot. The
difference in time between the two lines is displayed in the box to the right of the check
box. Left click to drag each line or right click to drag both.
• Signal Level: Select a channel for measurement from one of the two dropdown boxes. You
may use either of the two dropdown menus to select a channel. The difference between the
lines is displayed next to the channel selection dropdown; the selected channels units
apply. Depending on whether the Time checkbox is selected, the values measured will
either be horizontal time/div or vertical units/div. Left click to drag each line or right click
to drag both.

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 Tools and Functions / Digital Oscilloscope

A.1.1 Waveform Generator

The Waveform Generator is used to generate an internal signal during drive tuning and other
procedures, eliminating the need for external signal sources during tuning. The Waveform
Generator is in the Scope/Tuning window.
• Target: Select the destination for the waveform signal. Not Connected means the
waveform signal will not be used. Command Limiter means the command signal will be
limited as defined in the Command Limiter section of the active Configuration.
• Type: Select a DC (constant), square wave, triangle wave, or sinusoidal waveform.
• Frequency: Select the frequency of the waveform signal. This becomes inactive when
"DC" is selected for the waveform type.
• Amplitude: Corresponds to the amplitude of the waveform signal (equivalent to half of the
peak-to-peak value). Disabled in the case where a DC waveform is selected. Clicking on the
button will set the amplitude to zero.
• Offset: Adds an offset to the selected waveform. If a DC waveform is selected, the offset
corresponds to the DC signal amplitude.
— When the Position Loop is enabled, the button will set the offset equal to the
measured position.
• Symmetry: Corresponds to the duty cycle or symmetry of the waveform signal. This
becomes inactive when DC is selected for the waveform type.

A.1.2 Data Capture

The Digital Oscilloscope includes an export feature that allows a user to capture oscilloscope
data in a .CSV format. In order for the export feature to appear, the setup software must be
connected to a drive. The Data Capture button at the bottom right of the Oscilloscope will be
visible once connected. Selecting the Data Capture button will begin capturing oscilloscope
data, and will open a Save As... dialog window that will specify where to save a .CSV file that will
contain the data for the active oscilloscope signals. Once the desired oscilloscope data has been
capture, click the End Capture button to stop the data export. The .CSV file will now be saved,
and will organize the oscilloscope data for the active signals during the capture time frame as
shown in the example below:
Time Position Target Position Measured
0 1746 1676
20 1962 1899
40 2137 2082
60 2280 2237
80 2393 2362
100 2464 2447
120 2498 2492
140 2493 2499
160 2446 2469
180 2365 2397
200 2240 2283
220 2088 2133

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 Tools and Functions / Digital Oscilloscope

Depending on the Trigger Mode selected, the Data Capture feature will function as given below:
• Single: File will contain 100 points for each signal. The data will include 50 points before /
after the trigger.
• Normal: File is continuously filled with data 100 points at a time. The data is not continuous
because it captures only 50 points before / after each trigger. Time starts over with each
update.
• Auto: File is continuously filled with data 100 points at a time. The data is not continuous
because it captures only 50 points before / after each update with some dead time. Time
starts over with each update.
• Roll: File is continuously filled with data points. The data is continuous; however, the
maximum capture rate is 10 points per 200ms.

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 Tools and Functions / Multimeter

A.2 Multimeter
The Multimeter allows you to monitor a multitude of signal types including positions,
velocities, torques, and voltages. Use the Change Signal button to select the signal to monitor
and display.

A resettable counter keeps track of the maximum and minimum values found, and shows the
current maximum and minimum values in the corresponding display gauges. These values
will update automatically if higher or lower values are detected. The Reset button below each
display gauge will erase and reset the current maximum and minimum values.

You must be connected to a drive to use the Multimeter functions.

To open the multimeter, do one of the following:

• Select Tools > Multimeter on the menu bar.
• Click on the multimeter icon on the tool bar.

Up to four Multimeter windows can be opened at any given time. The Multimeter windows can
be dragged, docked, and nested to multiple locations within the software workspace. Click and
hold on the Multimeter window title bar, and drag the window to the desired location.

To see a list of available signals for the multimeter, see “Signal Definitions” on page 88.

The multimeter samples signals at a rate of once every 250 ms or four

times per second. If you want to measure a faster signal, use the Digital
Scope.

Note

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 Tools and Functions / User Units

A.3 User Units

The User Units window allows the specification of the general units to be used throughout the
application. A variety of units are selectable. The User Units window also allows the defintion of
custom units.

The User Units window is found under Settings > User Units in the menu bar or by clicking on
the User Units icon in the toolbar.
• Select the type of unit to be used for each data type (Torque, Position, Velocity, etc.) and the
Load type (Rotary or Linear) from the drop-down menus. A scaling ratio between
Feedback and Load units can also be defined.
• Selecting the Custom Units checkbox will allow the definition of custom units and labels. A
scaling ratio between standard and custom units can also be defined.

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 Tools and Functions / Motion Panel

A.4 Motion Panel

The Motion Panel controls are opened by selecting Tools > Motion Panel from the menu bar.
The Motion Panel is used to select and execute motion tasks that have been pre-defined in the
Home, Jog, and Indexes windows, or to define parameters for a single index task with the
Dynamic Index tool. The Motion Panel is also used to execute PVT commands.

The Motion Panel provides a set of control buttons for various motion functions. Note that
Jogs only allow forward or reverse motion, and cannot be set for automatic looping.
Icon Description
Execute the Home Method (home)

Halt Motion (halt)

Repeatedly Execute Motion in Reverse (loop reverse)

Execute Motion in Reverse (reverse)

Execute Motion (forward)

Repeatedly Execute Motion (forward loop)

Loop over Forward and Reverse Motion (cycle motion)

Indexes For more information on Indexes, see “Indexes” on page 71.

• Selects a pre-defined Index task (Index00 - Index15). Only Indexes that have already been
defined in the corresponding Index window will be available for selection.
• The Index parameters will be displayed in the Motion Panel window.
• The available Motion Panel Index controls will depend on the type of index selected
(Absolute or Relative).

Dynamic Index For more information on Dynamic Indexes, see “Indexes” on page 71.
• Configure parameters for a single index task within the Motion Panel window.
• Both Absolute and Relative Index tasks can be defined with the Dynamic Index tool.

Jog For more information on Jogs, see “Jogs” on page 75.

• Selects a pre-defined Jog task (0 or 1).
• The corresponding Jog velocity, accel, and decel will be displayed in the Motion Panel
window.
• The Motion Engine does not need to be enabled to execute Jog tasks.

PVT For more information on PVT and how to construct a PVT points file, see “PVT” on page 73.
• Used to execute PVT commands from a PVT points file. Note that the Motion Engine must
be turned off to use the PVT generator.
• A PVT file can be constructed using Notepad or a similar text editor program. Each line in
the file represents a PVT point by specifying position, velocity, and time separated by semi-
colons.

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 Tools and Functions / Motor Diagnostics

• Before running a PVT file, it is recommended to connect at the highest baud rate available,
and to minimize the number of applications running in the background. Also close any
unnecessary windows in DriveWare as they will slow down the rate at which the drive
receives PVT points, possibly resulting in a PVT buffer error.

Motion Status
• Displays the real-time measured values for Position, Velocity, Torque (% of continuous
current limit as defined in the Current Limits window), and position error.
• The Motion Status panel also displays the current state of the Motion Engine.
Status Definition
Disabled The Motion Engine is not active. Enable the Motion Engine by using the toolbar icon or select Run
from the Motion Engine menu bar selection.
Ready The Motion Engine is enabled and ready to execute an Index or Sequence.
Executing The Motion Engine is executing motion.
Loading A Sequence or Index program is loading.
Halting A Halt command has been asserted during an Index or Sequence move.
Not Homed Absolute Position is not valid. A Homing routine or Set Position function must be used before a
motion task can be executed.
Bridge Wrong The drive is disabled or stopped. The drive must be enabled before running a motion task.
Fault on Test The If/Then test produced an error.
Single Step A Sequence is being executed in Single-Step mode.
Break Point A Sequence has stopped at a Break Point.

A.5 Motor Diagnostics

The Motor Diagnostics window is used to assist in system troubleshooting and diagnostics.
Typically, the Motor Diagnostics procedure is ran while monitoring signals on the digital
oscilloscope or Multimeter (i.e., comparing the Commanded Phase Angle to the measured
position).

Procedure Settings
• The Motor Diagnostics procedure will move the motor at the entered Holding Current at
the Commanded Phase Angle entered in the window for the amount of time entered in the
Holding Time field.
• The drive must be enabled and clear of any disabling faults or event actions in order to run
the Motor Diagnostics routine. Click the Start button to run the procedure. The routine
will end automatically after the Holding Time has completed.

