SB214SA Hardware and Setup Guide 1.08

SB214SA
Two and Four-Axis Stand-Alone

Universal Motion Control Module
Hardware and Setup Guide
Document part no. TM-214SA-000

Document revision no. 1.08
Document revision no. 1.08 (November 2001)
Document part no. TM-214SA-000
COPYRIGHT
Copyright © 1999 - 2001 ACS-Tech80 Ltd.
Changes are periodically made to the information contained in this guide. Changes are published in the
version Release Notes and will be incorporated into future revisions of this guide.
No part of this guide may be reproduced in any form, without permission in writing from ACS-Tech80™.
TRADEMARKS
ACS-Tech80, ACS, and PEG are trademarks of ACS-Tech80 Ltd.
Microsoft, Visual Basic, and Windows are registered trademarks of Microsoft Corp.
Phoenix Contact is a trademark of Phoenix Contact Inc.
Website: http://www.acs-tech80.com/
E-mail: [email protected]
[email protected]
ACS-Tech80 Inc.
WK$YHQXH NortK6XLWH
3O\PRXWK01
USA
Tel: (1) (763) - (800-545-2980 in USA)
Fax: (1) (763) -
ACS-Tech80 Ltd.
Ramat Gabriel Industrial Park
POB 5668
Migdal Ha'Emek, 10500
ISRAEL
Tel: (972) (4) 6546440
Fax: (972) (4) 6546443
NOTICE
Information deemed to be correct at time of publishing. ACS-Tech80 reserves the right to change
specifications without notice. ACS-Tech80 is not responsible for incidental, consequential, or special
damages of any kind in connection with this document.
Refer connection, installation, maintenance, adjustment, servicing, and

operation to qualified personnel.
Recent Changes to this Guide
Ver. Date Section Change ECR
1-05 Sept./00 4.12.1 Description of CAN indicator LED states improved.

1-05 Sept./00 4.7 and Warning added: Encoder support does not include facilities for
7.3 over-speed protection.
1-05 Sept./00 0 and Warning added: Controller does not provide hardware
7.4.1.1 facilities for hardware Emergency Stop or Safety Interlock.
1-05 Sept./00 0 and Warning added: E-STOP input is only for indicating that an
7.4.1.1 emergency situation exists. It cannot be used as the Emergency
Stop for the entire system.
1-06 Oct./00 4.11 TABLE 4-12, connection pins for the HSSI/PEG connector 296
(J16), updated.
1-06 Oct./00 Connector label prefixes changed from "P" to "J."
1-06 Oct./00 7.4.4 Updated description of ACSPL analog output parameters.
1-07 Jan./01 4.1 2-axis information with new Figure 3-1 added.
1-07 Jan./01 4.4, 4.7, 2-axis information added
& 4.12.1
1-07 Jan./01 All Stand-Alone, 16-bit, RS-232 updated, & all ACS-Tech80 SB.
1-07 Jan./01 5.3.3 Disable function added
1-07 Jan./01 4.8 Digital input/output connector pins altered in table 3-9 for
VIN_RET, VOUT_RET, VIN, and VOUT
1-07 Jan./01 Cover Copyright, area code, and disclaimer updated
1-07 Jan./01 4.5, 4.6 Termination resistor information for RS-422/485 and CAN
added
1-07 Jan./01 5.3 Screen shots showing debugger disable function updated
1-07 Feb./01 4.11 Maximum PEG Delay and Minimum Pulse width added
1-07 Feb./01 4 Section updated to match Data Sheet
1-07 Feb./01 2 General Safety and EMC Guidelines section added
1-07 Feb./01 5.2.6 Warning that motors are activated and ACScope output is
mirrored at the analog output added
1-07 Feb./01 5.2.10 Feedback sensor counting direction corrective measures added
1-07 Feb./01 4.8 Examples of sink and source circuit connections added.
Ver. Date Section Change ECR
1-07 Feb./01 4.8 Location drawing of sink-source selection jumper (JP10)

added.
1.08 Nov/01 8 Revised Warranty.
1.08 Nov/01 Cover Revised cover page, contact information, and trademarks.
1.08 Nov/01 4.8 Correct mismatch between description and actual product. Ltd45
This is a male connector.
CONTENTS i
CONTENTS
FIGURES
TABLES
PREFACE
1. INTRODUCTION 1-1
2. SAFETY & EMC GUIDELINES 2-1

2.1. General Safety Guidelines 2-1
2.2. General Wiring and Electromagnetic Compatibility (EMC) Guidelines 2-2
3. FEATURES & SPECIFICATIONS 3-1

3.1. Main Features 3-1
3.2. Product Specifications 3-3
4. MOUNTING & WIRING 4-1

4.1. Mounting 4-1
4.2. Wiring Diagram 4-4
4.3. Supply Connector 4-6
SB214SA Hardware and Setup Guide - Document revision no. 1.08

ii CONTENTS
4.4. Drive Connectors 4-7
4.5. RS-232/422 Connector 4-8
4.6. CAN Connector (J5) 4-10
4.7. Encoder Connectors 4-12
4.8. Digital Input/Output Connector (J9) 4-13
4.9. Safety Inputs Connector 4-25
4.10. Analog Input/Output Connector (J4) 4-26
4.11. HSSI+PEG Connector (J16) 4-29
4.12. Indicators, Display, and Switches 4-30
5. WORKING WITH THE CONTROL UNIT 5-1

5.1. Getting Started 5-3
5.2. Adjusting the Unit 5-5
5.3. ACSPL Programming with ACS Debugger 5-43
5.4. Direct Mode 5-46
5.5. Program Mode 5-52
5.6. Saving and Loading Control Unit Memory 5-62
6. TUNING THE CONTROL LOOPS 5-1

6.1. About D And K Arrays 6-2
6.2. Control Loop Block Diagrams 6-5
6.3. Velocity Loop 6-10
6.4. Position Loop 6-13
6.5. Slip Constant Optimization 6-15
6.6. Polishing 6-16
6.7. Dual Loop Control 6-18
7. HARDWARE INTERFACE PARAMETERS 7-1

7.1. Serial Communications 7-2
7.2. CAN Communications 7-5

CONTENTS iii
7.3. Encoders 7-9
7.4. Input & Output Ports and Motion Monitoring 7-9
8. WARRANTY 8-1
INDEX

iv FIGURES
FIGURES
FIGURE 2-1 Cable Spacing.........................................................................................................2-2

FIGURE 2-2 Shielded Cable........................................................................................................2-3
FIGURE 2-3 Improved Shielding ................................................................................................2-3
FIGURE 2-4 Case shielding (top of control module) ..................................................................2-4
FIGURE 4-1 SB214SA mounting dimensions two-axis controller .............................................4-2
FIGURE 4-2 SB214SA mounting dimensions four-axis controller.............................................4-3
FIGURE 4-3 Wiring diagram.......................................................................................................4-5
FIGURE 4-4 Wire stripping dimension for terminal block connections......................................4-6
FIGURE 4-5 Drive enable............................................................................................................4-8
FIGURE 4-6 Drive fault...............................................................................................................4-8
FIGURE 4-7 RS-232 connection .................................................................................................4-9
FIGURE 4-8 RS-422/485 connection ........................................................................................4-10
FIGURE 4-9 CAN bus ...............................................................................................................4-11
FIGURE 4-10 Encoder input......................................................................................................4-13
FIGURE 4-11 Sink-source configuration jumper ......................................................................4-15
FIGURE 4-12 Source type input connection example (via + terminal of I/O supply)..............4-16
FIGURE 4-13 Source type input connection example (via VIN terminal of I/O connector)....4-16
FIGURE 4-14 Source type input connection example (PNP switch supplied via I/O supply
terminals)...........................................................................................................4-17
FIGURE 4-15 Source type input connection example (PNP switch supplied via VIN and
VIN_RET terminals of I/O connector) ..............................................................4-17
FIGURE 4-16 Sink type input connection example (via - terminal of I/O supply) ..................4-18

FIGURES v
FIGURE 4-17 Sink type input connection example (via VIN_RET terminal of I/O connector)...4-
18
FIGURE 4-18 Sink type input connection example (NPN switch supplied via I/O supply
terminals)...........................................................................................................4-20
FIGURE 4-19 Sink type input connection example (NPN switch supplied via VIN and
VIN_RET terminals of I/O connector)..............................................................4-20
FIGURE 4-20 Output connection example (load supplied via – terminal of I/O supply) .........4-22
FIGURE 4-21 Output connection example (load supplied via VOUT_RET terminal of I/O
connector)..........................................................................................................4-22
FIGURE 4-22 Output connection example (load supplied via + and – terminals of I/O supply)..4-
24
FIGURE 4-23 Output connection example (load supplied via VOUT and VOU_RET terminals
of I/O connector) ...............................................................................................4-24
FIGURE 4-24 Joystick connection ............................................................................................4-28
FIGURE 4-25 PEG outputs and corresponding digital outputs .................................................4-30
FIGURE 4-26 The 7-segment display........................................................................................4-31
FIGURE 4-27 DIP switches (off) ..............................................................................................4-32
FIGURE 5-1 Working with the controller ...................................................................................5-2
FIGURE 5-2 Adjustment procedure ............................................................................................5-6
FIGURE 5-3 Adjuster status bar ..................................................................................................5-8
FIGURE 5-4 "Communication error" message............................................................................5-9
FIGURE 5-5 Communications settings .......................................................................................5-9
FIGURE 5-6 Choose version dialog box ...................................................................................5-10
FIGURE 5-7 Add amplifier command.......................................................................................5-11
FIGURE 5-8 "Create a new amplifier database" message .........................................................5-12
FIGURE 5-9 Add new amplifier item dialog box......................................................................5-12
FIGURE 5-10 Opening the amplifier list...................................................................................5-13
FIGURE 5-11 Amplifier specification (varies by type).............................................................5-14
FIGURE 5-12 Add motor command..........................................................................................5-16
FIGURE 5-13 "Create a new motor database" message ............................................................5-16
FIGURE 5-14 Add new motor item dialog box.........................................................................5-17
FIGURE 5-15 New motor record dialog box.............................................................................5-17
FIGURE 5-16 Motor type list ....................................................................................................5-18
FIGURE 5-17 Motor specification (varies by type)...................................................................5-18
FIGURE 5-18 Starting adjustment session ................................................................................5-21
FIGURE 5-19 Control unit warning before adjustment session ................................................5-22

vi FIGURES
FIGURE 5-20 Adjustment steps ................................................................................................5-22

FIGURE 5-21 Amplifier parameters step ..................................................................................5-23
FIGURE 5-22 Selecting the amplifier type................................................................................5-24
FIGURE 5-23 Amplifier parameters..........................................................................................5-24
FIGURE 5-24 Selecting the motor type .....................................................................................5-25
FIGURE 5-25 Motor/feedback parameters ................................................................................5-26
FIGURE 5-26 Protection parameters .........................................................................................5-26
FIGURE 5-27 Feedback verification step ..................................................................................5-28
FIGURE 5-28 Commutation adjustment step .............................................................................5-30
FIGURE 5-29 Commutation preferences dialog box.................................................................5-31
FIGURE 5-30 Prompt to write parameters to nonvolatile memory ...........................................5-32
FIGURE 5-31 Adjustment in progress.......................................................................................5-33
FIGURE 5-32 Successful completion of commutation..............................................................5-33
FIGURE 5-33 Velocity loop adjustment step ............................................................................5-34
FIGURE 5-34 Motion parameters (for velocity loop)................................................................5-35
FIGURE 5-35 Typical velocity loop step response....................................................................5-36
FIGURE 5-36 Position loop adjustment step.............................................................................5-37
FIGURE 5-37 Motion parameters (for position loop)...............................................................5-38
FIGURE 5-38 Typical velocity profile ......................................................................................5-39
FIGURE 5-39 Typical position error profile...............................................................................5-39
FIGURE 5-40 Review parameters step......................................................................................5-40
FIGURE 5-41 Editing parameters..............................................................................................5-41
FIGURE 5-42 "Save to controller nonvolatile memory" query .................................................5-42
FIGURE 5-43 "Application saved to PC hard disk" confirmation.............................................5-42
FIGURE 5-44 Debugger status bar - successful communication with control unit ...................5-44
FIGURE 5-45 Opening the Debugger terminal .........................................................................5-45
FIGURE 5-46 Debugger terminal ..............................................................................................5-45
FIGURE 5-47 Direct mode prompt............................................................................................5-46
FIGURE 5-48 Point to point move ............................................................................................5-47
FIGURE 5-49 Debugger main window......................................................................................5-52
FIGURE 5-50 File window and Open dialog box......................................................................5-53
FIGURE 5-51 File window ........................................................................................................5-54
FIGURE 5-52 Program for point to point move ........................................................................5-56
FIGURE 5-53 Program window shows the program in control unit RAM................................5-57
FIGURE 5-54 Trace mode program execution ..........................................................................5-58

FIGURES vii
FIGURE 5-55 Opening the Trace window ................................................................................5-59

FIGURE 5-56 Trace window .....................................................................................................5-59
FIGURE 5-57 Program execution and trace messages ..............................................................5-60
FIGURE 5-58 Saving and loading control unit memory contents .............................................5-62
FIGURE 5-59 ACS Saver ..........................................................................................................5-63
FIGURE 5-60 ACS Loader........................................................................................................5-64
FIGURE 6-1 Control algorithm ...................................................................................................6-6
FIGURE 6-2 Plant (motor + load) model for voltage control......................................................6-7
FIGURE 6-3 Commutation and power amplifier stage ...............................................................6-8
FIGURE 6-4 Velocity loop and filter...........................................................................................6-9
FIGURE 6-5 Velocity proportional-integral filter Bode diagram..............................................6-11
FIGURE 6-6 Velocity loop step response..................................................................................6-12
FIGURE 6-7 Motion parameters dialog box..............................................................................6-13
FIGURE 6-8 Position loop velocity response............................................................................6-14
FIGURE 6-9 Position loop error response .................................................................................6-15
FIGURE 6-10 Position error for various SK values ..................................................................6-16
FIGURE 6-11 Position error profile when AF=0 ......................................................................6-17
FIGURE 6-12 Position error profile when AF=500...................................................................6-17
FIGURE 6-13 AC servo (DC brushless) motor - velocity vs. torque ........................................6-18
FIGURE 6-14 Dual loop block diagram ....................................................................................6-20
FIGURE 7-1 Multiple drop connections for RS-232 ...................................................................7-3
FIGURE 7-2 Multiple drop connections for RS-422/485............................................................7-4

vi i i TABLES
TABLES
TABLE 2-1 Topics covered in this chapter..................................................................................2-1

TABLE 4-2 Minimum recommended clearances ........................................................................4-3
TABLE 4-3 Power supply connection pins..................................................................................4-6
TABLE 4-4 Drive interface connection pins ...............................................................................4-7
TABLE 4-5 RS-232/422 connector pins ......................................................................................4-9
TABLE 4-6 CAN connector pins...............................................................................................4-10
TABLE 4-7 CAN connection troubleshooting...........................................................................4-11
TABLE 4-8 Encoder and Master Encoder connection pins .......................................................4-12
TABLE 4-9 Digital input/output connection pins......................................................................4-13
TABLE 4-10 Safety input connection pins ................................................................................4-25
TABLE 4-11 Analog Input/Output connection pins ..................................................................4-26
TABLE 4-12 HSSI/PEG connection pins ..................................................................................4-29
TABLE 4-13 Indicator LEDs.....................................................................................................4-30
TABLE 4-14 DIP switches ........................................................................................................4-32
TABLE 5-2 Resources for more information about topics covered in this chapter .....................5-2
TABLE 5-3 ACS Tools................................................................................................................5-4
TABLE 5-4 Adjustment steps ......................................................................................................5-5
TABLE 5-5 Amplifier record fields...........................................................................................5-14
TABLE 5-6 Motor record fields.................................................................................................5-19

TABLES ix
TABLE 5-7 Detailed guidelines for calculating protective parameters .....................................5-27

TABLE 5-8 Two ways to read and set an ACSPL parameter....................................................5-43
TABLE 6-1 Topics covered in this chapter .................................................................................6-1
TABLE 6-2 D and K arrays .........................................................................................................6-2
TABLE 6-3 Removing and restoring Z and K array protection ..................................................6-3
TABLE 6-4 Displaying and setting values of D array elements..................................................6-4
TABLE 6-5 Displaying and setting values of K array elements..................................................6-4
TABLE 7-1 Topics covered in this chapter .................................................................................7-1
TABLE 7-2 Changing the baud rate ............................................................................................7-2
TABLE 7-3 CAN rotary switch positions and associated modes ................................................7-6
TABLE 7-4 Default IS ...............................................................................................................7-10
TABLE 7-5 Predefined motion state functions for digital outputs ............................................7-11
TABLE 7-6 Digital output command examples ........................................................................7-11
TABLE 7-7 MN (Monitor) parameter .......................................................................................7-12
TABLE 7-8 DC (Data Collection) parameter bit assignment ...................................................7-12
TABLE 7-9 Scale factor as a function of MF ............................................................................7-13

PREFACE xi
PREFACE
The SB214SA Hardware and Setup Guide describes how to mount, connect, tune, and operate the
SB214SA motion control module. Regarding operation, only an introduction to the ACS-Tech80
programming language, ACSPL, is provided. For a detailed description of ACSPL, refer to the
ACS™ Software Guide.
The information in this guide is organized sequentially according to the steps involved in
installing and setting up the control module. An index is included.
Conventions
Visual cues are used in this guide in an attempt to make it easier to absorb the information.
Note
A note box is used for information of special interest or importance.
Caution
A caution box is used when an action must be done with care. Otherwise minor
equipment damage or loss of data could occur.
Warning
A warning box is used when an action must be done with great care.
Otherwise personal injury or significant equipment damage can occur.
Further information
An information box is used to refer to other sections of the guide or other
guides.

xii PREFACE
ACSPL terms appearing in the text are presented in bold style.