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 Tools and Functions / Signal Definitions

A.6 Signal Definitions

The following tables show all of the signals that can be measured using the Oscilloscope and
Multimeter. These signals may also be used as analog outputs in compatible drives.

Current measurements
Value Definition
Current Target (Iq) This is the commanded torque-producing current. Current limit settings are ignored.
Current Demand (Iq) The commanded torque-producing current, after current limits have been applied. This value is
zero when the drive is inhibited.
Current Measured (Iq) The actual measured torque-producing current being delivered to the motor. Ideally, this value
should be as close as possible to the demand current.
Id - Target This represents the flux producing stator current in an AC induction motor. Id should equal zero
when using a permanent magnet motor.
Id - Demand This represents the flux producing stator current in an AC induction motor. Id should equal zero
when using a permanent magnet motor.
Id - Measured This represents the flux producing stator current in an AC induction motor. Id should equal zero
when using a permanent magnet motor.
Current Phase A The measured current in motor phase A. The sum of all three phases should add up to zero.
Current Phase B The measured current in motor phase B. The sum of all three phases should add up to zero.
Flux Ref. Current Target The commanded flux reference current ignoring limits. The flux reference current is the current
induced in the rotor of an AC induction motor.
Flux Ref. Current Demand The commanded flux reference current, after limits have been applied. The flux reference current is
the current induced in the rotor of an AC induction motor.
Flux Ref. Current Measured The measured flux reference current. The flux reference current is the current induced in the rotor
of an AC induction motor.
Flux Ref. Current Error The difference between the flux reference current target and the flux reference current measured.
Current Reference
Torque Offset

For Iq and Id, “I” represents the peak of the current sine wave for an individual phase in a three phase motor.

Depending on the drive type, motor type, and motor settings, some of the signals may not be available.

Velocity measurements
Value Definition
Velocity Target This is the commanded velocity ignoring velocity limit settings.
Velocity Demand The commanded velocity, after velocity limits have been applied. This value is zero when the drive
is inhibited.
Velocity Measured The velocity as measured by the velocity feedback device (after filtering).
Velocity Feedback The velocity as measured by the velocity feedback device (before filtering).
Velocity Error The difference between the motor's target velocity and measured velocity.
Velocity Reference This is the commanded velocity before velocity loop input filtering or velocity offset.
Velocity Offset

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 Tools and Functions / Signal Definitions

Position measurements
Value Definition
Position Target This is the commanded position ignoring position limit settings.
Position Demand The commanded position, after position limits have been applied.
Position Measured The position as measured by the position feedback device.
Position Error The difference between the motor's target position and measured position.
Position Reference This is the commanded position before position loop input filtering or position offset.
Position Offset

Commutation
Value Definition
Sync Error Synchronization is used with brushless motors to verify the commutation angle is valid for the
measured position. When synchronization occurs, the drive compares the expected position to the
measured position. If the two are not aligned, the drive cannot reliably commutate and a
synchronization error results.
Hall State The decimal equivalent of the binary combination of the three hall states where Hall A is bit 0 and
Hall C is bit 2. (5V = 1, 0V = 0). It is important to note that the binary value is inverted for PCB drive
models. For example, a standalone drive may read a Hall State of 1-1-1, while a PCB-mounted
drive would read a Hall State of 0-0-0 in the same situation.
Phase Angle The present number of degrees of the rotor inside one electrical cycle. Also may be called
Electrical Angle.
Sync. Capture The encoder count captured at the Synchronization edge. This will vary depending on the Sync
edge chosen from AutoCommutation (Hall or Index edge).
Stator Angle The present number of degrees of the stator inside one electrical cycle. This value is equal to the
phase angle plus the slip angle.

Voltage
Value Definition
Analog Output The present voltage applied to the analog output.
DC Bus Voltage The voltage the drive can output during the ON state of a PWM cycle. This is generally equivalent
to the DC or rectified AC supply voltage to the drive. The DC Bus Voltage may be greater than the
supply voltage when the motor is in a state of regeneration.
Voltage Phase A The voltage, with respect to DC bus ground, applied to motor phase A
Voltage Phase B The voltage, with respect to DC bus ground, applied to motor phase B.
Voltage Phase C The voltage, with respect to DC bus ground, applied to motor phase C.
Analog Input The voltage measured on the analog input pin with respect to signal ground.

Command Limiter
Value Definition
Command Limiter Input The commanded signal before being profiled by the command limiter.

Temperature
Value Definition
Motor Temp. The calculated motor temperature after being measured on the selected input and scaled
according to the specified scaling value.

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 Tools and Functions / Signal Definitions

Torque
Value Definition
Torque Measured The torque applied by the motor. This value is calculated from measured current, as delivered to
the motor from the drive, and the motor torque constant entered in the Motor Data window.

Drive
Value Definition
Drive Position The position as measured by the drive in counts.
Drive Velocity The velocity as measured by the drive in counts per second.
Raw ADC One The full scale raw value of the ADC used for Analog Input 1
Raw ADC Two The full scale raw value of the ADC used for Analog Input 2
Raw ADC Three The full scale raw value of the ADC used for Analog Input 3
Raw ADC Four The full scale raw value of the ADC used for Analog Input 4

Feedback
Value Definition
Primary Feedback This signal is used by the drive for commutation purposes, and may differ from the measured
position. For determining measured position, reference the Position Measured signal.
Aux. Feedback The position as measured by the auxiliary feedback port. Only valid when Auxiliary Encoder is
configured as a feedback device.

Interface Input
Value Definition
Interface Input The decimal value read from the interface input.

Deadband Input
Value Definition
Deadband Input The commanded input before deadband is utilized. Measured in units of current, velocity, or
position depending on configuration.

PWM Input
Value Definition
PWM Duty Cycle This represents the duty cycle of the input when the drive is configured for PWM as a command.

PLS
Value Definition
PLS Input
PLS Pulse 1 State
PLS Pulse 2 State

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 Tools and Functions / Signal Definitions

Capture
Value Definition
Position Capture
Aux. Input Capture

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 Tools and Functions / Drive Status

A.7 Drive Status

The Drive Status panel shows drive events (current and history) and is a useful
troubleshooting diagnostics tool. Click on the Drive Status tab in the Status Panel to view the
Drive Status information.

The Drive Status pane shows data in three categories:

• Drive protection
• System protection
• System Status

For a description of drive events and recommended troubleshooting methods, see “Events and
I/O Descriptions and Troubleshooting Methods” on page 114.

Use the icons at the top of the pane to select viewing options.
Icon Name Description
Expand All Show all sub-categories.

Collapse All Hide all sub-categories.

Reset Events Clear the Drive Status window of any history events.

Show Inactive Show or hide the inactive status events.

Show History Show or hide the status history events.

Event States
Icon Name Description
Active An event that is active but not assigned to an action. This includes events assigned to No Action in
the Event Manager window and pure status events that cannot be assigned an action.

Disabling Event An event that is active and assigned to an action. An action either inhibits motion partially or
disables motion completely according to the action assigned in the Event Manager window.

History An event which is not presently active, but was active at some point after the last time the drive was
powered on or the last time the Reset Events button was used.

Inactive An event that is not presently active, and has not been active since after the last time the drive was
powered on or the last time the Reset Events button was used.

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 Tools and Functions / Critical Event Activity

A.8 Critical Event Activity

The Critical Event Activity window is a list of drive protection events along with the time they
occurred. The critical event activity window contains entries such as Short Circuit and Current
Overshoot.

Click on the Critical Event Activity tab to view the Critical Event Activity information.
Icon Name Description
Refresh Refresh the Event Activity log.

Export Export the Event Activity log to a text file.

A.9 Event Counters

Lists the total operating time of the drive and the number of times faults have occurred since
the drive has been in operation.

Click on the Event Counters tab to view the Event Counters information.
Icon Name Description
Refresh Refresh theEvent Counter values.

Export Export the Event Counter values to a text file.

Event Counters automatically stores to the drive approximately once

every nine minutes. If the drive power is shut off within this time frame and
a manual store to NVM is not performed, the counter will not be
incremented.
Note

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 B Current Limiting

This topic explains current limiting for digital servo drives. The basic concepts of current limiting are
introduced first, followed by a detailed explanation of some underlying formulas.

B.1 Understanding the Limit Envelope

Digital drives limit current output according to a well-defined software and hardware current
limit envelope. These envelopes consist of Peak Current, for a specified amount of Peak
Current Time, followed by a foldback to Continuous Current for an amount of time specified by
the Foldback Time Constant.

Foldback & current limit envelope

1. The current limit envelope is shown in red.
2. You use drive setup software to configure the software envelope while the hardware
envelope is fixed and defined by drive hardware limitations.
3. The Peak Current Time and Foldback Time Constant of the hardware envelope is the
same for all drives, fixed at 2 and 10 seconds, respectively. The current values, how-
ever, depend upon the hardware with Peak Current and Continuous Current always
equal to the maximum peak and continuous current rating of the drive.

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 Current Limiting / Understanding the Limit Envelope

The drive always compares each point on the user specified software envelope against each
point on the hardware envelope and takes the lesser of the two to generate the actual
application envelope. An example of this, where the hardware envelope almost entirely
overrides the software envelope, is shown in Table 1. In this example, a constant 100% peak
current command (shown in white) was given to the drive. Because, beyond the first two
seconds, the hardware envelope (2 seconds Peak Current Time and 10 second Foldback Time
Constant) is less demanding than the software specified envelope (65 second Peak Current
Time and 65 second Foldback Time Constant), hardware current limiting is applied.

Table 1

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 Current Limiting / Understanding the Limit Envelope

In order to have the software envelope entirely hold true, it must be specified such that it
remains equal to or within the hardware envelope of the drive. Table 2 shows an example of a
software configuration that will hold true in application (i.e. not be overridden by hardware
limitations). For convenience, the drive hardware envelope has been superimposed (in red) on
the image of Table 2.

Table 2

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 Current Limiting / Understanding the Limit Envelope

On the other hand, Table 3 shows the result of a user configured software envelope that falls
outside of the allowed hardware envelope. The image in Table 3 shows how the drive will
follow the specified software envelope up until it intersects the hardware envelope.

Table 3

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 Current Limiting / Current Limiting Algorithm

B.2 Current Limiting Algorithm

In order to understand the current limiting algorithm used by digital servo drives, it is
necessary to first understand the different current limiting regions. The graph in Figure B.1
breaks the available current into three different regions.

FIGURE B.1 Current Limiting Regions

Peak Time Foldback Time

Current
Ip

Peak
Foldback Region
Region

Ic

Continuous Region

Time

• Continuous Region: The commanded current is less than or equal to the continuous
current limit. The available current is equal to the commanded current.
• Peak Region: The commanded current is between the continuous and peak current
limits. The available current is equal to the commanded current for a limited time (Peak
Time).
• Foldback Region: Commanded current is between the continuous and peak current limits
of the drive. The available current is less than the commanded current. The available
current decreases over time until it equals the continuous current limit. The rate of this
decrease is equal to:

Ip – Ic
Slope = -----------------
tf

Ip Peak current limit

Ic Continuous current limit
tf Foldback time

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 Current Limiting / Current Limiting Algorithm

B.2.1 Time-Based Peak Current Limiting

The full peak value of current is available to begin with. When a current command is equal to
the peak current limit, the current begins to foldback to the continuous limit after Tp,
following the same slope as given in Figure B.1 on page 98. Once the available current has
reached the continuous current limit after tf, the available current will be limited to the
continuous current limit until the commanded current is dropped below the continuous level.

FIGURE B.2 Time-Based Peak Current Limiting

Current-Time

Icommanded
Ip

Iavailable

Ic

tf

Tp

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 Current Limiting / Current Limiting Algorithm

B.2.2 Time-Based Non-Peak Current Limiting

When the commanded current is between the peak and continuous current limits, the
available current will begin to foldback at the intersection with the slope from Figure B.2 on
page 99. The larger the commanded current, the sooner the available current will begin to
foldback.

FIGURE B.3 Time-Based Non-Peak Current Limiting

Current-Time

Ip

Icommanded

Iavailable

Ic

tf

Tp

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 Current Limiting / Current Limiting Algorithm

B.2.3 Time-Based Current Recovery

Initially, the full peak value of current is available. A commanded current above the continuous
level causes the available current to foldback to the continuous level as shown in the first graph
of Figure B.4. When the commanded current drops below the continuous current limit value
(A1 in the first graph), the available current will then begin to recover along the slope of the
foldback line towards the peak current level, as shown in the second graph of Figure B.4. The
relationship between the commanded current and the recovered current is given as:
1
A 2 = --- A 1
2

Using this relationship, you can calculate the amount of time recovered, t, by using the
following equation:
A1
t = ----------------------
-
2  Ip – Ic 

FIGURE B.4 Time-Based Current Recovery - Foldback and Commanded Current

Current-Time

Icommanded
Ip

Iavailable

Foldback

Ic
A1

tf

Zero
Current
Tp

Ip

A2

Iavailable

Ic
t

A1
t=
2(Ip – Ic)

Zero
Current

Note that current must be commanded below the specified continuous value to start
recovering from a foldback condition.

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 Current Limiting / Current Limiting Algorithm

B.2.4 Charge-Based Peak Current Limiting

The charge is full to begin with. When a current greater than the continuous current limit is
commanded, the charge begins to decay. The loss of charge is determined by the area under
the curve as shown in Figure B.5. The larger the command, the faster the charge will decay.
When the charge decreases to zero, the available current will be limited to the continuous
current limit until the charge is restored.

FIGURE B.5 Charge-Based Peak Current Limiting

Current-Time

Ip

Ic

Charge-Time
Full Charge

Zero Charge

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 Current Limiting / Current Limiting Algorithm

B.2.5 Charge-Based Non-Peak Current Limiting

When the commanded current is between the peak and continuous current limits, the
commanded current will be available for a longer period when compared to limiting at peak
command. Note that the slope of the line during foldback is the same for both cases.

FIGURE B.6 Charge-Based Non-Peak Current Limiting

Current-Time

Ip
Slope during foldback

Icommanded

Ic

Charge-Time
Full Charge

Zero Charge

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 Current Limiting / Current Limiting Algorithm

B.2.6 Charge-Based Current Recovery

After losing some value of charge, the charge may be recovered when the commanded value is
dropped less than the continuous current limit. The amount of charge recovered depends on
the magnitude of the commanded current and the amount of time in which it is commanded.
The amount of charge recovered can be calculated by measuring the area within the curve as
shown during the charge recovery phase in Figure B.7.

FIGURE B.7 Charge Recovery

Current-Time

Charge
Recovery
Ip

Commanded Current

Foldback Foldback

Ic

0
Charge-Time
Full Charge

Zero
Charge

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 Current Limiting / Current Limiting Algorithm

B.2.7 RMS Current Scaling

RMS Current Scaling uses the charge-based algorithm described above. The only difference is
the value of the continuous current the drive is capable of outputting. The continuous RMS
limit can be used when the motor is moving so that the electrical cycle frequency is greater
than the upper frequency assigned to that drive. The upper frequency is typically around 5Hz
or 150 RPM for a 4-pole motor. The continuous RMS value is the continuous DC value
multiplied by the square root of two.

Icrms  2  Icdc

When the electrical cycle frequency drops below the upper frequency, the continuous current
drops below the RMS value. When the motor is moving at slow speeds, the continuous current
is equal to the DC value of the current.

FIGURE B.8 RMS Current Limiting

Current RMS Current Scaling

Ip
Electrical cycle frequency
Above RMS cutoff frequeny

Electrical Cycle Frequency

below DC cutoff frequency
Icrms

Icdc

Tp Time

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 Current Limiting / Calculating Current Limits

B.3 Calculating Current Limits

Availability of output current greater than continuous current depends on the level of an
internal charge reservoir. Upon power-up, the drive begins with a full reservoir having a
charge equal to:

QP = 2  IP – IC   tP + tF 

QP = Peak Reservoir Charge

IP = Peak Current
IC = Continuous Current
tP = Peak Current Time
tF = Foldback Time Constant

A drive with a fully charged reservoir can always output peak current. However, any time the
target output current goes above the Continuous Current setting of the drive the reservoir
begins to discharge. The rate of discharge is given as:

For IT > IC,

2  I P – I C C  s

IT = Target Current (units of amps)

C = coulombs
s = seconds

Once the reservoir discharges past a threshold necessary to output peak current, the amount
of current available to output begins to foldback linearly (assuming hardware limits do not
override software limits) from IP to IC according to the Foldback Time Constant (tF).

When the reservoir becomes empty, no more than Continuous Current can be output by the
drive. The peak current threshold can be calculated as:

Q Th =  Q P  t F    t P + t F 

which is simply the amount of charge that would be depleted over a complete current foldback.
The reservoir recharges (up to a maximum of QP) anytime the target output current drops
below the Continuous Current setting. The rate of charge depends upon how far the target
output current is below the Continuous Current as given by:

For IT < IC,

 I C – I T C  s

As a result, the reservoir will recharge most rapidly when the target output current is zero (no
command or drive inhibited).