ACSPL program fragments are presented in bold Courier New typeface.
Guide Outline
Chapter 1 INTRODUCTION. Introduction to the control module.
Chapter 2 SAFETY & EMC GUIDELINES. End-user installed protective devices, safety
precautions, and suggestions for proper wiring and shielding
Chapter 3 FEATURES & SPECIFICATIONS. Primary features of the control module and
specification.
Chapter 4 MOUNTING & WIRING. Mounting dimensions and temperature requirements;
electrical interface.
Chapter 5 WORKING WITH THE CONTROL UNIT. Setting up, tuning, and programming the
control module.
Chapter 6 TUNING THE CONTROL LOOPS. Detailed description of the control loops, how to
fine tune them, and how to implement dual loop control.
Chapter 7 HARDWARE INTERFACE PARAMETERS. Motion monitoring and other
programming guidelines for communication, feedback, and I/O interface.
Note
For information developed after this guide was published, please refer to the
ACS-Tech80 web site (http://www.acs-tech80.com/) or contact ACS-Tech80.
Related Documentation
Programming the control module is covered in the ACS Software Guide.

INTRODUCTION 1-1
1. INTRODUCTION
The SB214SA is a cost effective, stand-alone, advanced, programmable two-axis or four-axis

motion controller.
The SB214SA accepts incremental encoder as primary and secondary feedback.
In addition to dedicated safety inputs for each axis, the SB214SA has sixteen digital inputs,
sixteen digital outputs, four or six analog inputs, and three or five analog outputs depending on
the number of axes.
The unit is powered by 24Vdc.
ACS-Tech80 controllers are based on state of the art, proprietary technology that is used in
thousands of demanding systems, such as, semiconductor assembly and testing, electronic
assembly and inspection, digital printing, medical imaging, and packaging. Built-in capabilities
simplify common applications, such as advanced pick & place, master/slave, and electronic
gearing and cam.
The controllers can be programmed to handle motion, time, and I/O events. They can operate
stand-alone, without a PLC or a PC. RS-232/422/485 serial communications is standard and CAN
with CANOPEN protocol is optional. The controllers meet stringent safety and EMC standards
and are CE compliant.
Windows tools are provided for setting up and tuning the controllers and for developing
application programs. C/C++ (Microsoft® and Borland) and Visual Basic® libraries are available
for DOS, Windows® 3.11/95/98/2000/NT, and Linux. The libraries support multithreading in
Windows 95/98/2000/NT.
The product is manufactured under an ISO 9001 certified quality management system.

SAFETY & EMC GUIDELINES 2-1
2. SAFETY & EMC GUIDELINES
TABLE 2-1 Topics covered in this chapter

Topic Description
General Electrical End-user installed protective devices and safety precautions

Safety Guidelines
General wiring and Suggestions for proper wiring and shielding
electromagnetic
compatibility (EMC)
guidelines
2.1. General Safety Guidelines

Under certain circumstances it is not enough to just power off the unit. For instance under
emergency situations the unit should be completely disconnected from any power supply. The E-
Stop and Left/Right Limits on ACS-Tech80 products are designed for use in conjunction with
customer installed devices to protect driver load. The end user is responsible for complying with
all Electrical Codes.
2.1.1. Emergency Stop

An emergency stop device shall be located at each operator control station and other operating
stations where an emergency stop may be required. The emergency stop device shall disconnect
any electrical equipment connected to the unit from the power supply. It will not be possible to
restore the circuit until the operator manually resets the emergency stop. In situations with
multiple emergency stop devices the circuit shall not be restored until all emergency stops devices
are manually reset.

2-2 SAFETY & EMC GUIDELINES
2.1.2. Electrical Separation

Electrical separation is required between the control and power supply cables to prevent electrical
shock or damage to the equipment.
2.1.3. Over-Current Protection

Properly sized circuit breakers shall be used for over-current protection.
2.1.4. Power Supply and Motor cable Ground

The power supply cable and the motor cable must have a ground wire that is connected to the
protective earth terminal located on the motor and power connectors. A connection must also be
made between the protective earth screw (located on the top of the unit) and the equipotential bar
inside electrical enclosure.
2.1.5. Thermal Detection

Suitable thermal detection shall be installed to interrupt the power circuit where abnormal
temperatures can cause a hazardous condition.
2.1.6. Over-Travel Protection

Over-travel limit protection shall be provided where over-travel is hazardous. The over-travel
limiting device shall be installed to interrupt the power circuit.
2.2. General Wiring and Electromagnetic Compatibility

(EMC) Guidelines
2.2.1. Routing Signal and Power Cables

Power cables (to the motor, mains outlet, etc.) and signal cables (to I/O, encoder, RS-232, etc.)
must be kept as far apart as possible. Keep at least an inch (∼2.5 cm) for each 3 feet (∼1 m) of
parallel run.
For example, if the motor and encoder cables run parallel for 6 feet (∼2 m), maintain a 2 inch (∼5
cm) separation between them.
Motor Cable
Separation of 1 inch for every 3 feet
Encoder / RS232 Cable
FIGURE 2-1 Cable Spacing

It is recommended to use cables that are completely shielded.

SAFETY & EMC GUIDELINES 2-3
COVER SHIELD
FIGURE 2-2 Shielded Cable
2.2.2. Cable Lengths

Use short cables as much as possible, and route cables as far from other EMI sources as possible.
2.2.3. Shielding
To reduce EMI radiation, do the following:
• Attach the cable shield with a 180° metal clamp to a dedicated paint-free area around the
unit.
• Install a ferrite core around the cable as close to the unit as possible to reduce.
FIGURE 2-3 Improved Shielding
2.2.4. Grounding the Control Module Box

1. Connect the control module box's ground point (PE screw) to the nearest machine chassis
ground point.
2. Connect the motor chassis to the machine chassis ground.
3. Avoid ground loops.

2-4 SAFETY & EMC GUIDELINES
FIGURE 2-4 Case shielding (top of control module)

FEATURES & SPECIFICATIONS 3-1
3. FEATURES & SPECIFICATIONS
3.1. Main Features
3.1.1. Stand-Alone and Fully Programmable Operation

• Easy to program using ACSPL, a powerful, high-level language that is generic for all ACS-
Tech80 SB, motion control modules.
• Multiprogramming: Up to 10 processes can run simultaneously.
• 32k user program memory.
• General purpose I/O: 16 inputs and 16 outputs. All opto-isolated.
• Two/Four 12-bit analog inputs that can be used for feedback, such as force and position
control.
• Two 10-bit analog inputs that can be used in joystick mode.
• Two/Four 10-bit analog outputs for monitoring and additional control functions.
• One 8-bit analog output for general purposes.
• Powerful I/O handling with advanced PLC capabilities.
• Teach & Go for up to 1,024 points.
• Built-in smart joystick interface.
• RS-232/422/485 serial high-speed serial communications interface. Up to 57,600 baud rate.
• Optional CAN communications interface with CANOPEN protocol.

3-2 FEATURES & SPECIFICATIONS
3.1.2. Special Features for Demanding Applications

• Master/slave, electronic gearing, and electronic cam operation.
• PEGTM (Position Event Generator) for real-time position compare.
• High-speed registration mark input with absolute accuracy position capture.
3.1.3. Outstanding Performance and Capabilities

• Fully digital position and velocity control at 20kHz sampling rates, for excellent dynamic and
tracking performance.
• Dual loop capability supports two encoders - one mounted on the motor and one on the load -
for accurate belt-driven and lead-screw based applications.
• State of the art, proprietary Servo Processor technology.
3.1.4. Comprehensive Safety, Diagnostics, and Protection

• Programmable automatic routines for each fault, error, and exception.
• Real-time data collection. Programmable sampling rate up to 1kHz.
• 7-segment display for error, status, and programmable messages.
• CE marked. Meets European safety standard EN60204-1 and EMC standards EN50081-2
(emission) and EN50082-2 (immunity).
3.1.5. Powerful Programming and Support Tools

• ACS-Tech80 Adjuster for Windows:
Interactive tool for setting up and tuning.
• ACS-Tech80 Debugger for Windows:
Development environment for ACSPL
applications.
• ACS-Tech80 Saver/Loader for Windows:
Tool for copying system setup and
application data from one controller to
another.
• ACSLIB Libraries (option):
Comprehensive C, C++, and Visual Basic libraries for DOS, Windows
3.11/95/98/2000/NT and Linux. Full multithreading support.

FEATURES & SPECIFICATIONS 3-3
3.2. Product Specifications
3.2.1. Control Supply 3.2.4. Velocity Control

Control Supply: 24Vdc (±10%), 1.5A. Sampling Rate: 20kHz.
Control Algorithm: PI + second order low
pass filter.
3.2.2. Controller Range: Up to 128,000,000 count/second.
Multi-Processor Architecture: Resolution: 1 count/second.
For high-level tasks: 20MHz Intel Velocity Accuracy:
80C196KD. Long term: 0.005%.
For real-time control tasks: 80MHz Short term: 0.01% - 0.5% (system-
SB2500 ACS Servo Processors. One per dependent).
axis. Acceleration Range:
Memory: Up to 2,000,000,000 count/second2.
Firmware: 256k.
RAM: 256k .
Non-Volatile Memory: 128k. 100,000 write
3.2.5. Position and Velocity
cycles. Feedback
User Program Memory: 32k. Primary: One incremental encoder per axis.
Secondary: One incremental encoder per
3.2.3. Position Control axis pair (X or Z and Y or T). Option:
Absolute encoders (X and Y) via High
Sampling Rate: 20kHz. Speed Serial Interface (HSSI).
Control Algorithms: Pgain, acceleration Encoder Type: Incremental, 3 channel (A,
feed-forward, automatic velocity feed- B, I), differential line drivers, 0V to 5V,
forward, anti-reset windup. count rate up to 32,000,000 count/second.
Trajectory Calculation Rate: 1kHz. Supply voltage: 5V.
Position Range: +/-999,999,999 counts. Maximum current consumption from on-
Position Accuracy: ±1 encoder count. board supply: 100mA per encoder (600mA
Position Registration Delay: <1µsecond. total). Use external supply if higher current
TM
Position Event Generator (PEG ) required.
(Option): Dual Loop Support:
Output: Differential line driver, 0V to 5V. Primary feedback (encoder only) for velocity
Delay: <0.2µsecond. and commutation; secondary feedback
Position Compare Accuracy: ±1 count at up (encoder only) for position.
to 5,000,000 count/second.
Repetition Rate:
Random mode: 5 events/0.001second.
Incremental mode: up to 1MHz.

3-2 FEATURES & SPECIFICATIONS
3.2.6. I/O 3.2.7. Drive Interface

External I/O Supply: 5Vdc (±10%) or Commands: Two analog, differential, non-
24Vdc (±20%), detected automatically. isolated for X, Y, Z, and T axes, ±10V,
Safety Inputs: Left limit and right limit per 10-bit resolution.
axis. One dedicated E-stop. Propagation Maximum Offset: ±50mV.
delay <1msecond. Drive Enable Output: One per axis.
General Purpose Inputs: 12 inputs (IN1 to Type: Open collector/open emitter.
IN5, IN8, IN11 to IN16). Propagation delay Collector Emitter Voltage Range: 5Vdc to
<1msecond. 30Vdc.
Fast Inputs (Marks): 4 inputs (IN6, IN7, Output Current: 50mA.
IN9, IN10). Propagation delay < 1µsecond. Propagation Delay: <1msecond
Safety, General, and Fast Input Type: Drive Fault Input: One per axis.
Source (can be reconfigured to sink-type). Type: Source/sink.
Opto-isolated. Input Voltage Range (External Supply):
General Purpose Outputs: 16 outputs. 5Vdc (±10%) or 24Vdc (±20%). Automatic
50mA current per output. Maximum total detection.
current 700 mA. Propagation delay < Propagation Delay: <1msecond
1msecond. Opto-isolated.
PEG Outputs: Two high-speed differential
outputs. Propagation delay < 0.2µsecond.
3.2.8. Communication
Analog Inputs: Two single-ended inputs (0 Standard: RS-232/422/485, up to 57,600
to 5 V), 8-bit resolution. Two/Four baud.
differential inputs (±10V), 12-bit resolution. Optional: CAN with CANOPEN protocol,
Analog Output: One general purpose up to 1 Mbit/second.
output, ±10V, 8-bit resolution.
One ±10V output per axis, 10-bit resolution
3.2.9. Dimensions
Size: H 272mm x W 115mm x D 62mm
(H 10.7” x W 4.5” x D 2.4”)

MOUNTING & WIRING 4-1
4. MOUNTING & WIRING

Topic Description
Mounting Mounting guidelines, operating temperatures, front and side view

of the control unit, dimensions, and recommended clearances
Connections Wiring details for the control unit connectors (Supply, Drives, RS-
232/422, CAN (optional), Encoders, Drivers, HSSI/PEG, and
Digital I/O, Safety Inputs, Analog I/O)
Indicators and switches Functional description of the other elements of the control unit
front panel
4.1. Mounting
Mounting guidelines:
• Mount only on a well grounded surface.
• Do not mount units on top of each other.
• The support surface should be a rigid, non-vibrating object, such as, a wall or rack.
• Keep the environment free from corrosive chemical vapors, oil, steam, metal particles,
moisture, and dust.
The ambient temperature must be maintained between +5o C and 45o C. At nominal power, the
unit dissipates 50W of heat.

4-2 MOUNTING & WIRING
FIGURE 4-1 SB214SA mounting dimensions two-axis controller

FIGURE 4-2 SB214SA mounting dimensions four-axis controller
TABLE 4-2 Minimum recommended clearances

Location Clearance
Each side 10 mm (A in FIGURE 4-2)

Top and bottom 15 mm (B in FIGURE 4-2)

4.2. Wiring Diagram
Warning
Do not turn on the power while making connections. Doing so could result in
severe bodily injury or damage to the unit.

FIGURE 4-3 Wiring diagram

4.3. Supply Connector

For two-axis controllers you will use Supply Connector J13.
For four-axis controllers you will use Supply Connector J17.
The Supply connector is a header plug-in connector manufactured by Phoenix Contact™
(http://www.phoenixcontact.com/), part number DFK-MC 1,5/5-GF-3,81.
The Supply connector mates to plug part number MC 1,5/5-STF-3,81.
Use 22 to 18 AWG wire for the Supply connector.
Warning
Do not solder wires before insertion into the connector. Solder will contract
and cause a loose connection over time.
Wire should be stripped 7mm (as shown in FIGURE 4-4).
FIGURE 4-4 Wire stripping dimension for terminal block connections

The control unit takes two supplies, one for the controller logic and one for the field
(input/output).
The control logic supply is 24V (±10%)/1.5A. Internally this is converted into +5V and ±12V.
The I/O field supply is 5Vdc (±10%) or 24Vdc (±20%), detected automatically. Voltage from this
supply is distributed to the Digital Input/Output Connector (J9) for supplying external input and
output circuits.
TABLE 4-3 Power supply connection pins
Pin Name Description
1 24Vdc Logic voltage.

2 24RTN Logic voltage return.
3 +24V_I/O I/O (field) voltage.
4 -24V_I/O I/O (field) voltage return.
5 PE Protective Earth

4.4. Drive Connectors

The Drive connectors are D type, 9-pin, male.
For four-axis controllers you will use Drive Connectors J3, J8, J11, and J15.
For two-axis controllers you will use Drive Connectors J3 and J8.
Use 24 to 20 AWG wire for the Drive connector.
There is one Drive connector per axis.
The Drive connector is the interface between the control unit and the external drive.
TABLE 4-4 Drive interface connection pins
1. CMD0- Command 0 inverted.

2. CMD1- Command 1 inverted.
3. EN+ Enable output. Open collector
4. FLT+ Fault input noninverted.
5. AGND Internal analog supply return.
6. CMD0+ Command 0 noninverted.
7. CMD1+ Command 1 noninverted.
8. EN- Enable output. Open emitter
9. FLT- Fault input inverted
There are two non-isolated differential analog commands per axis:

• ±10V differential output. 10-bit resolution.
• Maximum offset: ±50mV.
There is one drive enable output per axis:

• Voltage range: [5V..30V].
• Output current: 50 mA
• Open collector/open emitter type.
• Propagation delay: <1msec.
There one drive fault input per axis:

• Input voltage: 5Vdc ±10% or 24Vdc ±20%
• Propagation delay: <1msec.

ENA+
ENA-
FIGURE 4-5 Drive enable
FIGURE 4-6 Drive fault
4.5. RS-232/422 Connector

The Communication (serial) connector is D-type, 9 pin, male.
Use 24 to 20 AWG wire for the Communication connector.

TABLE 4-5 RS-232/422 connector pins
1 SHIELD RS-232/422/485 shield

2 RX232 RS-232 receive signal
3 TX232 RS-232 transmit signal
4 5L +5Vdc supply
5 GND RS-232 ground
6 TX+ RS-422/485 positive transmit signal
7 TX- RS-422/485 negative transmit signal
8 RX+ RS-422/485 positive receive signal
9 RX- RS-422/485 negative receive signal
When making the serial connection, verify that the PC receive is wired to the control module
transmit and the PC transmit is wired to the control module receive.
PC Control
RS-232 Module
Rx Rx
Tx Tx
Gnd Gnd
Shield
FIGURE 4-7 RS-232 connection

RS-422/485 can support up to 15 units in half duplex protocal. The last unit should have
termination resistor (220Ω) on the control module connector between Tx+ and Tx- as well as
between Rx+ and Rx-.

PC Control
RS-422/485 Module
Rx+ Tx+
Rx- Tx-
Tx+ Rx+
Tx- Rx-
Gnd Shield
FIGURE 4-8 RS-422/485 connection
4.5.1. Partial Communications Shutdown

To prevent unauthorized interference with the operation of the controller, turn on the COM_SD
DIP switch on the front panel of the control module.
Warning
For CAN communication, COM_SD must be OFF.
4.6. CAN Connector (J5)

The optional CAN bus connector is D-type, 9-pin, male.
Use 24 to 20 AWG wire for the CAN connector.
Up to 127 devices can be connected on the same CAN line. The last unit should have termination
resistor (120Ω) on the control module connector CANL and CANH.
TABLE 4-6 CAN connector pins

1 NU Reserved
2 CANL CAN bus negative signal
3 CGND CAN bus supply ground
4 NU Reserved
5 SHIELD Cable shield / screen
6 CGND CAN bus supply ground

7 CANH CAN bus positive signal

8 NU Reserved
9 VCAN+ CAN bus supply 9Vdc to 28Vdc
FIGURE 4-9 CAN bus
4.6.1. CAN Connection Troubleshooting

If a fault occurs with the CAN communication, the CAN indicator lights turns red. Proceed as
follows:
TABLE 4-7 CAN connection troubleshooting

Possible Cause Corrective Action
1. Incorrect mode Check the CAN rotary switch.

2. CAN communication problem Verify that the RS-232/422/485 baud rate is one of
the following:
• 9,600
• 19,200
• 38,400
• 57,600
3. CAN bus supply not reaching CAN Check pins 3 and 9.

connector

Possible Cause Corrective Action
4. COM_SD DIP switch on front Turn COM_SD switch OFF.

panel is not OFF.
4.7. Encoder Connectors

The Encoder connectors are D-type, 9 pin, female.
For two-axis controllers you will use Encoder Connectors J1, J2, J6, and J7.
For four-axis controllers you will use Encoder Connectors J1, J2, J6, J7, J10 and J14.
Warning
Facilities for overspeed protection are not provided in the control unit.
Therefore, when facilities for overspeed protection are required for the end-
product, they will have to be provided separately by the end-user.
Use 24 to 20 AWG wire for the Encoder connectors.

There is one primary incremental encoder per axis and there is one secondary incremental encoder
per axis pair (X-Z, Y-T).
Encoder Type: Incremental, 3 channel (A, B, I), differential line drivers, 0V to 5V, count rate up
to 32,000,000 count/second.
Supply voltage: 5V.
Maximum current consumption from on-board supply: 100mA per encoder (600mA total).
(Use external supply if higher current required.)
TABLE 4-8 Encoder and Master Encoder connection pins
1 +5V Encoder supply +5V, *100mA max (*300 mA for secondary

encoder).
2 CHA+ Encoder A noninverted input
3 CHA- Encoder A inverted input
4 CHB+ Encoder B noninverted input
5 CHB- Encoder B inverted input
6 CHI+ Encoder Index noninverted input
7 CHI- Encoder Index inverted input
8 DGND Return +5V

9 SCREEN Connect to the cable shield.
CONTROLLER
C H#+
200R
C H#-
FIGURE 4-10 Encoder input
4.8. Digital Input/Output Connector (J9)

The Digital I/O connector is D type, 37-pin, male.
All the digital I/Os are isolated and must be energized by an external supply of 5Vdc (±10%) or
24Vdc (±20%). The supply voltage is detected automatically.
Use 24 to 20 AWG wire for the Digital I/O connector.
Warning
Do not connect any external supply to pin-20 (VIN) or pin-37 (VOUT).
TABLE 4-9 Digital input/output connection pins
1. VIN_RET If external voltage (5Vdc or 24Vdc) is supplied to Supply Connector

(pins 3 and 4), then this pin is available for return from external input
circuits. See FIGURE 4-15, FIGURE 4-17, and FIGURE 4-19.
2. IN1 Input 1
3. IN3 Input 3
4. IN5 Input 5
5. IN7 Input 7
6. IN9 Input 9
7. IN11 Input 11

8. IN13 Input 13
9. IN15 Input 15
10. SCREEN Connect to cable shield
11. OUT2 Output 2
12. OUT4 Output 4
13. OUT6 Output 6
14. OUT8 Output 8
15. OUT10 Output 10
16. OUT12 Output 12
17. OUT14 Output 14
18. OUT16 Output 16
19. VOUT_RET If external voltage (5Vdc or 24Vdc) is supplied to Supply Connector
(J17; pins 3 and 4), then this pin is available for return from external
output circuits. See FIGURE 4-21 and FIGURE 4-23.
20. VIN If external voltage (5Vdc or 24Vdc) is supplied to Supply Connector
(J17; pins 3 and 4), then that voltage is available here for supplying
external input circuits. The voltage is fused internally. See FIGURE
4-13, FIGURE 4-15, FIGURE 4-19.
21. IN2 Input 2
22. IN4 Input 4
23. IN6 Input 6
24. IN8 Input 8
25. IN10 Input 10
26. IN12 Input 12
27. IN14 Input 14
28. IN16 Input 16
29. OUT1 Output 1
30. OUT3 Output 3
31. OUT5 Output 5
32. OUT7 Output 7
33. OUT9 Output 9
34. OUT11 Output 11

35. OUT13 Output 13

36. OUT15 Output 15
37. VOUT If external voltage (5Vdc or 24Vdc) is supplied to Supply Connector
(J17; pins 3 and 4), then that voltage is available here for supplying
external output circuits. The voltage is fused internally. See FIGURE
4-23.
4.8.1. Digital Inputs

There are 12 general-purpose inputs (INI to IN5, IN8, IN11 to IN16). Propagation delay
<1msecond.
There are 4 fast inputs (marks) (IN6, IN7, IN9, IN10). Propagation delay < 1µsecond.
Both the general and fast inputs are source-type (can be reconfigured to sink-type) and are opto-
isolated.
The factory default configuration (source-type) can be changed to sink-type. If sink-type inputs
are specified in the purchase order, the configuration will be done at the factory. To change from
source- to sink-type inputs, move jumper 10 to pins 1 and 2 (see FIGURE 4-11).
FIGURE 4-11 Sink-source configuration jumper

Warning
To change the jumper position it is necessary to open the control module. This
voids the product warranty.

FIGURE 4-12 Source type input connection example (via + terminal of I/O supply)
FIGURE 4-13 Source type input connection example (via VIN terminal of I/O
connector)

FIGURE 4-14 Source type input connection example (PNP switch supplied via I/O
supply terminals)
FIGURE 4-15 Source type input connection example (PNP switch supplied via VIN
and VIN_RET terminals of I/O connector)

FIGURE 4-16 Sink type input connection example (via - terminal of I/O supply)
FIGURE 4-17 Sink type input connection example (via VIN_RET terminal of I/O
connector)

FIGURE 4-18 Sink type input connection example (NPN switch supplied via I/O
supply terminals)
FIGURE 4-19 Sink type input connection example (NPN switch supplied via VIN
and VIN_RET terminals of I/O connector)

4.8.2. Digital Outputs

There are 16 non-dedicated general-purpose digital outputs.The 24V_I/O LED indicates that the
external supply is connected and the output circuits are working properly.
• Output type: source.
• Maximum continuous current for each output: 50mA. Maximum total current 700 mA.
• Propagation delay < 1msecond.
• Opto-isolated.
All the digital outputs are protected against short circuit and over-current.

FIGURE 4-20 Output connection example (load supplied via – terminal of I/O
supply)
FIGURE 4-21 Output connection example (load supplied via VOUT_RET terminal
of I/O connector)

FIGURE 4-22 Output connection example (load supplied via + and – terminals of
I/O supply)
FIGURE 4-23 Output connection example (load supplied via VOUT and VOU_RET
terminals of I/O connector)

4.9. Safety Inputs Connector

The Safety Inputs connector is D type, 15 pin, female.

Use 24 to 20 AWG wire for the Safety Inputs connector.
There is a left limit and a right limit per axis.
There is one dedicated E-stop.
Warning
Do not connect any external supply to pin 1 (VIN).
Warning
The Emergency Stop and Safety Interlock means provided with the controller
are software-based only. Therefore, if the end product requires facilities for
hardware-based Emergency Stop and/or Safety Interlock, these must be
provided separately by the end user.
Propagation delay <1msecond.

The Safety inputs are Source type (can be reconfigured to sink-type). Opto-isolated.
• Two isolated limit inputs, (left limit and right limit), per axis.
• One dedicated emergency stop.
• Input voltage: 5Vdc ±10% or 24Vdc ±20%
E-STOP
The Emergency Stop input is used to stop and deactivate the axis instantaneously.
LIMITS
The limit switches are used to reduce the motor current to zero in order to avoid axis over-travel
by preventing further motion in the inhibited direction.
The configuration of E-Stop and Limits are the same as General Digital Inputs.
TABLE 4-10 Safety input connection pins
1. VIN If external voltage (5Vdc or 24Vdc) is supplied to Supply

Connector (pins 3 and 4), then that voltage is available here for
supplying external limit input circuits. The voltage is fused
internally. The voltage returns to VIN_RET (pin 9).

2. XLL X left limit

3. YLL Y left limit
4. ZLL Z left limit
5. TLL T left limit
6. ES Emergency stop
Warning: The E-STOP input must not be used as the
Emergency Stop for the entire system. Its sole use is to
indicate to the control unit that an emergency situation
exists.
7. N.C.
8. SCREEN Connect to cable shield
9. VIN_RET If external voltage (5Vdc or 24Vdc) is supplied to Supply
Connector (pins 3 and 4), then this pin is available for return
from external limit input circuits supplied through VIN (pin 1).
10. XRL X right limit
11. YRL Y right limit
12. ZRL Z right limit
13. TRL T right limit
14. N.C.
15. N.C.
4.10. Analog Input/Output Connector (J4)

The Analog I/O connector is D type, 25 pin, female.
Use 24 to 20 AWG wire for the Analog I/O connector.
TABLE 4-11 Analog Input/Output connection pins
1. +5V Joystick supply +5V, 50mA max.

2. AIN1 Analog input 1 [0V..5V]. ACSPL parameter for this input is A0,
10-bit [0..1023].
3. N.C.

4. AIN3+ Analog input 3 noninverted [-10V..+10V]. ACSPL parameter for

this input is A2, 12-bit [-2048..2047].
5. AIN4+ Analog input 4 non inverted [-10V..+10V]. ACSPL parameter
for this input is A3, 12-bit [-2048..2047].
6. AIN5+ Analog input 5, noninverted [-10V..+10V]. ACSPL parameter
for this input is A4, 12-bit [-2048..2047]. FOUR-AXES ONLY
7. AIN6+ Analog input 6 non inverted [-10V..+10V]. ACSPL parameter
for this input is A5 , 12-bit [-2048..2047].FOUR-AXES ONLY
8. AOUT General purpose analog output [-10V..+10V]. ACSPL parameter
for this input is D0, 8-bit [-128..127].
9. X_AOUT Analog output [-10V..+10V]. ACSPL parameter for this input is
XD4, 10-bit [-512..511].
10. Y_AOUT Analog output [-10V..+10V]. ACSPL parameter for this input is
YD4, 10-bit [-512..511].
11. Z_AOUT Analog output [-10V..+10V]. ACSPL parameter for this input is
ZD4, 10-bit [-512..511]. FOUR-AXES ONLY
12. T_AOUT Analog output [-10V..+10V]. ACSPL parameter for this input is
TD4, 10-bit [-512..511]. FOUR-AXES ONLY
13. SCREEN Connect to cable shield.
14. AIN2 Analog input 2 [0V..5V]. ACSPL parameter for this input is A1,
10-bit [0..1023].
15. N.C. Not Connected
16. AIN3- Analog input 3 inverted [-10V..+10V]. ACSPL parameter for
this input is A2, 12-bit [-2048..2047].
this input is A3 , 12-bit [-2048..2047].
this input is A4, 12-bit [-2048..2047]. FOUR-AXES ONLY
this input is A5, 12-bit [-2048..2047]. FOUR-AXES ONLY

4.10.1. Analog Input

• Two 0V to 5V general inputs with 10-bit resolution. These inputs can be used in manual-
joystick mode, which is described in the ACS Software Guide.
• Two/Four ±10V differential inputs with 12-bit resolution.
4.10.1.1. General Analog Inputs

There are two general inputs (AIN1, AIN2). When a general input is used in manual-joystick
mode, the joystick must be connected between the +5V pin and the AGND pin (FIGURE 4-24).
The joystick output must be connected to the AIN1 or AIN2 pin.
The two inputs act also as general-purpose analog inputs. The user must make sure that the input
voltage (relative to the AGND pin) does not exceed the specified range of [0V - 5V].
FIGURE 4-24 Joystick connection
4.10.1.2. Differential Analog Inputs

There are two/four differential analog inputs (AIN3, AIN4, AIN 5, AIN 6). The differential inputs
are sampled by Analog to Digital Converter (ADC) (12-bit resolution). The voltage range is
±10V.
4.10.2. Analog Output

• One general-purpose ±10V analog output. 8-bit resolution.
• Two/Four ±10V analog outputs (one per axis). 10-bit resolution.