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 Current Limiting / Calculating Current Limits

B.3.1 Example 1: Foldback Current

What is the output current of a drive enabled in the foldback state (0 < Q < QTh) if the drive is
configured according to the parameters in “Table 2” on page 96? Assume that the charge
reservoir has been tracked since power-up and is known to be half empty (Q = QP/2) at the
instant it is enabled. Because current limits are set within hardware limits the current foldback
will be linear and easily represented by the first order equation:

For 0 < t < tx,

I F = Mt + I o

IF = the foldback current

M = the rate of foldback
t = is time (drive enabled at t=0)
I0 = the initial current output

Starting with I0, the initial amount of current available beyond continuous current will be the
maximum difference between peak and continuous current (IP - IC) weighed against the
percentage of charge Q available relative to QTh. Using IC as a baseline, this is formulated as,

For 0 < Q < QTh,

I 0 =  I P – I C Q  Q Th + I c

Taking the drive parameters of Table 2, I0 is calculated as follows.

I0 = (IP - IC)  [QP/2]/[(QP  tF)/(tP + tF)] + IC
= (IP - IC)  (tP + tF)/2tF + IC
= (12 - 6)  (2 + 5)/10 + 6
= 10.2 A.

The rate of foldback can be formulated as

M =  IC – IP    tF 

Again using the parameters of Table 2, this gives M = (6 - 12)/5 = -1.2. Lastly, we need to
calculate the time at which foldback ends. Knowing that foldback always ends with IC, we can
use the line equation we just generated to calculate tx by solving for time as follows:
tx = (IF - I0)/M
= (6 - 10.2)/-1.2
= 3.5

Combining all our results, this yields the formula:

For 0 < t < 3.5,

IF = -1.2t + 10.2.

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 Current Limiting / Calculating Current Limits

B.3.2 Example 2: Peak Current Recovery

If recovery time is the only interest, there's an easy way to calculate the amount of time
required to recover maximum peak current. This is shown in the following example.

How long will it take to recover maximum peak current on a drive which, from power-up, is
depleted for tD seconds, where tD < tP + tF?

Assume the current command is initially held at a constant current of IH, where IH > IC, for tD
seconds and then held constant at IL, where IL < IC, for tR seconds. These parameters are
illustrated as:

Depletion of the reservoir always happens at the rate 2(IP - IC) which means the amount of
charge depleted over tD will be QD = 2(IP - IC) x tD. Similarly, for a recharge time of tR, the
charge recovered will be QR = (IC - IL) x tR. In order to fully recharge the reservoir, the amount
of charge depleted must match the amount recovered such that QR = QD or (IC - IL)tR = 2(IP -
IC)tD. The final step is to solve for tR as shown below.

t R = 2  I P – I C t D   I C – I L 

The concept of peak current recovery can be approached a little differently by matching the
area of two squares. This method tends to be more intuitive and is easy to visualize. The
previous figure illustrates a typical current limiting envelope (in red) with an example current
command (in green) and two square areas marked AD and AR. Note that the area of AD is equal
to (IP - IC)  tD while the area of AR is equal to (IC - IL)  tR. Now, from Example 2, we know that
the charge recovered should match the charge depleted. Given this, we can equate areas as
given below:
QR = QD
(IC - IL)tR = 2(IP - IC)tD
AR = 2AD

Thus, in order to completely recover peak current, the area of the square
(IC - IL)  tR must double the area of the square (IP - IC)  tD.

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 C Control Loop Architecture

The following diagram shows how the various PID and feed-forward terms are implemented in the control loop
for Position around Velocity around Current (Torque) tuning. Other drive configurations are possible as well.

Position Control Algorithm Current Control Algorithm

d2
Kaff
dt2 Current
Position
Offset
Offset
Kvff d
dt

Kpp Kpi

+ +
+ + Position Biquad + Limits + +
Biquad Position + Kii?dt
Limits Kip?dt Integrator
Decay

- + -

Position
Kdp d
Position Position dt Current Current Current Current
Position Demand Position
Reference Target Pre-Filtered Reference Target Demand
Pre-Filtered Error
Reference Reference

Position
Measured
Velocity Control Algorithm

Velocity
Offset
Kaff d
dt

Kpv
+
+ Velocity +
Biquad Velocity +
Limits Kiv?dt Integrator
Decay

- +
Kdv d
dt
Velocity Velocity Velocity Velocity Velocity
Pre-Filtered Reference Target Demand Error
Reference

Velocity
Measured

MNDGDWUG-12 109
 D Filtering Velocity Feedback

The velocity loop feedback filter uses a single pole low-pass filter to attenuate changes in velocity feedback. This
helps to avoid responding to high frequency “spikes” in velocity, resulting in a smoother response to velocity
commands.

Velocity Measured,
Velocity Feedback Drive Velocity

Motor Feedback Filter

Pre-Filter Post Filter

Feedback
Measured Measured To Velocity Loop
Device
Velocity Velocity

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 Filtering Velocity Feedback / Effects of the Feedback Filter

D.1 Effects of the Feedback Filter

The figures below show how the filter affects measured velocity and, in turn, motor response.
For this example, a 10Hz, 100,000-count/sec sine wave is commanded by the drive. This will
be considered the worst-case move required for the application. The motor uses a 2000 line
encoder, and has a low inertia load coupled to the motor shaft. The current loop and velocity
loop gains are tuned aggressively for a fast response.

D.1.1 Cutoff Frequency Set to Infinite

With no feedback filter, the velocity measured and velocity feedback are equal. The velocity
loop responds instantly to all measured changes in velocity. The resulting velocity profile is
distorted. A loud audible noise is heard from the motor.

D.1.2 Cutoff Frequency Set to 300Hz

At this level, the audible noise is no longer present and the response is smooth. The two
waveforms are nearly identical. This is the optimum setting because it results in no distortion
and no phase lag.

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 Filtering Velocity Feedback / Conclusion

D.1.3 Cutoff Frequency Set to 50Hz

At this level, the response is still smooth, but phase lag is apparent as the two waveforms begin
to separate.

D.1.4 Cutoff Frequency Set to 10Hz

With the cutoff frequency set to 10Hz, there is an obvious difference between the two
waveforms. The response is also noticeable in the motor shaft. The phase lag results in the
motor motion becoming unstable.

D.2 Conclusion
The velocity loop cutoff frequency filter allows you to tune with higher velocity loop gains,
which results in a faster response. Most applications will benefit from a velocity feedback filter
cutoff frequency between 50Hz and 1500Hz. Too high of a cutoff frequency may result in
audible noise from the motor. Too low of a cutoff frequency will cause significant phase lag and
may lead to instability. The cutoff frequency should be adjusted during velocity loop tuning. For
the worst-case move, the motor should follow the command smoothly, and there should be
little or no phase lag between the velocity feedback and velocity measured traces.

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 E Troubleshooting

E.1 Setup Software Safety Actions

The following table provides a brief explanation of how certain safety actions are effected in
the drive hardware and software configuration.
Drive Safety Action Description
Disable Bridge No power is delivered to the motor. Motor is allowed to move freely.
Dynamic Brake Motor leads are shorted together internally. The drive regulates the switching of the
bottom side power devices to protect the motor from over current.
Apply Brake This event action activates the Brake Active event which is typically mapped to a
programmable digital output. This output is used to indicate when an external brake
should be active in a system.

E.2 Potential External System Errors

The following is a list of potential non-drive-related system errors, and how the setup software
and drive are equipped to automatically protect drive hardware.
System Error Drive Action
Loss of Logic Power The bridge will be disabled. The brake output device will open, engaging the brake.
Loss of Supply and Logic Power The bridge will be disabled. The brake output device will open, engaging the brake.
Logic Power is too Low The bridge will be disabled. The brake output device will open, engaging the brake.
Communication Connection is Disconnected Results in a "Communication Channel Error", which should be configured by the user for
Dynamic Brake (or Disable Bridge). The brake output device will open, engaging the
brake. The timeout value and host watchdog must be properly configured by the
host/controller.
Communication Signal Times Out Results in a "Communication Channel Error", which should be configured by the user for
Dynamic Brake (or Disable Bridge). The brake output device will open, engaging the
brake. The timeout value and host watchdog must be properly configured by the
host/controller.
Encoder/Halls Cable is Disconnected If Hall Sensors are disconnected, will result in a "Hall State Error". The drive will fail
Phase Detect on power up, and result in a "Phase Detect Error". If the encoder cable
becomes disconnected while motion is commanded, a following error or continuous
current foldback event will result, depending on the configuration and command. Faults
should be configured by the user for Dynamic Brake or Disable Bridge.
Faulty Encoder Signals Results in a "Phase Synchronization Error", which should be configured by the user for
Dynamic Brake or Disable Bridge.
Disconnected Motor Wires The drive does not directly detect that the motor wires are disconnected. The "Current
Loop Saturated" and following error faults are secondary errors that are generated. It is
recommended to use the faults as a possible indication of a disconnected motor.

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 / Events and I/O Descriptions and Troubleshooting Methods

E.3 Events and I/O Descriptions and Troubleshooting Methods

The following is a list of possible drive events and I/O signals, a brief description of the cause,
issue, or behavior, and some recommended actions to take to remove the event if necessary.
Event Description Likely Cause Recommended Actions
Absolute Position Valid An absolute motor position has been 1) A homing routine has been initiated and Status Only, no action needed.
established by one of the drive’s positioning completed successfully
methods. 2) An absolute position has been established by
execution of the Set Position command
3) Phase Detect routine has completed
successfully (only applies to drives with absolute
feedback devices)
At Command Velocity Mode: The measured velocity has The drive has reached the commanded position Status Only, no action needed.
reached the target velocity, within the At Velocity within the range of the At Command window.
Window.
Position Mode: The measured position has
reached the target position, within the In-
Position Window.
Torque Mode: The measured current is within
range of the target current. In general, the At
Command window will be 1/100 of the hardware
peak current limit.
Brake Active A drive event may be configured to activate an The drive’s Apply Brake action is enabled. If Check all active events. Check the settings for
external brake. This is accomplished by assigned to a digital output, the digital output will the event actions to see which event actions are
assigning the event action and by assigning a be active also. This occurs when an active event assigned to Apply Brake.
digital output to "Apply Brake". has its action assigned to Apply Brake.
Note: SynqNet drives control the brake through
the SynqNet interface.
Bridge Active The drive’s power bridge is enabled. The drive has been enabled. Status Only, no action needed.

Capture Complete The Capture routine has completed. The High Speed Capture function has been Status Only, no action needed.
initiated and completed successfully.
Command Limiter Active The command is currently being profiled by the The Command Limiter has been enabled. Status Only, no action needed.
Command Limiter.
Communication Channel Error The drive has experienced an interruption of 1) Communication cable has been disconnected 1) Check communication cable connections
communication on the communications 2) Host software has not been properly 2) Check to ensure host software is properly
interface. Note: Normal setup software initialized initialized.
communication interruption/loss will not trigger
this error.
RS485/232:
If the drive is configured via index 0x04 for
heartbeat this error will be thrown if the
consumer heartbeat time is not reset within the
defined time interval.
CANopen:
If the drive is configured for node / life guarding,
the event will be thrown if the drive does not
receive a node guard pulse within the specified
time interval.
If configured for heartbeat, the drive will throw
the error if the host fails to reset the timer within
the specified time interval.
EtherCAT:
The EtherCAT RPDO watchdog has been
activated. This occurs when EtherCAT state
machine is operational and the drive has not
received an RPDO in more than 10 cycles.
If configured for heartbeat, the drive will throw
the error if the host fails to reset the timer within
the specified time interval.
Configuration Select The active drive Configuration has switched. A digital input has been configured to switch Status Only, no action needed.
drive Configurations.
Continuous Current Foldback The drive has been commanded to output The drive current has folded back to the This is application dependent. Default event
greater than continuous current and has folded continuous value. action is 'no action' which is informational only.
back to the continuous value. The peak and Can be configured to perform an event action
continuous currents will be either the software or (i.e. disable bridge).
hardware limits. When this event is active, the
drive is supplying continuous current.
Current Limit Active The drive is applying current limiting based on The drive is being commanded to output current This is application dependent. Default event
the software settings specified, or is limiting that exceeds software or hardware limits. action is 'no action' which is informational only.
according to the hardware limits of the drive. Can be configured to perform an event action
(i.e. disable bridge).

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 / Events and I/O Descriptions and Troubleshooting Methods

Event Description Likely Cause Recommended Actions

Current Loop Saturated The PWM output is at maximum duty cycle, and 1) The bus voltage is insufficient for a given 1) Make sure there is sufficient bus voltage
cannot deliver any more current under the given motor / current level 2) Make sure motor resistance is not high
conditions. 2) The motor's resistance is high 3) Turn the power off and make sure the motor
3)The motor leads are not properly connected leads are properly connected.
4) The logic supply voltage is outside of the 4) Measure the logic supply voltage and
specified tolerance for the drive compare to the allowed logic supply tolerance
for the drive
Drive Internal Error The drive has experienced an internal error Defective drive Contact technical support
while executing its firmware.
Drive Over Temperature The drive has reached its maximum allowed 1) Inadequate heatsinking / ventilation 1) Ensure adequate heatsinking / ventilation
temperature. The drive will disable when this 2) Excessive and repeated overcurrents 2) Ensure that motor exceeds minimum
occurs, and will be re-enabled when sufficiently inductance requirements
cooled.
Drive Reset The drive's internal processor was reset. NOTE: 1) The drive was power cycled 1) None if the drive was power cycled (status
This event will occur every time the drive is 2) A glitch in power caused a processor reset only)
power cycled. 2) Check logic power coming to drive.
Dynamic Brake Active A drive event may be configured to activate the The drive’s Dynamic Brake action is enabled. If Check all active events. Check the settings for
dynamic brake. This is accomplished by assigned to a digital output, the digital output will the event actions to see which event actions are
assigning the event action and by assigning a be active also. This occurs when an active event assigned to Dynamic Brake.
digital output to "Dynamic Brake". has its action assigned to Dynamic Brake.
Feedback Sensor Error 1) For a resolver drive, indicates that the Resolver: Resolver:
resolver signals are excessively noisy or outside 1) Resolver not connected 1) Check resolver connection
of the range required by the drive.
2) Faulty grounding / shielding of feedback 2) Check grounding / shielding of feedback
2) For sin/cos indicates the sin/cos signals are connector connector
excessively noisy or the product of the sin and
cos signals is outside of the range required by 3) Resolver specs don't match drive 3) Check resolver specs against drive specs
the drive. Sin/Cos: Sin/Cos:
Note that Feedback Sensor Error does not 1) Sin/Cos encoder not connected 1) Check the amplitude of sin/cos signals
trigger for Brush type motors using Sin/Cos 2) Faulty grounding / shielding of feedback coming into drive
feedback. connector 2) Check grounding / shielding of feedback
connector
Gain Select The active drive Gain Set has switched. A digital input has been configured to switch Status Only, no action needed.
Gain Sets.
Hall State Error The drive is seeing an invalid Hall state on the 1) Broken or disconnected Hall sensor(s) 1) Check hall sensor wiring
Hall sensor inputs. Note that this event is only 2) Move the motor by hand and verify that each
valid when Hall sensors are used. Invalid Hall of the individual Hall sensors are changing. If
states are as follows where each binary digit one or more of the Hall sensors are not
represents a Hall sensor input. Hall sensor changing, this could mean the Hall sensor is
inputs are either high (1) or low (0). bad.
120 degree phasing
-111 (7 in decimal representation)
-000 (0 in decimal representation)
60 degree phasing
-101 (5 in decimal representation)
010 (2 in decimal representation)
High Speed Capture The High Speed Capture Function has been The drive was commanded to execute a High Status Only, no action needed.
activated. Speed Capture either through a digital input,
network interface, or the setup software.
Home Active The drive’s internal homing routine is active. Homing was invoked either through a digital Status Only, no action needed.
input, network interface, or the setup software.
Home Done The drive’s internal homing routine has finished Homing was invoked and completed. The start homing command (invoked with digital
successfully. input, network interface, or setup software) can
now be removed.
Home Execute The Homing routine has been activated. The drive was commanded to execute a Home Status Only, no action needed.
command either through a digital input, network
interface, or the setup software.
In Home Position The motor is in the home position. The home The motor is in the home position. Status only, no action needed.
position is defined by the Home Position Value
and In-Home Position Window in the Position
Limits tab. This event is active when the
measured position of the motor is equal to the
Home Position value within the window specified
by the In-Home Position Window.
Index Active An Index motion task is currently active and has The drive was commanded to execute an Index Status only, no action needed.
control of the axis. No other motion tasks can be task either through a digital input, network
executed while this is active. interface, or the setup software.
Index Busy An Index motion task is currently active and has The drive was commanded to execute an Index Status only, no action needed.
control of the axis. No other motion tasks can be task either through a digital input, network
executed while this is active. interface, or the setup software.
Index Done The Index motion task has completed, including The drive was commanded to execute an Index Status only, no action needed.
dwell time, and no longer has control of the axis. task either through a digital input, network
interface, or the setup software.