4.11. HSSI+PEG Connector (J16)

The optional HSSI+PEG connector is D type, 15 pin, male.
PEG is a factory-installed option.
Maximum PEG delay<0.2µsec
Minimum Pulse width>100nsec
Use 24 to 20 AWG wire for the HSSI+PEG connector.
The high-speed serial interface (HSSI) can serve as a general-purpose means for adding external
extensions. These can include: SSI-type encoder; another A to D converter, temperature sensor,
etc.
All the HSSI signals are differential, non-isolated.
Warning
To enable maximum speed, the PEG outputs are not isolated from the 5V logic
supply.
Note
Physically the PEG outputs and the corresponding digital outputs have the
same source but different output levels. The PEG connector outputs are
differential with respect to digital ground (DGND) whereas the equivalent
digital outputs are isolated with respect to the I/O return (VOUT_RET).
TABLE 4-12 HSSI/PEG connection pins
1. S_CNV+ HSSI start convert (read) output (noninverted)

2. S_CLK1+ HSSI clock output 1 (noninverted)
3. S_DATA1+ HSSI data input 1 (noninverted)
4. X_STA+ X status output (noninverted)
5. Y_STA+ Y status output (noninverted)
6. X_PEG+ X PEG output (noninverted)
7. Y_PEG+ Y PEG output (noninverted)
8. DGND Return +5V
9. S_CNV- HSSI start convert (read) output (inverted)
10. S_CLK1- HSSI clock output 1 (inverted)
11. S_DATA1- HSSI data 1 input (inverted)
12. X_STA- X status output (inverted)

13. Y_STA- Y status output (inverted)

14. X_PEG- X PEG output (inverted)
15. Y_PEG- Y PEG output (inverted)
FIGURE 4-25 PEG outputs and corresponding digital outputs
4.12. Indicators, Display, and Switches
4.12.1. Indicator LEDs

The locations of the indicator LEDs are shown in FIGURE 4-2.
TABLE 4-13 Indicator LEDs
LED Description and function
MP_ON On: Control unit working properly.

When the control unit detects a receive message, this LED goes off for a
fraction of a second. This indicates that the processor and communications

are functioning properly.

X_ON Two and Four-axis controller. The Green LED will light when axis is
Y_ON enabled.
Z_ON
Four-axis controller. The Green LED will light when axis is enabled.
T_ON
Four-axis controller. The Green LED will light when axis is enabled.
24V _I/O Green LED

On: 24Vdc (user-supplied) for the outputs is present.
Off: 24Vdc is either not connected or the internal automatic fuse is off
because of overload.
CONTROL Green LED
SUPPLY
On: Fused control voltage is present.
Off: Fused control voltage absent.
CAN Green and red LED
(option)
When the CAN switch is set to CAN mode (positions 0, 3, 7 - E), the LED
blinks red until communication is established between the CAN adapter and
the control unit's CPU. The CAN turns steady green once communication is
successfully established.
When the CAN switch is in other modes, the condition of the LED is
irrelevant.
4.12.2. Display
The 7-segment display is shown in FIGURE 4-26.
FIGURE 4-26 The 7-segment display

The display can transmit alphanumeric characters (A to Z, 0 to 9) and several punctuation marks
(question mark "?," exclamation point "!," and hyphen "-").
During control unit startup, the 7-segment display goes on (i.e., displays an "8") for a few seconds
to show it is functioning properly and then goes off.
For information about programming the 7-segment display to display system and ACSPL
program messages, see the ACS Software Guide."

4.12.3. DIP Switches

Two DIP switches are located on the front panel of the control module. The Prog. switch is
reserved and the COM_SD switch disables communication.
When the COM_SD switch is ON, the following limitations apply:
• Control module receives (accepts) only responses to ACSPL input statements and user
defined function keys (FKEY_#).
• Control module transmits only messages generated by ACSPL disp statements.
ON
PROG.
COM_SD
FIGURE 4-27 DIP switches (off)
TABLE 4-14 DIP switches
Switch ON
PROG. For future use. Must always be set to ON.

COM_SD Partial communication shutdown activated.
Note
For CAN communication, the COM_SD switch must be OFF.

WORKING WITH THE CONTROL UNIT 5-1
5. WORKING WITH THE CONTROL UNIT

Topic Description
Getting started Equipment requirements, power on, installing the ACS software
tools for Windows
Adjusting the unit An overview of using ACS Adjuster to setup and tune the control
unit.
ACSPL programming An introduction to ACSPL, the programming language for the
with ACS Debugger control module, and ACS Debugger, the ACSPL development
environment
Direct mode Description and working examples of direct mode programming
Programming mode Description and working example of an ACSPL program
Saving and loading Overview of the ACS Saver and ACS loader for saving and
control unit memory loading control unit memory contents

5-2 WORKING WITH THE CONTROL UNIT
Related
Action Documentation
Setup &
tune Install Tools
controller Chapter 4, "Working
with the Control Unit"
Check
communication No Communication? &
settings
Chapter 5, "Fine
Yes Tuning the Control
Loops
Update motor
New amp
and/or amplifier No
or motor?
database
Adjuster online Help
Yes
Adjust Controller
Operate & Software Guide

Direct Mode and
program Programming Mode Debugger online Help
controller
Save copy of Save controller's

controller adjustment and
programming Saver/Loader online
memory and Load adjustment and
Help
load to another programming to

another controller
controller
FIGURE 5-1 Working with the controller
TABLE 5-2 Resources for more information about topics covered in this chapter
Required information Documentation resource
Fine tuning the module's control loops. Chapter 5, "Adjusting the Control
Loops" & ACS Adjuster online Help
ACS Adjuster - Tool for setting up and adjusting ACS Adjuster online Help
the control module.

Required information Documentation resource
ACSPL motion programming language reference ACS Software Guide

for operating the control unit in direct mode and
programming mode.
ACS Debugger - ACSPL development and ACS Debugger online Help
debugging environment
ACSLIB libraries for C, C++ and Visual Basic ACSLIB Library Reference Guide
programs.
ACS Saver/Loader - Application for saving and ACS Saver/Loader online Help
loading the entire memory contents from one
control unit to another.
5.1. Getting Started
5.1.1. Equipment Requirements

The following additional equipment should be connected to the control module, as described in
Chapter 4, "MOUNTING & WIRING."
• Appropriate motor with a position feedback device (encoder, resolver, etc. depending on the
control unit factory configuration).
• PC with a communication link (serial port or CAN depending on the control unit factory
configuration).
• Power source (or sources depending on the control unit model).
• Servo drivers (amplifiers).
• I/O and safety switches (optional).
• Connection cables.
5.1.2. Power On
Warning
The control unit's power requirements are stamped on the nameplate.
Failure to connect the control unit to the correct voltage could result in serious
damage to the control unit.
Warning
It is recommended when activating the motor for the first time to disconnect it
from external loads and verify that the area is clear of any object that might be
hit by the moving motor.

Action Effect of action
Power on During power up, the MP_ON indicator flickers as the control processors
the unit. communicate with each other. The 7-segment display goes on (i.e., displays
an "8") for a few seconds to show it is functioning properly and then goes
off.
Once power up is complete, the MP_ON indicator remains on, showing that
the control processors are functioning properly.
If the I/O supply has been connected, the 24V_I/O indicator remains on,
showing that the output power is present.
5.1.3. Installing ACS Software Tools

The unit comes with installation diskettes for ACS Tools, a suite of Windows applications for
setting up, adjusting, and programming.
TABLE 5-3 ACS Tools

Tool Description
ACS Adjuster Interactive tool for setting up and tuning.

ACS Debugger Development environment for ACSPL applications.
ACS Saver/Loader Tool for copying system setup and application data from one
controller to another.
Note
There are two sets of installation diskettes, one for ACS Adjuster and ACS
Debugger and one for ACS Saver/Loader.
1. Insert disk 1 of the ACS Tools

in the PC disk drive.
2. Double-click on Setup and The following ACS software tools will be installed in
follow the onscreen the ACS Tools program group.
instructions. ACS Adjuster
ACS Debugger
3. Insert disk 1 of the The following ACS software tools will be added to the
Saver/Loader in the PC disk ACS Tools program group.
drive. ACS Saver
ACS Loader

5.2. Adjusting the Unit

The purpose of adjustment is to setup the module and to tune the control loops. The process is
carried out using ACS Adjuster.
An adjustment session consists of the following activities:
1. Establish communication with the unit.
2. Define amplifier and motor parameters for the specific motion application, set protection
parameters, and verify that the feedback subsystem is operating.
3. Tune the control loops through a series of interactive steps where the system is excited by a
signal and the response is monitored.
TABLE 5-4 Adjustment steps

Step Description
Setup
1. Amplifier Select amplifier from database list. Edit as necessary.

parameters
2. Motor Select motor from database list. Edit as necessary.
parameters
3. Protection Define limits. There are two sets. One for adjustment purposes and
parameters one for regular operation.
4. Feedback Verify that the feedback device and safety inputs are functioning
verification properly.
Tuning
5. Current loop Not applicable for SB214SA (no internal amplifier)

adjustment
6. Commutation Applies only if the external amplifier (drive) supports ACS
adjustment software commutation for AC servo (DC brushless) motors.
7. Velocity loop Tune the velocity loop filters and parameters while monitoring the
adjustment velocity step response.
8. Position loop Tune the position loop gain while monitoring the response to a
adjustment third order point to point move.
9. Polishing Optimize acceleration feed forward and AC induction motor
control parameters.
Review
10. Review View all the results of the previous steps. Edit as necessary.
parameters

5.2.1. Working with the Adjuster

The overall adjustment procedure is as follows:
1. Start ACS Adjuster (if it is not already running).
2. Set the control unit parameter values.
3. Save the application to the control unit nonvolatile memory.
4. Save the application to the PC hard disk.
Adjustment Direct mode ACSPL

parameter commands &
Adjuster
values ACSPL program
Controller RAM
1 4
Controller RAM
Hard disk
3 RAM
Windows PC
Adjustment
parameter ACSPL program
values storage
storage
Nonvolatile read/write memory

Communication link
EPROM (firmware)
Controller
FIGURE 5-2 Adjustment procedure
The adjustment procedure affects both the volatile and nonvolatile memory of the control module.
The Adjuster keeps the control module's memory in sync with the application database (on the

PC). If the control module is shut off during an adjustment session and the data was not saved to
the module's nonvolatile memory, that synchronization will be lost and the adjustment session
must be repeated.
5.2.2. Starting ACS Adjuster

Further information
This guide does not cover Microsoft Windows, the PC environment in which
ACS software tools run. For more detailed information about MS Windows,
consult the appropriate user documentation.
On the Windows Start menu, The main Adjuster window opens.

point to the ACS Tools
program group and click ACS
Adjuster.

5.2.3. Establishing Communication

After ACS Adjuster starts up, it attempts to communicate with the control unit. If it succeeds, the
Communication parameter in the Adjuster status bar will read ON.
Controller Communication Motor

part number status status
Firmware Program
version status
FIGURE 5-3 Adjuster status bar
If communication fails, the Communication error message appears.

FIGURE 5-4 "Communication error" message

If there is a communications error, verify that the communication parameters are set correctly by
doing the following (does not apply for CAN bus):
1. Clicking Communication on The Communications settings dialog box opens

the Settings menu.
FIGURE 5-5 Communications settings

2. Set the baud rate to 9,600

(control unit default).
3. Click OK to save the new baud If communication is successful, as indicated in the
rate. status bar, the process is complete.

4. If still not successful, then If communication is successful, as indicated in the

reopen the Communications status bar, the process is complete.
settings dialog box and check
the other serial port parameters
in Windows.
5. If still not successful, then check
the serial connection wiring.
Once Adjuster has established communication, it checks the version number of the firmware
running on the control unit. If it recognizes the firmware version, the number is displayed in the
status bar.
If the controller firmware release is newer than the Adjuster release, then Adjuster may not
recognize the firmware and will display the Choose version dialog box.
In such a case it is recommended to get a new Adjuster release that supports the firmware. As a
temporary measure, select the latest firmware version in the list.
For example, if the control module's firmware version is 29-20, and the most recent version listed
is version 21-19, choose that.
FIGURE 5-6 Choose version dialog box

Note
Once the firmware has been recognized or chosen, if the control unit has
been used before, it is recommended to reset it before proceeding with
adjustment. To do so, on the Application menu choose Reset control unit.

5.2.4. Adding an Amplifier to the Adjuster Database

ACS Adjuster maintains two databases, one for amplifiers and one for motors. Adjuster accesses
the databases during the adjustment process (for the Amplifier parameters and Motor/feedback
parameters steps, which are described later).
The database comes with ACS amplifiers already defined. If the system's amplifier is not in
the database yet, it should be added now.
1. On the Database menu, point to The first time that the amplifier database is accessed,
Amplifiers, and then click Add the message in FIGURE 5-7 appears, to prevent the
item. default amplifier database from being overwritten.
FIGURE 5-7 Add amplifier command

FIGURE 5-8 "Create a new amplifier database" message

2. Click OK in the message box This creates a new amplifier database, which includes
and save the amplifier database copies of all the ACS amplifier definitions in the
with a new name. default database, and opens the Amplifier database
(create new item) dialog box.
FIGURE 5-9 Add new amplifier item dialog box

3. Enter the name of the new The new record dialog box opens with the new item
amplifier and click OK. name displayed in the Amplifier field.

Either use the arrow keys to move the selection . . . click here.
point here and then press Enter, or . . .
FIGURE 5-10 Opening the amplifier list

4. Open the Type list by either The list of amplifier types opens.
moving the selection point with
the arrow keys to the Type box
label and then pressing Enter or Select this type when using a/an
by clicking in the list (last
column). SB controller SB10XX control module
DCL drive DCL10X1 digital
amplifier (from OSAI)
External third-party amplifier
5. Select the amplifier type by The specification fields for the selected amplifier
clicking on it, then press type appear. The fields will vary depending on the
ENTER. motor type.

FIGURE 5-11 Amplifier specification (varies by type)

Action
6. Edit the fields based on the manufacturer's specifications. The fields displayed depend on
the amplifier type. Fields common to most amplifier types are described in TABLE 5-5.
Currently, only some fields are mandatory. However, it is recommended to fill in all the
fields for future compatibility.
TABLE 5-5 Amplifier record fields
Field Amplifier Description

type
Nominal All Nominal continuous phase current amplitude of the amplifier.

current
Peak current All Peak phase current amplitude of the amplifier.
Bus voltage All Amplifier's bus voltage. Usually equal to Vac*1.41, where Vac
is the line voltage. If the internal voltage is generated by a built-
in transformer, then the value is different.
Drive mode DCL drive Amplifier's operating mode. Options:
• torque
• velocity
• pulse
Enabled by DCL drive Signal that enables amplifier. Options:

• Control unit's enable input
• Control unit's enable input and SXMO1 command (disable
is by control unit disable input or SXMO0 command)

Enable signal External Polarity of amplifier's enable signal

amplifier
Commutation External Controller - the commutation is done by the control unit. The
by amplifier control unit generates a two-phase current reference. The
amplifier generates the third phase reference.
Amplifier - the commutation is done by the amplifier. The
control unit outputs a single current command.
7. Click the OK tool button The new amplifier is added to the amplifier database.
.
5.2.5. Adding a Motor to the Adjuster Database

Note
Some types of motors have more than one name. ACS uses the
following motor terminology:
Term used Alternative name
AC induction Three-phase AC asynchronous, squirrel cage

AC servo Three-phase AC synchronous, DC brushless
If the system's motor is not in the database yet, it should be added now.
1. On the Database menu, point to The first time that the motor database is accessed, the
Motors, and then click Add message in FIGURE 5-13 appears, to prevent the
item. default motor database from being overwritten.

FIGURE 5-12 Add motor command
FIGURE 5-13 "Create a new motor database" message

2. Click OK in the message box This creates a new motor database and opens the
and save the motor database with Motor database (create new item) dialog box.
a new name.

FIGURE 5-14 Add new motor item dialog box

3. Enter the name of the motor and The new motor record dialog box opens with the new
click OK. item name displayed in the Motor field.
Either use the arrow keys to move the selection . . . click here.
point here and then press Enter, or . . .
FIGURE 5-15 New motor record dialog box

4. Open the Type list by either The list of motor types opens.
moving the selection point with
the arrow keys to the Type box
label and then pressing Enter or
by clicking in the list (last
column).
FIGURE 5-16 Motor type list

5. Select the motor type by clicking The specification fields for the selected motor type
on it, then press ENTER. appear. (The fields will vary depending on the motor
type).
FIGURE 5-17 Motor specification (varies by type)

Action
6. Edit the fields based on the manufacturer's specification. The specific fields depend on the
motor type selection.