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 / Events and I/O Descriptions and Troubleshooting Methods

Event Description Likely Cause Recommended Actions

Index Motion Done An Index motion task has reached the target The drive was commanded to execute an Index Status only, no action needed.
position for the task. The axis may still be in task either through a digital input, network
motion depending on the system. No other interface, or the setup software.
motion tasks can be executed while this is
active.
Jog Active A Jog task is currently active and has control of The drive was commanded to execute a Jog Status only, no action needed.
the axis. No other motion tasks can be executed task either through a digital input, network
while this is active. interface, or the setup software.
Jog Forward The Jog Forward Task is currently active. The drive was commanded to execute a Jog Status only, no action needed.
Forward task either through a digital input,
network interface, or the setup software.
Jog Reverse The Jog Reverse Task is currently active. The drive was commanded to execute a Jog Status only, no action needed.
Reverse task either through a digital input,
network interface, or the setup software.
Log Entry Missed The drive attempted to write to the fault log An internal error prevented the drive from writing If error persists, contact technical support.
counter, but was unable to. to the fault log counter.
Maximum Measured Position The measured position has exceeded the The measured position exceeds the measured This is application dependent. Default event
maximum value set by software. The Max position limit. action is 'no action' which is informational only.
Limit Measured Position Limit can be found in the Can be configured to perform an event action
Limits and Events > Position Limits tab. NOTE: (i.e. disable bridge).
THE LIMITS ARE DISABLED VIA SOFTWARE
BY DEFAULT. VALID ONLY IF 'DISABLE
POSITION LIMITS' CHECK BOX IN THE
POSITION LIMITS TAB IS UNCHECKED.
Maximum Target Position Limit The Maximum allowed position target (positive 1) The drive has been commanded to go to a This is application dependent. Default event
direction) defined by software. The Max Target target position value that exceeds the maximum action is 'no action' which is informational only.
Position Limit can be found in the Limits and target position Can be configured to perform an event action
Events > Position Limits tab. NOTE: THE (i.e. disable bridge).
LIMITS ARE DISABLED VIA SOFTWARE BY
DEFAULT. VALID ONLY IF 'DISABLE
POSITION LIMITS' CHECK BOX IN THE
POSITION LIMITS TAB IS UNCHECKED.
Minimum Measured Position The measured position has exceeded the The resulting measured position exceeds the This is application dependent. Default event
minimum value set by software. The Min measured position limit. action is 'no action' which is informational only.
Limit Measured Position Limit can be found in the Can be configured to perform an event action
Limits and Events > Position Limits tab. NOTE: (i.e. disable bridge).
THE LIMITS ARE DISABLED VIA SOFTWARE
BY DEFAULT. VALID ONLY IF 'DISABLE
POSITION LIMITS' CHECK BOX IN THE
POSITION LIMITS TAB IS UNCHECKED.
Minimum Target Position Limit The Minimum allowed position target (minimum 1) The drive has been commanded to go to a This is application dependent. Default event
direction) defined by software. The Min Target target position value that exceeds the minimum action is 'no action' which is informational only.
Position Limit can be found in the Limits and target position Can be configured to perform an event action
Events > Position Limits tab. NOTE: THE (i.e. disable bridge).
LIMITS ARE DISABLED VIA SOFTWARE BY
DEFAULT. VALID ONLY IF 'DISABLE
POSITION LIMITS' CHECK BOX IN THE
POSITION LIMITS TAB IS UNCHECKED.
Motion Engine Abort The Motion Engine has aborted a motion task. The Motion Engine has been stopped via a Status only, no action needed.
digital input.
Motion Engine Error The Motion Engine is in a fault state. 1) A disabling event may be present that is 1) Check the Drive Status panel and the Status
preventing the bridge from enabling or not Bar to see if any events are causing a disabling
allowing motion to occur. action.
2) The drive may not be homed. 2) Run the homing routine.
3) An Index or Sequence may be improperly 3) Examine all saved Sequences for flagged
configured. errors.
Motion Engine Executing The Motion Engine is enabled and running a The Motion Engine was commanded to run a Status only, no action needed.
motion task. motion task in the setup software either via the
toolbar, a digital input, enable on Power-up, or
through the network.
Motor Over Speed The motor's measured velocity is higher than the 1) The drive is in current mode and the 1) Make sure motor is connected to load. Do not
motor overspeed limit set by software. The commanded current results in the motor command a current that will result in the motor
Motor Over Speed value can be found in the spinning faster than the specified maximum spinning too fast.
Limits and Events > Velocity Limits tab. velocity. 2) Verify the limit is set properly.
2) The limit is set too low 3) Verify electrical noise
3) Excessive noise on feedback 4) Verify proper grounding / shielding of motor
4) Improper grounding / shielding of feedback feedback cable
cable
Motor Over Temperature A digital input or analog input assigned to be a 1) The motor has overheated 1) Check the motor for overheating
motor over temperature is signaling the drive 2) The temperature cutoff defined in software is 2) Check to ensure temperature cutoff defined in
that the motor's temperature has been artificially low software is correct
exceeded.
3) The sensor is faulty and/or disconnected 3) Check to ensure that motor temperature
sensor is not faulty or disconnected
Negative Stop Active A drive event may be configured to halt motion The drive’s Negative Stop action is enabled. If Check all active events. Check the settings for
in the negative direction. This is accomplished assigned to a digital output, the digital output will the event actions to see which event actions are
by assigning the event action "Negative Stop" to be active also. This occurs when an active event assigned to Negative Stop.
a drive event. has its action assigned to Negative Stop.

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 / Events and I/O Descriptions and Troubleshooting Methods

Event Description Likely Cause Recommended Actions

Negative Velocity Limit The measured velocity has exceeded the 1) The magnitude of the velocity target is greater This is application dependent. Default event
negative limit set by software. than the Negative Velocity Limit action is 'no action' which is informational only.
2) The Negative Velocity Limit is too small for Can be configured to perform an event action
the velocity that is being commanded (i.e. disable bridge).

Non-Sinusoidal Commutation The drive is operating in the non-sinusoidal 1) Drive is configured for a Brushed motor 1) Status only, no action needed
commutation mode (trapezoidal). Drives with 2) Drive is configured to use only Hall Sensor 2) Status only, no action needed
incremental feedback will automatically enter commutation (trapezoidal)
this mode on power-up until the relative position 3) Status only, no action needed
is sensed via hall sensors or a phase detect 3) Drive powered up in trapezoidal mode. 4) Check encoder and Hall Sensors or index for
routine. Relative position has not yet been determined noise, or misalignment of Hall Sensors
by the drive.
4) A synchronization error resulted in the drive
being unable to synchronize properly
Over Current The measured output current has exceeded the 1) Inductance of motor is below drive's minimum 1) Make sure motor inductance is above drive
Drive’s rated current. 2) Noise minimum
3) Current loop is over-tuned 2) Check system for excessive electrical noise
3) Make sure current loop is not tuned too
aggressively.
Over Voltage The HV voltage (not logic power) is above the 1) Excessive HV power supply 1) Ensure that HV voltage is below drive's
maximum HARDWARE specified voltage. 2) Drive drive is experiencing excessive maximum voltage rating
regeneration 2) Make sure a shunt regulator is installed and
sized to efficiently shunt off regenerative energy.
Parameter Restore Error The drive encountered an error when reading 1) Corrupt non-volatile memory 1) Reburn firmware
project file parameters from the drive's non- 2) Defective Drive 2) Contact technical support
volatile memory.
Parameter Store Error The drive encountered an error when writing 1) Corrupt non-volatile memory 1) Reburn firmware
project file parameters from the drive's non- 2) Defective Drive 2) Contact technical support
volatile memory.
Phase Detect Active The drive is going into phase detection mode to Phase Detect was invoked through a power-up Status Only, no action needed.
determine proper phasing for commutation. option, digital input, network interface, or the
setup software.
Phase Detect Done The phase detection algorithm is complete. Phase Detect was invoked through a power-up Status Only, no action needed.
option, digital input, network interface, or the
setup software.
Phase Detect Error The drive was unable to correctly determine the 1) Phase detect current is excessive 1) Check encoder wiring
proper phasing following a phase detect routine. 2) Encoder wires broken / disconnected 2) Check to see if phase detection motion is
3) Phase detection motion insufficient excessive. Lower current if necessary

Phase Synchronization Error Indicates the number of counts seen by the drive 1) The drive is not commutating properly 1) Check to make sure commutation is
between synchronization markers was not 2) The feedback sensor is faulty established properly using AutoCommutation
consistent with what had been determined feature in the setup software
during AutoCommutation and/or the initial 3) Excessive system noise
a) Check encoder feedback parameters (I.e,
parameters. VALID ONLY IF DRIVE IS 4) Poor grounding / shielding of feedback cable
line count / rev)
COMMUTATING SINUSOIDALLY AND IS
USING EITHER INDEX SYNCHRONIZATION b) Check for correct motor pole count
OR HALL EDGE SYNCHRONIZATION. 2) Check to ensure that the feedback sensor is
operating properly
3) Check for excessive system noise
4) Inspect for poor grounding / shielding of
feedback cable.
Position Following Error The measured position is outside of the position The magnitude of the difference between the This is application dependent. Can be
following error window defined in the software. position measured and the position target is configured to perform an event action (i.e.
Only valid when drive is in position mode. greater than the Position Following Error value disable bridge).
Positive Stop Active A drive event may be configured to halt motion The drive’s Positive Stop action is enabled. If Check all active events. Check the settings for
in the positive direction. This is accomplished by assigned to a digital output, the digital output will the event actions to see which event actions are
assigning the event action "Positive Stop" to a be active also. This occurs when an active event assigned to Positive Stop.
drive event. has its action assigned to Positive Stop.
Positive Velocity Limit The measured velocity has reached the positive 1) The velocity target is greater than the Positive This is application dependent. Default event
velocity limit set by software. Velocity Limit action is 'no action' which is informational only.
2) The Positive Velocity Limit is set too low for Can be configured to perform an event action
the velocity being commanded (i.e. disable bridge).

PVT Buffer Empty The PVT point buffer has no points in it. VALID 1) The PVT point buffer has had no points sent This is application dependent. Default event
ONLY IF COMMAND SOURCE IS PVT. to it action is 'no action' which is informational only.
Can be configured to perform an event action
(i.e. disable bridge).
PVT Buffer Empty Stop The PVT buffer ran out of points and motion is 1) The drive ran out of points before seeing a 1) Make sure points are sent down continuously.
stopped. VALID ONLY IF COMMAND SOURCE PVT stop point When motion is to be stopped, a PVT stop point
IS PVT. 2) The stop point sent down was not correct is sent.

PVT Buffer Failure There is a failure in the PVT Buffer. VALID ONLY The drive disabled while executing motion. Check the drive status to see if there are any
IF COMMAND SOURCE IS PVT. events causing the drive to disable.
PVT Buffer Full The PVT point buffer has 16 points in it. VALID 1) The PVT point buffer has been filled prior to a Do not send more points down until PVT motion
ONLY IF COMMAND SOURCE IS PVT. motion starting is started
PVT Buffer Threshold The drive has consumed points and has made The drive is expecting more points to be sent Send more PVT Points.
the transition threshold that has been defined. down.
VALID ONLY IF COMMAND SOURCE IS PVT.

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 / Events and I/O Descriptions and Troubleshooting Methods

Event Description Likely Cause Recommended Actions

PVT Sequence Number Error The drive has detected a sequence number 1) User has sent down a PVT point with a Make sure the sequence number of the PVT
error. VALID ONLY IF COMMAND SOURCE IS discontinuous sequence number point is correct.
PVT. 2) User sent two points with the same sequence
number
PWM/DIR Broken Wire The drive has detected a PWM duty cycle input 1) Broken or disconnected PWM or Direction 1) Check for broken or disconnected PWM or
of 0% or 100%. VALID ONLY IF COMMAND wire Direction wire
SOURCE IS CONFIGURED FOR PWM. 2) PWM frequency below drive’s minimum value 2) Check to ensure that PWM frequency is
above drive minimum value (typically 1kHz).
Registration Invalid Indicates no valid registration event was found No valid registration event was found within the 1) Check that a valid registration event is set to
in the defined target distance for the Registration Limit Distance or Registration occur within the Registration Limit Distance or
Registration Index Task. Window. registration window.
Reset Events The Drive Status Panel event states have been The drive was commanded to execute a Reset Status only, no action needed.
reset. Events command either through a digital input,
network interface, or the setup software.
Set Position The Set Position function has set the target The drive was commanded to execute a Set Status only, no action needed.
position and measured position to the Preset Position command either through a digital input,
Position value. network interface, or the setup software.
Set/Reset Capture A The Capture A function has been Set/Reset. The drive was commanded to execute a Status only, no action needed.
Set/Reset Capture command either through a
digital input, network interface, or the setup
software.
Set/Reset Capture B The Capture B function has been Set/Reset. The drive was commanded to execute a Status only, no action needed.
Set/Reset Capture command either through a
digital input, network interface, or the setup
software.
Set/Reset Capture C The Capture C function has been Set/Reset. The drive was commanded to execute a Status only, no action needed.
Set/Reset Capture command either through a
digital input, network interface, or the setup
software.
Sequence Active A motion task Sequence is currently active and The drive was commanded to execute a Status only, no action needed.
has control of the axis. No other motion tasks Sequence either through a digital input, network
can be executed while this is active. interface, or the setup software.
Sequence Done The motion task Sequence has completed, The drive was commanded to execute a Status only, no action needed.
including dwell time and no longer has control of Sequence either through a digital input, network
the axis. interface, or the setup software.
Short Circuit The drive has detected that there is an 1) Inductance of motor is below drive's minimum 1) Make sure motor inductance is above drive
insufficient amount of resistance between the 2) Noise minimum
motor leads and ground. 2) Check system for excessive electrical noise
3) Short in the motor windings
4) Defective power component in power section 3) Check for a short across the the motor
of drive phases
4) Contact technical support
Shunt Regulator Active The shunt regulator is active (if equipped). 1) The drive is performing a regenerative 1) Status Only, no action needed
operation and has engaged the shunt regulator 2) Check to make sure that the shunt turn on
2) Shunt turn on voltage is at or below nominal voltage is not set too low
bus voltage
Software Disable The drive has been commanded to disable via A fault occurred or the host told the drive to 1) Check to see if the host disabled the drive
the communications channel or by clicking on disable the bridge. 2) Look for the presence of other faults
the enable/disable icon on the toolbar. A
3) Check if bridge state is Disabled on power up
Software Disable can also occur if the drive is
configured to disable on power up.
Software Negative Limit Indicates the drive was commanded to disable Host commanded a Negative Limit over serial. Verify if a Software Negative Limit is being
the negative direction commanded over the network.
Software Over Voltage The HV voltage (not logic power) is above the 1) Drive is experiencing excessive regeneration This is application dependent. Default event
maximum SOFTWARE specified voltage. 2) The software 'Over Voltage Limit' is set too action is 'no action' which is informational only.
low Can be configured to perform an event action
(i.e. disable bridge).
Software Positive Limit Indicates the drive was commanded to disable Host commanded a Positive Limit over serial. Verify if a Software Positive Limit is being
the positive direction. commanded over the network.
Software Stop The drive was commanded to perform a Stop. An event action has been configured to perform 1) If in response to an event action, check to see
a 'stop' when the event occurs. what event caused this response.
2) If commanded via network interface, then this
is informational.
Software Under Voltage The HV voltage (not logic power) is below the 1) The HV voltage is disconnected This is application dependent. Default event
minimum SOFTWARE specified voltage. 2) The power is off action is 'no action' which is informational only.
Can be configured to perform an event action
3) The software 'Under Voltage Limit' is set too
(i.e.disable bridge).
high
Stop Active A drive event may be configured to halt motion. The drive’s Stop action is enabled. If assigned to Check all active events. Check the settings for
This is accomplished by assigning the event a digital output, the digital output will be active the event actions to see which event actions are
"Stop" to a drive event. also. This occurs when an active event has its assigned to Stop.
action assigned to Stop.

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 / Events and I/O Descriptions and Troubleshooting Methods

Event Description Likely Cause Recommended Actions

Under Voltage The HV voltage (not logic power) is below the 1) Insufficient power supply 1) Ensure that HV voltage is above drive's
minimum HARDWARE specified voltage. 2) HV power is disconnected minimum voltage rating
2) Ensure HV power is connected
3) Verify HV voltage is stable and does not drop,
even momentarily, during system operation
User Aux. Disable The drive has been commanded via a digital The User Aux. Disable input has been asserted. 1) Verify under what system conditions the user-
input to disable the drive. configured digital input will assert a User Aux.
Disable.
2) Verify that the digital input mapped to User
Aux. Disable is wired correctly to the drive.
3) Check to see that the input polarity for the
digital input is configured correctly for the
system (i.e. does the active low checkbox need
to be checked?)
User Disable The drive has been disabled by a user- A digital input has been configured to disable the 1) Verify under what system conditions the user-
configured digital input. bridge. configured digital input will disable the bridge
2) Verify that the user-configured digital input is
wired correctly to the drive
3) Check to see that the input polarity for the
user-configured digital input is configured
correctly for the system (i.e. does the active low
checkbox need to be checked?)
User Negative Limit The drive has hit a negative limit switch. A digital The axis has reached the physical end of travel Clear the axis away from the limit switch.
input must be configured to be a negative limit. and has hit a mechanical limit switch.
User Positive Limit The drive has hit a positive limit switch. A digital The axis has reached the physical end of travel Clear the axis away from the limit switch.
input must be configured to be a positive limit. and has hit a mechanical limit switch.
User Stop A digital input has been assigned to perform a A digital input triggered a Stop. 1) Ensure that a Stop was commanded via
'Stop' when asserted. digital input.
Velocity Following Error The difference between the target and 1) The magnitude of the difference between the This is application dependent. Default event
measured velocity is outside of the velocity velocity measured and the velocity target is action is 'no action' which is informational only.
following error window defined in the software. greater than the Velocity Following Error value Can be configured to perform an event action
2) The Velocity Following Error value is too small (i.e. disable bridge).