Warning
Failure to specify correct values for critical fields such as Nominal current,
could result in damage to the motor.
TABLE 5-6 Motor record fields

Field Motor type Description
Number of All except Must be specified for AC servo (DC brushless) and AC
poles DC brush induction motors.
Maximum All The maximum speed that the motor will be run.
required
Required.
velocity
Nominal All Required to protect the motor from overcurrent. This is the
current maximum amplitude of the continuous phase current.
Some manufacturers specify the rms phase current. To calculate
the nominal current from the rms phase current, multiply by
1.41.
Required.
Magnetic Linear only Distance between two adjacent magnets. The magnetic field
pitch changes by 180 electrical degrees along one magnetic pitch.
Nominal AC induction This parameter is used for initial calculation of the SK (slip
velocity only constant) parameter.
Torque Rotary only The amount of torque that the motor generates for 1A of phase
constant current.
(Kt)
Required for SB214SA.
Force Linear only The amount of force that the motor generates for 1A of phase
constant current.
(Kf)
Phase All Phase to phase inductance. The inductance measured between
inductance any two terminals of the motor.
(Lmotor)
[mH]
Phase All Phase to phase resistance. The resistance measured between any
resistance two terminals of the motor.
(Rm) [Ohm]
Peak Maximum current for acceleration/deceleration. Can be derived
current from Tp/Kt (Tp is peak torque and Kt is torque constant).
Stall current Maximum continuous current allowed during a stall. If this
value is not known, use the nominal current.

Moving part Rotary only Total inertia of the motor's moving part and the load.
inertia
Moving part Linear only Total mass of the motor's moving part and the load.
mass
Feedback All Commutation and position feedback sensor. Options:
sensor Resolver
Encoder
Encoder + Hall (AC servo (DC brushless) motor only)
Required
Encoder Rotary only If the Feedback sensor selection is "Resolver," Adjuster
lines per ignores any values entered here and sets LR=4096, LF=0.
revolution
The total Counts per Revolution. = 4 x (Encoder lines per
revolution) x (External multiplier), where 4 is an internal
multiplier provided by control unit.
Example: For a 1000 line encoder (Encoder lines per
revolution = 1000) and no external multiplier (External
multiplier = 1), the Counts per Revolution = 4000 (because of
the internal 4x multiplier).
Based on the value of the Encoder lines per revolution and the
External multiplier defined here, Adjuster calculates the
internal controller parameters, LR and LF.
For rotary motors, the Total Number Of Counts per Revolution
= LR x 2LF.
Required
Encoder Linear only If the Feedback sensor selection is "Resolver," Adjuster
lines per ignores any values entered here and sets LR=4096, LF=0.
mm/inch
The total number of counts per mm/inch = Encoder lines per
mm/inch) x (External multiplier) x 4.
Required
External If the encoder does not have an external multiplier
multiplier (interpolator), select 1. The external multiplier is used in the
calculation of the Encoder Counts Per Revolution and the
Encoder Counts per mm/inch.
Dual loop All When improved velocity and position loop bandwidth is
required, two encoders can be used. Dual loop control is
described in Section 6.7, "Dual Loop Control."

Dual loop All The ratio of the encoder one to encoder two. This ratio is
ratio described in Section 6.7.1, "Dual Loop Control -
Implementation"
7. Click the OK tool button New motor record dialog box closes.
.
5.2.6. Adjustment Session

During the Adjustment session, motors are activated and ACScope output is
mirrored at the analog output.
FIGURE 5-18 Starting adjustment session

1. From the Adjust menu, select the Adjuster displays a warning that some of the values in
axis to adjust, for example, Axis the control unit RAM may change. (Leave the Partial
X. adjustment option unchecked.)

FIGURE 5-19 Control unit warning before adjustment session
2. Click Yes. Adjuster sets the control module parameters to default

values. The Axis Adjustment dialog box appears.
FIGURE 5-20 Adjustment steps

The Axis adjustment dialog box is the starting point for each adjustment step.
Selecting a step and clicking Step (or double-clicking the step) opens a dialog box. In the loop
adjustment steps (steps nos. 5, 7, and 8), a "soft oscilloscope" window also opens, displaying the
control unit response as parameters are changed.

5.2.7. Step 1 - Amplifier
FIGURE 5-21 Amplifier parameters step

The first adjustment step, defining the amplifier parameters, is similar to adding an amplifier to
the database. If the unit includes an ACS amplifier, that amplifier is already in the database and
the parameters should be left unchanged.
1. Select 1. Amplifier parameters The Amplifier parameters dialog box opens.

and click Step.
2. Open the Amplifier list by either The list is based on the contents of the Adjuster
clicking on the list cell or, with the database. If the amplifier for the current application is
insertion point on Amplifier, by not in the list, close the Amplifier parameters dialog
pressing ENTER. box and add the amplifier to the database.

Click here to open list.
FIGURE 5-22 Selecting the amplifier type
3. Select an amplifier from the list by The parameters for the selected amplifier are displayed.
clicking on it once and pressing
ENTER or by double clicking on
it.
FIGURE 5-23 Amplifier parameters

4. Edit the amplifier information, as

necessary.

5. Click the OK button . The Amplifier parameters dialog box closes.
Warning
Failure to select the amplifier parameters correctly can result in damage to the
motor.
5.2.8. Step 2 - Motor/Feedback
To open list, select here and . . . click here.

press ENTER, or . . .
FIGURE 5-24 Selecting the motor type

This step is for defining the motor and the feedback device.
1. Select 2. Motor/feedback parameters and click The Motor/feedback parameters dialog

Step. box opens.
2. Select the Motor and Type from the list. The parameters for the selected Motor
and Type are displayed, including the
feedback sensor type.

FIGURE 5-25 Motor/feedback parameters

3. Edit the motor information.

4. Click the OK button. The Motor/feedback parameters dialog
box closes.
5.2.9. Step 3 - Protection

Further information
More detailed information about setting protection parameters is contained in
Chapter 5, "Adjusting Control Loops."
Current level (CL)
Torque limit when not

moving (TL)
Torque limit when

moving (TO)
Error limit-except during

acceleration/deceleration
(ER)
Error limit during

acceleration/deceleration.
(EA)
FIGURE 5-26 Protection parameters

The purpose of the protection parameters is to protect the system from misuse, overcurrent,
overheat, and other mistakes. For each parameter there are two columns. The left column applies
during the adjustment session only. The right column applies during normal operation.
1. Select 3. Protection parameters and The Protection parameters dialog box opens.
click Step.
2. Set the protection parameters
Warning
Failure to set the correct current limit can result in damage to the motor. For
more information about the current limit, refer to Chapter 5, "Adjusting
Control Loops."
TABLE 5-7 Detailed guidelines for calculating protective parameters

Parameter Description
Current level CL sets the limit for the actual RMS current of the motor. When the RMS
(CL) current exceeds that limit, the amplifier is disabled, generating error
message 27. Set CL as a percentage of the motor continuous current and the
amplifier nominal current. CL is specified as a percentage of the nominal
current of the amplifier. For example, if the nominal continuous current of
the amplifier is 25A, and the maximum continuous current of the motor is
15A, set CL to 60 (SXCL60<cr>). If the maximum current of the motor is
10.0A, set CL to 40 (SAXCL40<cr>). In summary:
I continuous − motor
CL[%] = × 100
I no min al − amplifier
Torque limit The TL parameter limits the maximum value of the current command
low (TL) (Torque) when the motor is not moving. (When the motor moves, TO is
used.) A value of 1638 allows for twice the nominal current of the amplifier
(Ipeak = 2 x Inominal). A value of 819 allows for 50% of the peak. During the
setup procedure it is recommended to set TL to 820 or higher. During
normal operation it is recommended to set TL to a value that is 20%-30%
above the maximum anticipated torque disturbance when not moving. Thus,
providing a protection to the system if the axis is stacked. TD milliseconds
after switching from moving to non-moving state, TL becomes effective.
As soon as motion starts, TO becomes effective.
Torque limit The TO parameter limits the maximum value of the current command while
(TO) moving. A value of 1638 allows for the nominal peak current of the
amplifier. A value of 819 allows for 50% of the nominal peak.

Parameter Description
Error limit ER specifies the maximum position error allowed during periods of
(ER) constant velocity (otherwise EA is used). When the error value exceeds ER,
the motor is automatically disabled and an error massage 25 is generated.
During the initial set-up it is recommended to use a large ER value (32000),
to prevent false error situations. Afterwards, when moving a large distance
back and forth, using the maximum required velocity and acceleration, it is
recommended to reduce the ERror limit gradually until the motor traps on
error. Then, to increase the value by 100%. Such a value provides a good
protective measure against any malfunction.
Error limit EA specifies the maximum position error allowed during acceleration and
during deceleration. When the error value during acceleration exceeds EA, the
accel./decel. motor is automatically disabled and an error massage 25 is generated.
(EA) During the initial set-up it is recommended to use a large EA value
(32,000), to prevent false error situations. Afterwards, when moving a large
distance back and forth, using the maximum needed velocity and
acceleration, it is recommended to reduce EA gradually until the motor
traps on error. Then, to increase the value by 100%. Such a value provides a
good protective measure against any malfunction.
3. Click OK. The Protection parameters dialog box closes.
5.2.10. Step 4 - Feedback
FIGURE 5-27 Feedback verification step

1. Select 4. Feedback Verification and The Feedback Verification dialog box opens.
click Step.

2. Manually move or rotate the motor and

verify that the displayed feedback
values increase and decrease as
expected according to the needed.
3. Activate the safety switches: Right Verify for each switch that the parameter value
limit switch, Left limit switch, and changes to ON, when the switch is activated. If the
Emergency stop. reverse is true (turning the switch on changes the
parameter value to OFF), click the appropriate
Inverse button to ensure that the parameter reflects
the actual state of the switch.
4. Click OK. The Feedback verification dialog box closes.
When the position feedback sensors are counting in opposite directions, an error message will
occur suggesting that you rotate the axis more slowly or check the wiring. The following is a list
of corrective measures:
• Slowly rotate the axis
• Make sure all cables are firmly secured
• Confirm connectivity and polarity (pin assignment)
• Confirm that the proper feedback sensor type has been selected during the Motor Adjustment
step
• The following wire swaps may be necessary to match encoder and Hall direction:
• A+ and A-, or
• B+ and B-, or
• 2 pins on Hall
Note
If any safety devices are turned off during the adjustment session, they
should be turned back on upon session completion.
5.2.11. Step 6 - Commutation

The commutation step is only for AC servo (DC brushless) or AC induction motors and only
when using an amplifier (drive) that supports software commutation via the controller.
If the amplifier performs the commutation (i.e., the control module does not), then ACS Adjuster
automatically defines the motor as DC brush and sets the AXis Type: XT = 1.

FIGURE 5-28 Commutation adjustment step
Warning
During commutation, the motor physically moves.
Note
At this point, the phase order of the wiring is fixed. Keep a record of how the
motor and encoder are wired to use as a future reference.
It is recommended that there be no load during the commutation step.
1. Select 6. Commutation The Commutation adjustment dialog box opens

adjustment and click Step. (FIGURE 5-28).
2. Click Preferences. The Commutation preferences dialog box opens.

FIGURE 5-29 Commutation preferences dialog box

3. Select the following check boxes:-

- Find index
- Trace two indexes
- Search direction: Positive
- Maximum search distance:
Two rotations
Check motor parameters
Final check
4. Click OK. The Commutation preferences dialog box closes.
5. Click Go. The following message is displayed.

FIGURE 5-30 Prompt to write parameters to nonvolatile memory
6. Click OK. The values of the control unit's parameters are saved
to the control unit's nonvolatile memory. The
Adjuster initiates commutation adjustment. The
process can take up to several minutes. When the
process is complete, the status message should read
"Setup finished successfully."

FIGURE 5-31 Adjustment in progress
FIGURE 5-32 Successful completion of commutation
7. Click OK. The Commutation adjustment dialog box closes.
Warning
Commutation adjustment MUST complete successfully. Do not proceed
further until this has been accomplished. For more information about
commutation adjustment, see Chapter 5, "Adjusting the Control Loops."

5.2.12. Step 7 - Velocity Loop
FIGURE 5-33 Velocity loop adjustment step

1. Select 7. Velocity loop The Velocity loop adjustment dialog box and
adjustment and click Step. ACScope window open.
2. First set the motion parameters for The Motion parameters dialog box is displayed.
the velocity loop adjustment. To
do so, click Motion.

FIGURE 5-34 Motion parameters (for velocity loop)

3. Change the Period to 600msec. The Motion parameters dialog box closes.
Click OK.
4. Click the Start button (green The button function changes to Stop (red light).
light) in the ACScope window. The soft oscilloscope is now active.
5. Click Go in the Velocity loop A waveform of the velocity response appears in the
adjustment dialog box. ACScope window.

FIGURE 5-35 Typical velocity loop step response

6. Set the Integrator Gain (D7) to

200.
7. Increase/decrease the Velocity A typical step profile for the velocity loop is shown
Gain (D8) until a good step in the figure above. (If the profile extends out of
response profile is achieved. view, click the Adjust vertical scale button in
the ACScope toolbar.)
Note
Avoid setting Vel (% of max) higher than 10%.
8. Click OK. The Velocity loop adjustment dialog box and the
ACScope window close.

5.2.13. Step 8 - Position Loop
FIGURE 5-36 Position loop adjustment step

1. Select 8. Position loop The Position loop adjustment dialog box and the
adjustment and click Step. ACScope window open.
2. First set the motion parameters The Motion parameters dialog box opens.
for the position loop adjustment.
To do so, click Motion.

FIGURE 5-37 Motion parameters (for position loop)

3. Set the Velocity (LV),

Acceleration (LA), and
Deceleration (LD) to 50% of the
maximums required for the
motion control application.
Make the distance between the
first and second point large
enough that the motor will reach
the constant velocity region.
4. Click OK. The Motion parameters dialog box closes.
5. Click the Start button (green The button function changes to Stop (red light).
light) in the ACScope window. The soft oscilloscope is now active.
6. Click Go in the Position loop A waveform of the position response appears in the
adjustment dialog box. ACScope window.

FIGURE 5-38 Typical velocity profile
FIGURE 5-39 Typical position error profile

7. Increase/decrease the Gain (GA) Typical velocity and position error profiles for the
until a good response profile is position loop are shown in the figures above. (If the
achieved. profile extends out of view, click the Adjust vertical
scale button in the ACScope toolbar.)
Note
If the protection parameters are too restrictive, it can cause position error
failures. To correct this, click Protection to open the Protection parameters
dialog box, then increase the value of the limiting parameter.
8. Click OK. The Position loop adjustment dialog box and the
ACScope window close.
5.2.14. Step 9 - Polishing

Further information
More detailed information about polishing is contained in Chapter 5,
"Adjusting Control Loops"
The Polishing step is for final optimization of the system performance. Polishing is not required
at this time.
5.2.15. Step 10 - Reviewing Parameters
FIGURE 5-40 Review parameters step

This is the last stage of the adjustment session. The parameter values set during the adjustment
session (steps 1 through 9) are accessible here. If it is necessary to change a parameter value, it
can be done here directly or, if preferred, by closing the Review parameters step going back to
the step containing the parameter.
1. Select 10. Review parameters The Review parameters dialog box opens. The
and click OK. results of the nine previous steps are organized in an
expandable tree format.
Click on field to
open it for editing
FIGURE 5-41 Editing parameters

2. When done click OK. The Review parameters dialog box closes.
5.2.16. Saving the Adjustment Application

1. Click OK. The Review parameters dialog box closes. The

Axis Adjustment dialog box becomes the focus.
2. Click OK. A message appears asking whether to save the new
application to the control unit's nonvolatile memory
and restart the control unit.

FIGURE 5-42 "Save to controller nonvolatile memory" query

3. Click Yes Adjuster performs the actions stated and the Axis
Adjustment dialog box closes.
4. On the Application menu, click The Application is written to the PC hard disk. This
Save. is recommended as a backup precaution. Upon
successful save, a confirmation box is displayed.
FIGURE 5-43 "Application saved to PC hard disk" confirmation

5. Click Yes. The confirmation box closes.

6. On the Application menu, click Adjuster closes.
Exit.
Warning
If any safety devices were turned off during the adjustment session, they
should be turned back on upon session completion.