Zero Velocity The measured motor velocity is within the Zero The motor is not moving. Status only, no action needed.
Velocity window as defined in the Velocity
Limits.

MNDGDWUG-12 119
 Index

A Auto Detect .................................13 Dynamic Help ................................4

Absolute Position Valid ............ 114 communication parameters ........14
Active High ...................................36 connection settings ...............13–14 E
Active Low ....................................33 Continuous Current Foldback . 114 Encoder Following ......................18
Analog input .................................17 Control Loop Architecture .......109 Event Actions ...............................43
Analog Inputs ..............................32 Critical Event Activity .................93 Event Counters ............................93
Analog Outputs ............................33 Current Limit Active ................. 114 Event Recoveries .........................44
At Command .............................. 114 Current Limiting ..................94–108 Events ............................................43
Auto Detect calculation of ....................106–108
Charge-Based ....................102–104
connection settings .....................13 RMS Current Scaling ................105
F
AutoCommutation™ ...................57 Time-Based .........................99–101 Fault Activity
warnings ...............................58–59 Current Loop critical event activity ...................93
Auxiliary Feedback ......................20 command limiter control ............19 event counter ..............................93
tuning event logs ....................................93
B integral gain ..........................54 Feedback Assignment .................20
BiSS Encoder Parameters ..........25 proportional gain ..................54 Feedback Cutoff Freq. .................65
Bit Monitor ...................................47 Current Loop Saturated ............ 115 Feedback Filter .................. 110–112
Brake Active ............................... 114 Current Measured .......................53 Feedback Parameters ..................24
Current Target .............................53 Feedback Sensor Error .............115
C Cutoff Frequency Feed-forward Gain
see Feedback Filter velocity loop tuning .....................65
CAN Bus Speed ............................45
Caption Bar ....................................5 File Menu ........................................3
D Firmware
Capture Configuration ................34 Deadband .....................................32
Comm. Channel ...........................18 check drive version of .................10
Derivative Gain download new version of .......78–79
Command Limiter .......................19 velocity loop tuning .....................65 Foldback .......................................94
current loop control ....................19 Diagnostics time constant ......................94, 106
position loop control ...................19 see I/O Configuration
velocity loop control ....................19 Digital Inputs ...............................33
Command Limiter Active ... 19, 114 G
priority ........................................33 Gain Set .........................................16
Command Settings ......................16 Digital Outputs ............................36
Command Source ........................16 Disable Negative Direction ........43
analog input ................................17 H
Disable Positive Direction ..........43
comm. channel ...........................18 Disable Power Bridge ..................43 Hall State Error .........................115
DriveLibrary ...............................19 Help Menu ......................................4
encoder following .......................18
Disconnecting from the Drive .....7
Drive Internal Error .................. 115 Home Active ...............................115
interface input ............................18 Home Done ................................115
no command ...............................16 Drive Menu .....................................3
Drive Name ....................................6 Homing .........................................69
pwm & direction .........................17
direction of travel ........................70
step & direction ...........................17 Drive Operation ...........................45
index pulse ..................................70
Command Toolbar ........................8 Drive Over Temperature .......... 115 limit and home switches .............70
Communication Channel Error 114 Drive Parameters load and physical limits ..............70
Commutation ...............................57 configuration of ..........................38 Hotkey .............................................7
AutoCommutation™ ...................57 Drive Protection ..........................92
Manual Commutation .................59 Drive Reset ................................. 115 I
Configuration Drive Status ..................................92
drive parameters .........................38
In Home Position ......................115
DriveLibrary .................................19 Index Active ................................115
Configure Input Scaling .............17 Dynamic Brake ............................43
Connecting to the Drive ....6, 13–14 Index Done .................................115

MNDGDWUG-12 I
 Index

Index Motion Done ................... 116 Phase Detect ...........................62–63 temperature ................................89
Indexing Tasks .............................71 max phase detection motion .......62 torque .........................................90
Input Type ....................................18 Phase Detect Active ................... 117 velocity ........................................88
Integral Gain Phase Detect Done .................... 117 voltage ........................................89
current loop tuning .....................54 Phase Detect Error .................... 117 Software Disable ........................118
velocity loop tuning ....................65 Phase Sync. Error ...................... 117 Software Negative Limit ...........118
Interface input .............................18 Position Following Error .......... 117 Software Over Voltage ..............118
Position Loop Software Positive Limit ............118
J around torque .............................66 Software Stop .............................118
Jog Active ................................... 116 around velocity ...........................66 Software Under Voltage ...........118
Jogs ...............................................75 command limiter control ............19 Station Alias .................................45
tuning .........................................66 Status Bar .......................................4
L Position Measured ......................67 Status Panel ....................................4
Position Target .............................67 Step & Direction ..........................17
Latch .............................................43
Positive Stop .................................43 Stop ................................................43
Limit Envelope ............................94
Positive Velocity Limit .............. 117 System Protection .......................92
Limits ............................................38
Power up or down the bridge .......3 System Status ...............................92
Log Entry Missed ...................... 116
Programmable Limit Switch ......37
Loop Configuration .....................16
Proportional Gain T
current loop tuning .....................54 Technical Support .......................10
M velocity loop tuning .....................64
Manual Commutation ................59 Time-Out ......................................44
PVT Buffer Empty ..................... 117 Timer .............................................47
Max Measured Position Limit . 116 PVT Buffer Empty Stop ............ 117
Max Phase Detection Motion ....62 Toolbar ....................................3–4, 9
PVT Buffer Failure .................... 117 icons .............................................3
Maximum Target Position ....... 116 PVT Buffer Full .......................... 117 Tools Menu .....................................3
Menu ...............................................3 PVT Buffer Threshold ............... 117 TPDO Events ................................47
Min Measured Position Limit .. 116 PVT File Creation ........................73 TPDOs
Minimum Target Position ........ 116 PVT Generator .............................73 CANopen ....................................46
Motion Engine Abort ................ 116 PVT Sequence Number ............. 118 EtherCAT ....................................47
Motion Engine Error ................ 116 PWM & Direction ........................17 Ethernet Powerlink .....................47
Motion Engine Executing ........ 116 PWM/DIR Broken Wire ........... 118 Tuning ...........................................51
Motor position loop ...............................66
rotation direction ........................22 R velocity loop ................................64
Motor Over Speed ..................... 116 Recoveries ....................................44
Motor Over Temp. ..................... 116 Recovery Time .............................44 U
Motor Parameters .......................22 Registration Invalid .................. 118 Under Voltage ............................119
Motor Ratings Restore ......................................3, 15 User Auxiliary Disable ..............119
see Motor/Feedback User Disable ...............................119
Motor Selection ...........................22 Rotation Direction .......................22
RPDOs User Negative Limit ..................119
Multimeter ...............................3, 84 User Positive Limit ....................119
CANopen ....................................46
signal definitions ........................88 User Stop ....................................119
EtherCAT ....................................47
Ethernet Powerlink .....................47 User Units .....................................85
N
Negative Stop ...............................43 S V
Negative Velocity Limit ............ 117 Safety ......................................... ii–iii Value Changed .............................47
Network Settings .........................45 Sequence Active ......................... 118 Value Reached .............................47
No Action ......................................43 Sequence Done .......................... 118 Velocity Following Error ..........119
No Command ...............................16 Sequences .....................................75 Velocity Loop
Non-Sinusoidal Commutation 117 Settings Menu ................................3 command limiter control ............19
Setup Panel .....................................4 feedback filter ................... 110–112
O Setup Software Files .....................2 tuning .........................................64
Open ............................................3, 6 Short Circuit ............................... 118 derivative gain .......................65
Oscilloscope .................................80 feedback cutoff freq. ..............65
Shunt Regulator .....................40–41 feed-forward gain ..................65
signal definitions ........................88 Shunt Regulator Active ............. 118 integral gain ..........................65
Over Current .............................. 117 Signal Definitions ........................88 proportional gain ..................64
Over Voltage ............................... 117 command limiter ........................89 Velocity Measured .......................64
commutation ..............................89 Velocity Target .............................64
P current ........................................88 View Menu ......................................4
Parameter Restore Error .......... 117 deadband input ...........................90
Parameter Store Error .............. 117 drive ............................................90 W
PDO Configuration ...............46–47 interface input ............................90 Window Menu ................................4
Peak Current Time ......................94 position .......................................89

MNDGDWUG-12 II
 Index

Z
Zero Velocity .............................. 119

MNDGDWUG-12 III
DriveWare® 7 Setup Manual
MNDGDWUG-12

3805 Calle Tecate  Camarillo, CA 93012-5068

Tel: (805) 389-1935 Fax: (805) 384-2315 www.a-m-c.com