5.3. ACSPL Programming with ACS Debugger

Note
In the examples in this chapter, user input is shown as text in bold capitals,
for example, SXMO1. Input must be followed by pressing the ENTER (or
Carriage Return) key, which is indicated in the examples by <cr>.
5.3.1. About ACSPL

ACSPL is the programming language for operating all ACS, SB controllers and control modules.
ACSPL provides powerful, high-level motion control capabilities in a straightforward, easy to use
syntax. There are two modes for working with ACSPL:
Direct mode: Commands are issued to the control module for immediate execution.
Program mode: A program (sequence of commands) is stored in the control module's nonvolatile
memory for later execution.
ACS Debugger is a comprehensive ACSPL development environment. It enables both direct
mode and program mode operation.
Further information
More detailed information about ACSPL is contained in the ACS Software
Guide.
To illustrate the relationship between the ACSPL operation modes the following table shows
different ways to accomplish the following task:
Read the unit's current level, then set the current level to 55%.
TABLE 5-8 Two ways to read and set an ACSPL parameter

Method Report current level Set current level to 55%
Direct mode Type RXCL and press carriage Type SXCL55 and press carriage
return (Enter) return (Enter)
Programming Add to program: Add to program:
mode
disp XCL let XCL=55
5.3.2. Starting ACS Debugger

Note
It is recommended to use ACS Debugger's terminal for direct
communication with the control unit. However, any Windows terminal
application can also be used.

1. From the Windows Start menu, The ACS Debugger window opens. Debugger
point to the ACS Tools program attempts to communicate with the control unit. If it
group and click ACS Debugger succeeds, the Communication parameter in the
status bar will read ON (FIGURE 4-44). If it fails,
verify that the communication parameters are set
correctly by clicking Communication on the
Settings menu.
Controller Firmware Communication

type version status
FIGURE 5-44 Debugger status bar - successful communication with control unit
2. Once communication is The Debugger's Terminal window comes up. The

established, click Terminal is in indirect communications mode:
Communication Terminal on messages from the control unit arrive periodically
the View menu (FIGURE 5-45). but the terminal can't send commands (FIGURE
5-46).

FIGURE 5-45 Opening the Debugger terminal
FIGURE 5-46 Debugger terminal

3. Click the Enable Direct The Terminal is ready to use for programming the
Communication tool button . control unit using direct mode (FIGURE 5-47).
FIGURE 5-47 Direct mode prompt
5.3.3. Disable Function

(Kill All) button added to main toolbar. Kills the running ACSPL program including any
autoroutines and disables all motors. After a Kill All command, no autoroutines can be invoked
until you run the ACSPL program again. You do not need to restart ACS Debugger.
5.4. Direct Mode

In this mode, the host terminal communicates with the control unit via the serial communication
link. The control unit interprets and executes each command as it receives it. The procedure is as
follows:
1. Type in each command and press The command is downloaded to the control unit
ENTER. where it is immediately interpreted and executed.

5.4.1. Point to Point Move
FIGURE 5-48 Point to point move

Type in the following command sequence, as shown in FIGURE 5-48. The motor will move to
the specified point.
Command` Meaning Effect of command
mnemonic
SXMO1<cr>
1. Set X axis Motor Enable the amplifier.
enable to 1
SXMM0<cr>
2. Set X axis Motion Set the motion mode to
Mode to 0 repetitive point-to-point (PTP).
SXRP50000<cr>
3. Set X axis Relative Set a relative position move of
Position to 50000 50,000 counts
SXLV10000<cr>
4. Set X axis Linear Specify the linear velocity.
Velocity to 10000
SXLA500000<cr>
5. Set X axis Linear Specify the linear acceleration.
Acceleration to
500000

Command` Meaning Effect of command

mnemonic
SXLD50000<cr>
6. Set X axis Linear Specify the linear deceleration.
Deceleration to
50000
SIC3<cr>
7. Set Initiate Set initiate communication to 3.
Communication to 3 When IC=3, the control unit
prompts each time that a move is
requested or terminated.
BX<cr>
8. Begin X axis "Start move" command
The control unit should reply
with the following message:
0BX01
0- The ID number
BX- Response to a BX
command
01- The result code. 01 means
a successful operation. If
the move is executed
successfully, the control
unit prompts with the
following End message:
0EX01
An End message of 01, indicates successful completion. The most recent Begin and End
messages can be retrieved using the T1 and T2 commands. Type: T1 T2<cr> to see the
result.
5.4.2. Repetitive Point To Point Move

The result of the following command sequence is that the motor runs back and forth between two
points:
Command mnemonic Meaning Effect of command
SXMO1<CR>
enable to 1
SXMM1<cr>
2. Set X axis Motion Choose motion mode 1 -
Mode 1 repetitive point to point.
SXZP0<cr>
3. Set X axis Zero Set the current position counter
Position to 0 to 0.


4. SXWT500
Set X axis Wait Define a dwell between moves
Time to 500 (in msec).
SXRP50000<cr>
5. Set X axis Relative Set a Relative Position move of
Position to 50000 50,000 counts.
BX<cr>
6. Begin X axis Send a Begin command.
The motor will move back and
forth between point 0 and 50,000
with a 0.5 second dwell between
moves.
5.4.3. Move By Sequence

The result of the following command sequence is that the motor runs through five predefined
points:
SXMO1<cr>
enable to 1
AXSE0 5000 10000 20000 -
2. 20000 50000<cr> Array X axis Set to Define 5 points in the X target
5000 10000 20000 array.
-20000 50000
SXUI4<cr>
3. Set X axis Upper Sets the upper limit of the X target
Index to 4 array. This ensures that the
controller will not read values out of
the upper range.
SXLI0<cr>
4. Set X axis Lower Sets the lower limit of the X target
Index to 0 array. Note: UI >= LI.
SXMM3<cr>
5. Set X axis Motion Choose motion mode 3 - move by
Mode to 3 sequence.
SXZP0<cr>
6. Set X axis Zero Set the current position counter to 0.
Position to 0 Note: This command applies only if
the encoder has found the index at
least once. Otherwise a controller
error no. 15 will result. The error
can be ignored and the next
command entered.
SXWT400
7. Set X axis Wait Define a dwell between moves (in
Time to 400 msec).


BX<cr>
8. Begin X axis Issue a Begin command.
The motor will run through the 5
point with a 0.5-second delay
between the moves.
5.4.4. Constant Velocity

The result of the following command sequence is that the motor turns at a constant velocity.
SXMO1<cr>
enable to 1
2. SXMM10 LV25000<cr> Set X axis to Motion Switch to motion mode 10 and set
Mode 10 and the the required velocity to 25,000
Linear Velocity to counts/sec.
25000
(This line demonstrates how more
than one parameter can be set in
the same command line.)
3. BX<cr> Begin X axis Start to move.
The motor accelerates to the
desired speed.
4. RXAV<ENTER> Report X axis Find out what is the actual speed
Actual Velocity by sending a Report Actual
Velocity command -
The control unit measures the
actual distance passed during 0.01
second, multiplies it by 100, and
prompts with that value.
5. SXLV-20000<cr> Set X axis Linear Switch to a speed of 20,000
Velocity to –20000 counts/sec, in the opposite
direction
The motor decelerates down to the
required velocity.
6. T0<cr> Tell 0 To find out the status of the
motor(s), use Tell 0 command
7. EX<cr> End X axis To stop the motor, send an End
command

5.4.5. Manual Control Using a Joystick

Attach a joystick to the analog input.
SXMO1<cr>
enable to 1
SXMM21<cr>
2. Set X axis Motion Change to manual joystick
Mode to 21 control (motion mode 21).
BX<cr>
3. Begin X axis Send a Begin command. The
motor is moving at a speed
which is relative to the analog
input and the value of XLV
SXLV50000<cr>
4. Set X axis Linear Now move the joystick. The
Velocity 50000 control unit generates velocity
commands that are directly
related to the analog voltage
output of the joystick
potentiometer and the value of
LV. The maximum velocity is
the value of LV.
SXLV10000<cr>
5. Set X axis Linear If the motor runs too fast, then to
Velocity 10000 achieve better position control
with higher resolution, decrease
the value of LV to a lower value,
say 10,000 counts/sec. Do not
make this change when the
motor is moving. Doing so
could cause the motor to jump.
EX<cr>
6. End X axis Terminate the move by an End
command.
This "smart joystick's" speed can be adapted to the needs of the application. ACSPL
programming, (introduced in the next section), can be used to write a simple program that
switches from high speed (for long travel) to low speed, with better position resolution and
control, when a switch on one of the inputs is pressed.
In order to prevent axis movement around the stationary point of the joystick, a dead band can be
defined via the Lower Threshold (LT) and Upper Threshold (UT) parameters. For more
information about these parameters, see Chapter 6, "Reference" in the ACS Software Guide.

5.5. Program Mode

Further information
More detailed information about ACSPL programming is contained in
the ACS Software Guide.
This section shows how to use ACS Debugger to:

1. Write a program
2. Download the program to the control unit
3. Run the program in trace mode
4. Run the program in fast mode
FIGURE 5-49 shows the parts of the main Debugger window.
Program window displays Toolbar – tool buttons Trace window traces

current program in change depending on the program execution.
controller memory. active window.
Program messages window Watch window displays value of tagged

displays program output. controller variables.
FIGURE 5-49 Debugger main window

5.5.1. Point to Point Move Program

In the following example the motor should make a point to point move and display simple
diagnostic messages in the terminal window. The program demonstrates how easy it is to
implement an application with built-in diagnostics.
5. If the Communication The Communication Terminal window closes.

Terminal window is still open,
click the OK tool button .
6. On the Edit menu, click Edit The File window opens and the Open dialog box
file. displays on top of it (FIGURE 5-50). The File
window is the program editor.
FIGURE 5-50 File window and Open dialog box

1. Press ESC (or click Cancel). The Open dialog box closes and the File window is
displayed (FIGURE 5-50).

FIGURE 5-51 File window

2. Type in the program below, The lines are displayed on the editor as they are
pressing ENTER after each line. entered. The completed program is shown in
FIGURE 5-52.
Command mnemonic Meaning Effect of

command
Example:
1. A label.
let XMO=1
2. Let X axis MOTOR Enable the motor.
be 01
let XMM=0
3. Let X axis Motion Point to point motion
Mode be 0 mode.
let XRP=50000
4. Let X axis Relative Relative distance of
Position be 50000 50,000 counts.
exec BX
5. Execute Begin X axis Begin moving.
movement
if X_MOVE do
6. If X axis is Check if moving.
MOVING do the
following

Command mnemonic Meaning Effect of

command
disp " moving OK.."
7. Display . . . Display message in
Program messages
window.
end
8. End if … do End of if-do block
else do
9. disp "Something is wrong."
Else . . . do the Not moving.
following
disp " press T1T2<cr> to find the
reason"
Display prompt in
end Program messages
window.
Display …
End of else-do block.
End else . . . do
till ^X_MOVE
10. Wait Till Z has Wait till done.
stopped Moving
if X_END=1 do
11. If the reason that X Check reason for
axis movement termination
ended is status 1, do
disp "Motion completed successfully"
12. Display … Display successful
completion message
in Program
messages window.
disp "New location = ", XCP
13. Display …, X axis Display location
Current Position message in Program
messages window.
end
14. End of if-do block.
stop
15. End of program.

FIGURE 5-52 Program for point to point move
5.5.2. Loading a Program to the Control unit

1. Click the Write Program to The program is loaded to the control unit RAM. The
Control unit tool button . Program window, which displays the control unit
RAM contents, now shows the program (FIGURE
5-53).

FIGURE 5-53 Program window shows the program in control unit RAM
5.5.3. Execution Modes: Fast and Trace

The ACSPL program can be run from Debugger in either of two modes: Fast or Trace.
In Fast mode, execution continues until one of the following conditions occurs:
• The program encounters one of the breakpoints
• A Stop command in the program is executed
• The user issues a Stop command from either the toolbar or the ACSPL menu
• A run-time error occurs
In Trace mode, as each line of the program is executed, it is highlighted with the selection bar in
the Program window and the line number is displayed in the Trace window.

FIGURE 5-54 Trace mode program execution

The execution mode is selected from the Program window toolbar. Fast mode is the default.
1. On the View menu, click Trace The Trace window opens (FIGURE 5-56).
(FIGURE 5-54).

FIGURE 5-55 Opening the Trace window
FIGURE 5-56 Trace window

2. Click the Run program button . The program execution can be seen in the Program
window and the program status in the Trace window
(FIGURE 5-58).
FIGURE 5-57 Program execution and trace messages
5.5.4. More Sample Programs
5.5.4.1. Searching For Index

One of the advanced features of the control unit is its ability to search for the index of the encoder
at any speed. In the following example, the X motor is running at constant speed. Each time the
index is passed, the position of the index is displayed. For example, with a 2,000-line encoder
(8000 counts/rev), there should be an index pulse exactly every 8,000 counts. If a different
number of counts appears, it is a strong indication that something is wrong with the encoder
feedback path (encoder, connector, and encoder interface).
Command Meaning Effect of command
mnemonic
1. SearchI: Label.
2. let XMO=1 Let X axis MOTOR Enable the motor.
be 01


mnemonic
3. let XLV=50000 Let X axis Linear Set the velocity.

Velocity be 01
4. exec BX Execute Begin X Begin moving.
axis movement
5. V0=XIX Assign variable V0 Dummy reading of the index to
the value of the X clear the buffer.
axis index
6. Loop: Start loop Loop label.
7. till X_INDEX Continue loop till Wait till the index flag is true.
the X axis index flag
is true
8. Disp XIX Display X axis Display the index position.
index
9. Goto loop Go to start of loop End of loop.
10. Stop End of program
5.5.4.2. Working With I/O

The following program reads the status of inputs 1 to 4 and sets outputs 1 to 4 accordingly.
mnemonic
1. I_O: Label.
2. V0=IP&15 Variable V0 assigned Read the input port and ignore
the result of the Input the values of inputs 5 to 16.
Ports parameter & the
binary representation
of 15 (decimal).
3. let OP=V0 Let the Output Port Set the outputs to the value of
parameter be assigned the inputs.
the value of V0
4. disp "IP = ",IP Display the values of Display the values of the I/O
the Input Ports and the ports
disp "OP =",OP Output Ports.
5. Stop End of program
To close ACS Debugger, on the ACSPL menu, click Exit.

5.6. Saving and Loading Control Unit Memory

ACS Saver saves a control unit's memory contents (including the adjustment values,
programming, program results, etc.) to a PC file. ACS Loader loads that file to another control
unit, ensuring that the two control units operate identically. ACS Saver/Loader greatly simplifies
the task of maintaining uniformity between control units.
Controller 1
parameter commands & Save entire contents of
Controller 1 memory
Motion
control Filters
algorithms
Load Controller 1 memory
contents to Controller 2
EPROM (firmware)
Saver/
Loader
Controller 2
parameter commands &
Hard disk

Windows PC
EPROM (firmware)
FIGURE 5-58 Saving and loading control unit memory contents

5.6.1. Saving Control Unit Memory Contents
FIGURE 5-59 ACS Saver

1. Connect the PC communications

channel to the control unit.
2. From the Windows Start menu, point The ACS Saver Window opens. Saver attempts
to the ACS Tools program group and to communicate with the control unit.
click ACS Saver.
3. On the Application tab, enter a The application file will contain a copy of the
filename for the application to be contents of the control unit's memory.
saved.
4. Click Save. ACS Saver saves the application file.
5. Click Close. Saver closes.

5.6.2. Loading Control Unit Memory
FIGURE 5-60 ACS Loader

1. Connect the PC communications

channel to the target control unit.
2. From the Windows Start menu, point The ACS Loader window opens. Loader
to the ACS Tools program group and attempts to communicate with the control
click ACS Loader. unit.
3. On the Application tab, enter a When the application file is loaded to the
filename for the application to load. control unit, it overwrites the current contents
of the control unit's memory.
4. Click Load. ACS Loader loads the application file to the
current control unit.
5. Click Close. Loader closes.

TUNING THE CONTROL LOOPS 6-1
6. TUNING THE CONTROL LOOPS

Topic Description
About D and K arrays Description of the controller's D and K arrays of parameters

Control loop block Diagrams of the control loop algorithms
diagrams
Velocity loop Velocity loop, velocity filters, and how to tune the velocity loop
Position loop Position loop and how to tune it
Slip constant (Induction motors only) - how to improve the orientation between
optimization the magnetic field in the air gap and the current induced into the
rotor
Polishing How to reduce following error during periods of
acceleration/deceleration and how to improve the torque-velocity
characteristics at high speed (AC servo (DC brushless) motors
only)
Dual loop control For applications requiring good dynamic performance (wide
velocity and position bandwidths)
This chapter starts with a description of the D and K arrays of control loop parameters. The description
also covers how to work with the arrays directly although in most cases it is preferable to work with them
using ACS Adjuster.

6-2 TUNING THE CONTROL LOOPS
Block diagrams of the control loops are followed by descriptions and fine tuning instructions. Slip
constant optimization and polishing are also covered.
6.1. About D And K Arrays

Some of the control unit parameters are assigned mnemonics, for example, GA (Gain) and GF (Gain
Factor). The unit also has arrays (D and K) that are used for communication between the main CPU and
the Servo Processor(s).
The D array holds some of the control parameters, for example, D4 is the current loop gain and D8 is the
velocity loop gain.
The K array is used for some limitation setups, for example, K2 limits the velocity loop error to prevent
overflow and K3 limits the current loop errors.
The elements of the D and K arrays are listed in TABLE 6-2.
TABLE 6-2 D and K arrays

Element Function
D0 Internal use.
D1 Internal use.
D2 Internal use.
D3 Programmable parameter. Used by ACS Adjuster.
D4 Programmable parameter. Used by ACS Adjuster.
D5 Programmable parameter.
D6 Programmable parameter
D7 Programmable parameter. Used in velocity loop - integral gain (Ki).
D8 Programmable parameter. Used in velocity loop - velocity gain (Kv).
D9 Programmable parameter. Used in velocity loop -- integrator limit.
D10 Programmable parameter.
D11 Internal use.
D12 Internal use.
D22 Determines the scaling factor for the velocity feedback and the velocity feed
forward.
K1 Internal use.
K2 Internal use.

Element Function
K3 Internal use.
K4 Internal use.
K5 Programmable parameter.
K5 = 0: Sets the velocity loop output to DA. Enables open loop operation: When
GA is set to zero (which zeroes the position error (PE)), the DA parameter is used
to command the motor.
K5 = 1: Default.
K5 = 2: Used only by ACS Adjuster
K5 = 3: Used only by ACS Adjuster.
K5 = 4: Used only by ACS Adjuster.
NOTE: It is recommended not change K5 (default value is 1).
K6 Programmable parameter. Used only by ACS Adjuster.
K6 = 0: Positive.
K6 = 1: Negative.
NOTE: It is recommended not to change K6.
K7 Programmable parameter. Used only by ACS Adjuster (during commutation setup).
K8 Internal use.
K9 Internal use.
K10 Internal use.
6.1.1. D and K Array Protection

Before a D and K array element value can be changed, the protective mechanism must be removed.
Failing to do so will result in a communication error 44 when trying to set a D or K parameter. The
process for removing and restoring array protection is described in TABLE 6-3.
TABLE 6-3 Removing and restoring Z and K array protection
Mnemonic Meaning Effect Comment
1. RXQP<cr>
Report, for the X axis, Display the present Record this value.
the value of the (default) value of QP.
QDSPL parameter.

Mnemonic Meaning Effect Comment

2. SXQP0<cr>
Set, for the X axis, the Remove the protection Set the array parameters
value of the QDSPL by setting QP to zero. as necessary.
parameter to 0.
3. SXQP##<cr>
Set, for the X axis, the Restores the protection. For the number (##) use
value of the QDSPL the value displayed in step
parameter to the 1 (QP's original value).
number ##.
Restoring the protection prevents unintentional changes to sensitive control parameters held by the arrays.
Manually removing and restoring protection is not required when using ACS Adjuster.
6.1.2. Reporting and Setting D and K Array Values

Examples of reporting and setting array values are given in TABLE 6-4 and TABLE 6-5.
TABLE 6-4 Displaying and setting values of D array elements
mnemonic
ADXRE4<cr>
For Array D, for axis X: report Display the value of D4.
the value of element 4
ADXSE8 50<cr>
For Array D, for axis X: set the Set D8 to 50.
value of element 8 to 50
TABLE 6-5 Displaying and setting values of K array elements

mnemonic
AKXRE2<cr>
For Array K, for axis X: report Display the value of K2.
the value of element 2
AKXSE3 100<cr>
For Array K, for axis X: set the Set K3 to 1000.
value of element 3 to 100

6.2. Control Loop Block Diagrams

FIGURE 6-1 is the control block diagram. The primary control components are shown in greater detail in
subsequent figures. These components are
• Plant (motor + load)
• Power amplifier stage
• Velocity loop
Caution
These diagrams are for general description purposes only.

*S (AF) Key:
d
* S - Laplace transformer in time domain: S =
Acceleration feed forward dt
** D22 - Velocity scaling factor (gain)
*** DA - Bias input
*S **D22 System and control parameters are indicated in Courier font.
S
Velocity feed forward For example: (DP) and D22.
***DA ***DA
command command
Motor + load
+ + +
Position Velocity +
Velocity Power amplifier
Profile
generator Desired
+ error Position
filter
+
Velocity
error
filter
+
Uc
Plant Encoder
position - command - (voltage
GA x 2GF Velocity command)
(DP)
feedback
Current
position
(CP) POSITION **D22
LOOP Actual VELOCITY LOOP
velocity
(AV)
*S
Encoder counts
FIGURE 6-1 Control algorithm

Key
:
2]
Jt - Total inertia (motor + reflected load) [kg x m
Lm - Terminal motor induction [H]
Rm - Terminal motor resistor [ohm]
Te - Electrical time constant [sec] = Lm/Rm
Ke - Back EMF constant [V/rad/sec]
Torque
disturbance
Motor acceleration Motor velocity Motor position

- [rad/sec2] [rad/sec] [rad]
+ + 1/S
1 1 Kt 1/J t 1/S 1
Rm (1 + STe )
Motor - POS
Torque Integrator Integrator
command
constant
[N/A]
Ke
FIGURE 6-2 Plant (motor + load) model for voltage control

Uc (voltage
D0 +/-10V R
command)
Sin (CP) A External S
Sin (CP + 120 o) D1 +/-10V 0 PA T
A
TL 1
T0 S1
0
1
S1
S1 = 0: DC brushless
S1 = 1: DC brush
FIGURE 6-3 Commutation and power amplifier stage

1
DA* *DA is a % of the maximum velocity required for
command the application
2
+ +
Velocity
feed forward +
ω2
D8 1
+ s 2 + 1.4ωs + ω 2
Uc (voltage
- Low pass filter +
3 command)
D23, D24, D25 D7 1/S
Velocity
command
Integrator +/-D9
4
Velocity
feedback
FIGURE 6-4 Velocity loop and filter

6.3. Velocity Loop

The velocity control algorithm consists of the following:
Low pass filter
Proportional-integral (PI) filter with friction compensation
6.3.1. Velocity Low Pass Filter

The low pass filter is a second order filter with damping factor of 0.7 and a bandwidth ωn
[rad/sec]:
ωn
Fn = Hz
6.28
The default bandwidth value for the low pass filter is 637 Hz (4,000 rad/sec). For a system with
high inertia and low resonance, it is useful to set the low pass filter to a frequency between 100
Hz and 500 Hz.
The filter is implemented using the following parameters: D23, D24, and D25.
Ts = 0.00005 [second](sampling time)
Fn - Filter bandwidth (Hz)
A = 1+1.4*ωn* Ts + (ωn Ts)

2
D23 = (ωnTs) * (2 /A)

2 16
D24 = (1+0.7*ωn * Ts)*2 /A

16
216
D25 =
A
ωn = 2*3.14* Fn
Example: For Fn =637Hz: D23 = 1986
D24 = 56599
D24 = 49648
6.3.2. Velocity Proportional-Integral Filter

The proportional-integral (PI) filter is implemented using the following parameters:
D8 Proportional gain
D7 Integrator gain [0, 6000]. The bandwidth of the integrator is D7/20 [Hz].
D9 Integrator limit.

Parameter D22 determines the scaling factor for the velocity feedback and the velocity feed
forward. Adjuster automatically sets D22 to:
600 × 10 5
D22 =
Max velocity
Max velocity is the maximum velocity [count/sec] that the motor will be running at.
(Max velocity is defined in the Motor feedback parameters step of the adjustment session.)
The default value for D22 is 2000 [maximum value: 30,000].
20 log (amplitude)
(dB)
20 dB
D8
D7/2 D7/20 Frequency [Hz]
FIGURE 6-5 Velocity proportional-integral filter Bode diagram
6.3.2.1. Friction Compensation

The FN (Friction Number) parameter sets the initial value of the integrator in the velocity loop
(range is 0 to 255). Generally FN should be set to zero. For high friction load, increasing FN
shortens the start motion delay by compensating for the friction torque or force.
6.3.3. Velocity Loop Tuning

The velocity loop can be set in this step and fine tuned in the Position loop adjustment step.
Action
1. Set the Bandpath (bandwidth) of the Low pass filter at around 650 Hz.
2. If the motion system has high inertia and low resonance, it is useful to reduce the
Bandpath to between 100 Hz and 500 Hz.

Action
3. Set D7 (Integral) to 0, D8 (Proportional Gain) to 1000, and set D9 (Integrator Limit)

to the value of TL (the maximum torque when the system is not accelerating). TL is set
in the Protection parameters step, which can be accessed directly from the Velocity
loop adjustment dialog box by clicking Protection.
4. Click the start button in the Scope toolbar and the Go button in the Velocity loop
adjustment dialog box.
5. Double D8 until the response waveform approximates a square.
6. Increase D7 by hundreds until the overshoot starts increasing.
D7 should be between 240 (12Hz) and 2000 (100Hz).
7. Change D9 (Integrator Limit), until the overshoot is about 10%. A good velocity loop
response is shown in FIGURE 6-6.
8. Click OK to complete the Velocity loop adjustment step.
Note
The Velocity loop adjustment step is also affected by the values of the
D5, D6, and D10 parameters. The parameters are accessible later, in the
Position loop adjustment step.
FIGURE 6-6 Velocity loop step response

6.4. Position Loop

The position filter is a pure proportional gain. It is set with the parameters GA and GF.
The gain value is GA × 2 − GF . (GF ranges from 0 to 8.)
The bandwidth of the position loop is:
2000 × GA × 2− GF
D 22 × 2 × 3.14
Note
It is recommended that the bandwidth of the position loop (fpc) be
D7 (Integrator Gain)
approximately equal to .
20
6.4.1. Position Loop Tuning

Action
1. Click the Motion button to open the Motion parameters dialog box as shown in
FIGURE 6-7.
FIGURE 6-7 Motion parameters dialog box
2. Define the motion profile for the test by setting the First point and the Second
point. To set a point, either enter a number (corresponds to an absolute position of
the encoder) or move the motor axis to the desired position and click the Set From
Encoder button to set the point directly to the value of the current encoder
reading. For the second point, there is also a Set One Revolution button , which
sets the second point exactly one full encoder revolution distant from the first point.
3. Set other motion parameters as necessary, and click OK to close the Motion
parameter dialog box.

4. Click the start button in the Scope toolbar and the Go button in the Position loop
adjustment dialog box.
5. Set Dead Zone Min (D5), Dead Zone Max (D6), and Zero FF Zone (D10) to 0.
(These parameters are used only with piezoelectric motors.)
6. Set FN to zero. For a high friction load, increase FN (range 0 to 255) to overcome
friction.
7. Select Velocity (Scope CH1).
8. Set the Gain Factor (GF) to 0 and Gain (GA) to 1.

9. Increase GA until an overshoot becomes noticeable.
10. Select Position Error (Scope CH1).
11. Increase/decrease GA in order to minimize the position error.
12. If there is high frequency oscillation, reduce the Velocity Loop Gain (D8). If there is
low frequency oscillation, reduce the Position Loop Gain (GA).
13. Click OK to complete the Position loop adjustment step.
FIGURE 6-8 Position loop velocity response

FIGURE 6-9 Position loop error response
6.5. Slip Constant Optimization

(For induction motors only.)
The purpose of setting SK (Slip Constant) is to improve the orientation between the magnetic
field in the air gap and the current induced into the rotor.
While running in repetitive point to point, monitor the error. Increase/decrease the value of SK
(without changing its polarity!) until the error value is minimized (FIGURE 6-10 ). The test
should be executed while KZ is set to 0.

Velocity [counts/msec] Error [counts]

1200 100
Velocity 80
1000
60
800 SK=100, to low
40
600
SK =600 still too low 20
400
0
200
-20
SK=1000, optimal SK
0
-40
0
100 200 300 400 500 600 700 800 900
-200 -60
Time [msec]
l
FIGURE 6-10 Position error for various SK values
6.6. Polishing
6.6.1. Acceleration Feed Forward (AF) Setup

The Acceleration Feed forward setup reduces the following error during periods of
acceleration/deceleration.

FIGURE 6-11 Position error profile when AF=0
FIGURE 6-12 Position error profile when AF=500
Action
Increase AF until the error is minimized. (If AF is too large, the error may be excessive,
causing more motor noise.

6.6.2. Optimizing Torque At High Speed - Phase Advance

For AC servo (DC brushless) motor only.
The phase advance feature improves the torque-velocity characteristics at high speed. At high
speed, the actual current lags behind the command. As a result, the motor either needs more
current to produce the required torque, or cannot produce the required torque at all. (FIGURE
6-13)
Action
1. Set the velocity to 90% of the maximum velocity that is needed.

2. While monitoring the phase current at constant speed, increase PA as long as the
amplitude of the current is reduced.(SXPA##<cr>). If the value of PA is too high, the
control unit might disable the drive.
FIGURE 6-13 AC servo (DC brushless) motor - velocity vs. torque
6.7. Dual Loop Control

Some applications involve positioning a load that is driven by a gear, belt and/or screw. If the
driving mechanism (gear etc.) is not accurate enough for the application, a feedback sensor must
be mounted directly on the load to provide precise position information. The common practice is
to use only this device for feedback. This is called single loop control.
Some applications also require good dynamic performance (wide velocity and position
bandwidths), which means very short settling time and a very small dynamic error. For such
applications, single loop control is inadequate. This is because of the low stiffness between the
motor and the load and backlash on the gear.
To achieve good dynamic performance, it is necessary to improve the bandwidth of the velocity
and position loops. The recommended way to do so is to use dual loop control.

In a dual loop application two encoders are used, one mounted on the motor axis and the other on
the load. (The load encoder can be linear for a linear stage application or rotary for a rotary load
application).
Examples of applications that benefit from dual loop control:
Linear stage drive with a screw.
Printer drum drive with a flexible belt.
A high-inertia antenna driven by a high-ratio gear motor.
In all these examples, the use of dual loop control will improve the performance of the system.
The dual loop control block diagram is shown in FIGURE 6-14.

DA
CURRENT or
VEL COMMAND K5
1 2 1 2
1 for velocity
2 for current
0 TD
Load
du/dt D21
Velocity FF
DA Command Torque Disturbance POS 1
DP + V_FF Current Current
GA*2GF Velocity Command Command Command
Profile Current
generator
- AV
Command
Current Command POS 2
VELOCITY FILTER CURRENT FILTER PLANT
D22 du/dt
CP Counts
Counts
FIGURE 6-14 Dual loop block diagram

6.7.1. Dual Loop Control - Implementation

Encoder 1 (ENC1), which is mounted on the motor axis, is used to close the velocity loop (and
also, in the case of an AC servo (DC brushless) motor, for software commutation).
Encoder 2 (ENC2), which is mounted on the load (the position that is being controlled) is used to
closed the position loop.
The parameter $CU ($ stands for the axis, i.e., "x," "y," etc,), which defines the type of
commutation feedback device, is also used as the switch for dual loop control. Bit 2 of $CU must
be always be set to 1 when dual loop control is used.
$CU value (decimal) Feedback device(s) and type of control
$CU = 2 Encoder (no Hall), single loop, for a DC brush, AC servo (DC
brushless), or AC induction motor
$CU = 3 (Not supported by SB214SA) Encoder + Hall, single loop, for an
AC servo (DC brushless) motor.
$CU = 6 Encoder (no Hall), dual loop, for a DC brush, AC servo (DC
brushless), or AC induction motor.
$CU = 7 (Not supported by SB214SA) Encoder + Hall, dual loop, for an AC
servo (DC brushless) or AC induction motor.
$D21, $D22 from the D array are used for velocity scaling.
$D22 is determined from the maximum velocity of the motor for the application.
$D21 is determined from the maximum velocity of the load for the application.
500 × 10 6
D22 =
VMm
Where
VMm - Max velocity of the motor (counts/sec).
D22 × ENC1(res)
D21 = ENC2(res)
Where
ENC1(res) - Number of counts of ENC1 per motor revolution ( LR × 2 LF ).
ENC2(res) - Number of counts of ENC2 per motor revolution.
Note: ENC1(res)/ENC2res = The dual loop ratio used in the Adjuster motor definition.
The position loop bandwidth [Hz] (Fc) is computed as follows:

1 20000
Fc (position) = × GA × 2 GF ×
2π D 21
6.7.2. Adjusting the Dual Loop

1. Start to adjust the system with $CU = 2 or $Cu = 3 in single loop.
2. Set $CU bit 2 to 1 ($CU = 6 or $CU = 7) and go directly to position loop adjustment.
3. Start with very low position gain factor (GF) and gain (GA): such that Fc (position) ~= 1 Hz.
4. Example, to reach a position loop gain ( GA × 2 GF ) of 0.75 (i.e., 3/4): GA = 3 and GF = -2.
5. Increase the GF and GA until a good result is achieved (as with a single loop). If high
frequency noise occurs, reduce the velocity gain D8.

HARDWARE INTERFACE PARAMETERS 7-1
7. HARDWARE INTERFACE PARAMETERS
This chapter summarizes ACSPL parameters relating to the hardware interface. The interface is
described in Chapter,4, "MOUNTING & WIRING."

Topic Description
Serial communications Changing the baud rate and configuring multiple drop connections
CAN communications Understanding the CAN switch and parameters
(option)
Input and output ports Motion monitoring and other I/O functions
Further information
More detailed information about ACSPL is contained in the ACS Software
Guide

7-2 H A R D W A R E I N T E R F A C E P A R AM E T E R S
7.1. Serial Communications
7.1.1. Changing the RS-232/422/485 Communication Baud Rate
TABLE 7-2 Changing the baud rate

Mnemonic Meaning Result
SBR57600<cr> Set the baud rate to 57600. Changes the baud rate to 57600.
SAVE<cr> Save the change. Saves the change.
(Enter command twice).
SAVE<cr>
HWRES Perform a hardware reset. Resets the processor (equivalent to
power off, power on). The change in
the baud rate takes effect upon
completion of the hardware reset.
7.1.2. Multiple Drop Configuration for RS-232

Up to 10 control modules can be connected to an RS-232 serial link.
Follow this procedure:
1. Assign a different ID number to each module (factory default ID is 0).
2. Connect the first module to the computer. Run a serial communication program on the
computer (for example, ProComm or Windows Terminal) for communicating with the
module.
3. Set the unit's ID to 1 (SID1<cr>).
4. Execute a SAVE command (SAVE<cr> twice.)
5. The new ID becomes effective after the next power up.
6. Connect the second unit.
7. Set its ID to 2 (SID2<cr>).
8. Execute a SAVE command (SAVE<cr> twice.).
The new ID becomes effective after the next power up.
9. Repeat the above for each additional unit up to ID=9. (If there is a 10th unit, just connect it
and it will automatically receive the factory default ID: 0.)
10. Connect the TX (Transmit) of all modules in parallel.
11. Connect the RX (Receive) of all modules in parallel.
12. Connect the GND of all modules in parallel as shown in FIGURE 7-1.

Note
Shielding connections will vary according to the installation.
FIGURE 7-1 Multiple drop connections for RS-232

7.1.3. Multiple Drop Configuration for RS-422/485

The multiple drop configuration for RS-422/485 connections is similar to that for RS-232. Connect the following pins in parallel:
• GND • TX+ • TX- • RX+ • RX-
FIGURE 7-2 Multiple drop connections for RS-422/485

7.2. CAN Communications
Note
For CAN communication, the COM_SD switch on the control unit's front
panel must be OFF.
7.2.1. CAN Rotary Switch

The CAN interface has two parameters:
• CB is the CAN baud rate (default CB=500).
• NI is the CAN node ID. (default = 1).
The rotary switch on the control unit's front panel selects between 16 modes of operation.

TABLE 7-3 CAN rotary switch positions and associated modes

Pos. Mode Description
0(1) CAN The internal CAN interface attempts to establish

communication with the controller. This process can
take several seconds. If it succeeds, the CAN LED turns
green. From this point on, the controller can
communicate with the external CAN bus. The values of
the CB and NI parameters are read from the controller's
internal EEPROM (nonvolatile memory).
1(2) RS-232/422 Set CAN parameters via RS-232/422.
Procedure:
1. Power off the unit (wait until the MP_ON LED
goes off).
2. Set the CAN rotary switch to position 2.
3. Connect an RS-232 cable between the control
module and the PC serial port.
4. Power on the unit (wait until the MP_ON LED goes
on).
5. Use a terminal program, such as ACS Adjuster's
terminal, to change the CB and NI parameters (see
Section 7.2.2, "Setting and Reporting CAN
Parameters").
6. Power off the unit.
7. Change the position of the CAN rotary switch to the
desired mode.
8. Power on the unit.

2(2) RS-232/422 Program CAN firmware via RS-232/422.

Procedure:
1. Power off the unit (wait until the MP_ON LED
goes off).
2. Set the CAN rotary switch to position 2.
3. Connect an RS-232 cable between the control
module and the PC serial port.
4. Power on the unit (wait until the MP_ON LED goes
on).
5. Use the supplied CAN firmware programming
application to download new firmware to the unit's
internal CAN interface as follows:
a. Choose option 7.
b. Press F2 to enter a file name (full name with
.HEX extension).
c. Wait until the download has completed.
6. Power off the unit.
7. Change the position of the CAN rotary switch to the
desired mode.
8. Power on the unit.
3(1) CAN Same as position 0, except that parameters CR and NI

are set to default values (CR = 500, NI = 1)
4 DEBUG DEBUG mode.
5 NU Reserved.
6 NU Reserved.
7 (1) CAN Same as position 0, except that parameter NI is read
from EEPROM and parameter CR is set to 1000k.
from EEPROM and parameter CR is set to of 800k.
A (1) CAN Same as position 0, except that parameter NI is read
B (1) CAN Same as position 0, except that parameter NI is read
C (1) CAN Same as position 0, except that parameter NI is read

D (1) CAN Same as position 0, except that parameter NI is read

E (1) CAN Same as position 0, except that parameter NI is read
F (2) RS-232/422 RS-232/422/485 communication, CAN is disabled
___________________
(1) -- EEPROM parameters can also be set and reported via CANopen in CAN mode (rotary
switch positions 0, 3, or 7 to E).
(2) -- For more information about setting and reporting CAN parameters, see Section, 7.2.2
"Setting and Reporting CAN Parameters."
7.2.2. Setting and Reporting CAN Parameters

The two CAN parameters, (CB and NI), can be set and verified (reported):
The syntax for Setting the CB rate parameter is: SCB<value><cr>.
The syntax for Reporting the CB rate parameter format is: RCB<value>.
Value must be one of the following:
10 for 10k
20 for 20k
50 for 50k
125 for 125k
250 for 250k
500 for 500k
800 for 800k
1000 for 1000k
Examples:
Set CAN baud rate to 250k: SCB250<cr>
Report CAN baud rate: RCB<cr> displays result: Can Baud rate 250k
The other CAN-related parameters that can be set and verified is NI for the CAN Node ID
parameter (default NI=1).
The syntax for Setting the CAN Node ID parameter: SNI<value><cr>.
The syntax for Reporting the CAN Node ID parameter: RNI<value><cr>.
Value must be in the range 1 to 127.

Examples:
Set CAN Node ID to 60: SNI60<cr>
Report CAN Node ID: RNI<cr> displays result: Can Node ID 60
7.3. Encoders
Warning
Facilities for overspeed protection are not provided in the control unit.
Therefore, when facilities for overspeed protection are required for the end-
product, they will have to be provided separately by the end-user.
The primary encoder feedback type and speed is governed by the Encoder Type (ET) parameter.
The maximum edge count speed can be up to 20 million counts per second (when ET is in the
range 1 to 6) or 40 million counts per second (when ET is in the range 100 to 106).
The secondary encoder feedback behavior can be programmed with the 2nd Encoder Type (Et)
parameter.
For more information, see the "Reference" section of the ACS Software Guide.
7.4. Input & Output Ports and Motion Monitoring

Further information
This section covers the programming interface for the I/O. The electrical
interface for the I/O is covered in Chapter 4, "MOUNTING & WIRING."
More detailed information about the I/O programming can be found in the ACS
Software Guide
Note
In ACSPL descriptions, the symbol "$" is used a placeholder for the axis
(i.e., it can stand for X, Y, Z, or T).
7.4.1. Digital Inputs

The Input Port (IP) parameter holds the binary representation of the status of the digital inputs.
The command RIP<cr> displays this status.
The 4 fast inputs (marks) (IN6, IN7, IN9, IN10) can serve as registration inputs (for axes X, Y, Z,
and T respectively). When the state of a registration input changes, the location of the axis is
latched into the registration mark position parameter ($M1). If there is an AUTO_M1$ automatic
routine, it is invoked and executed.

The polarity of the digital inputs is controlled by the Input Logic (IN) parameter. When a bit in
IN is set to 1, it causes the state of the corresponding input to be inverted. For example, if IN = 4
(i.e., bit 2 is set to 1), then if input three (IN3) is on, the controller considers it off.
The polarity of the digital inputs is controlled by the Input Logic (IN) parameter. When a bit in
IN is set to 1, it causes the state of the corresponding input to be inverted. For example, if IN = 4
(bit 2 set to 1), then if input three (IN3) is on, the controller considers it off. The IN parameter
does not affect the registration input (or the execution of the AUTO_M1$ automatic routine). The
IN parameter can be useful for application debugging.
The Input Source (IS) parameter controls execution of a Begin on Input (B$I) command. When a
Begin on Input (B$I) command is issued, the control unit delays execution until the appropriate
input is activated. The IS (Input Source) axis parameter defines which input. For example, if
XIS = 1, then when a BXI command is issued, it is not executed until input 1 is high. The default
IS are:
TABLE 7-4 Default IS
Axis Input Axis Input Axis Input Axis Input
X 16 Y 14 Z 12 T 8
Each input has a corresponding ACSPL state: IN1, IN2, . . . IN16.

Inputs 1 to 5 are supported by automatic routines AUTO_IN1 to AUTO_IN5.
7.4.1.1. Safety Inputs
Warning
The E-STOP input must not be used as the Emergency Stop for the entire
system. Its sole use is to indicate to the control unit that an emergency
situation exists.
The safety inputs comprise left limit and right limit (per axis), and emergency stop.
Warning
The Emergency Stop and Safety Interlock means provided with the
controller are software-based only. Therefore, if the end product requires
facilities for hardware-based Emergency Stop and/or Safety Interlock,
these must be provided separately by the end user.
The limit inputs reduce the motor current to zero in order to avoid axis over-travel by preventing
further motion in the inhibited direction. The emergency stop input stops and deactivates the
motor instantaneously.
The SI (System Input Port) parameter holds the status of the safety inputs.
The polarity of the safety inputs can be altered with the IL (Input Logic) parameter.

7.4.2. Digital Outputs

The digital outputs can be used for general functions, for the PEGTM (Position Event Generator)
function, or for predefined functions (as described in the table below). PEG generates real-time,
position-triggered events with very short (i.e., electronic gate) delays. PEG is available only for
the X and Y axes. The predefined functions, B/E motion, Ready, Early Ready and
Interpolation complete, are described in the table below.
An output's function is determined by the Peg Mask (PM) and the Output Mask (OM)
parameters. When the PM bit is set, the corresponding output serves the PEG function and cannot
be changed by output handling commands. When the PM bit is cleared and the OM bit is set, the
corresponding output serves its assigned dedicated function (see table).
TABLE 7-5 Predefined motion state functions for digital outputs
Motion state Description
B/E Motion Signals when the axis is in motion ("ON") or not in motion ("OFF").
X: output 1. Y: output 2. Z: output 3. T: output 4.
Ready After a Begin on Input (BXI), indicates that the calculations are complete
and the axis is ready for motion.
Early Ready Indicates that the axis is ready to accept a new move command.
Also indicates that a superimposed move has been executed. (A
superimposed move is initiated by setting the Master-slave relative Distance
[MD] while in Master-Slave Mode [Mode 12]).
Interpolation Signals that the axis interpolation (profile generation) for the present move
Complete is completed.
When serving a dedicated function, an output can still be set and reset using the direct mode
commands SHI (Set output High), SLO (Set output Low) and SOP (Set Output Port) and the
corresponding programming commands let HI, let LO, and let OP. See the ACS Software Guide
for more details.
TABLE 7-6 Digital output command examples

Mnemonic Meaning Result
SOM3<cr> Set output mask to Enables outputs 1 and 2 for B/E Motion
3 (= 00000011 binary). function for X axis and Y axis respectively.
ROP<cr> Report output port status. Displays status of the output ports.

7.4.3. Analog Inputs

The two general analog inputs AIN1 and AIN2 are represented by the variables A0 and A1. The
variable range is 0 (for 0V) to +1,023 (for 4.99V).
The four differential analog inputs AIN3 to AIN6 are represented by the variables A2 and A5.
The variable range is -2048 (for -10V) to +2047 (for +9.995V).
7.4.4. Analog Output

The value of the general analog output (AOUT1) is controlled by the XD4 axis parameter. The
analog output voltage range is -10V (XD4= -511) to +9.99V (XD4=511). The analog output can
be used to monitor motion and other real time variables.
The analog output is accessible via the I/O connector and via a test point located on the bottom of
the controller.
The actual velocity, position, position error, master position, and the current (= torque) commands
can be monitored via the axis analog output parameter $D4. Each axis has its own dedicated
analog output, which is a 10-bit digital-to-analog converter (DAC). The function of the analog
output is controlled by three monitor parameters - MN (Monitor), DC (Data Collection), and MF
(Motion Factor).
7.4.4.1. Motion Monitoring Parameters

The MN (Monitor) parameter determines the source of the analog output.
TABLE 7-7 MN (Monitor) parameter
MN value Source of analog output is
MN=0 determined by the $D4 parameter

MN=1 velocity signal
MN=2 drive vector current (torque) signal
MN=3 determined by the bit assignment of the DC (Data
Collection) parameter
When MN = 3, it is the Data Collection (DC) bit assignment that defines the source of the analog
output. If more than one DC bit is set, only the least significant bit is read.
TABLE 7-8 DC (Data Collection) parameter bit assignment
Bit 11 - 15 10 9 8 7 6 5 4 3 2 1 0
Parameter 0 DSP IO 0 0 A<channel> MP D2 DO/D1 PE CP LV
For more information about the DC parameter, refer to the ACS Software Guide.

The MF (Monitor Factor) is available for scaling for scaling the internal digital source fed to the
analog output's DAC.
Analog output signal = (internal digital source) x 2MF x (10[volts]/512)
To prevent an overflow, MF must adhere to the following condition:
-511 < (internal digital source) x 2MF < 511
7.4.4.2. Monitoring Velocity Profile

The output voltage as a function of the actual velocity (AV) in counts/seconds is:
D 22
× AV
20,000
Vout = 10 × × 2 MF
512
The velocity scale factor depends on the value of D22. Internally, the maximum velocity value is
represented by the value 1638.
For example, if D22 was set according to a maximum velocity of 1,000,000 counts/second, then
when the actual velocity is 1,000,000 counts/second, the internal (integer part of the) velocity
value is 1638. When the actual velocity is 500,000 counts/second, the internal velocity value is
819.
To monitor the velocity, set MN to 1. MF must be set to a value that will prevent overflow of the
output. In the above example if the actual velocity is getting close to 1,000,000 counts/second
(internal velocity of 1638), set MF to -2. If the actual velocity is less than 500,000 counts/second
(internal velocity of 819) set MF to -1. If the actual velocity is 100,000 counts/second (internal
velocity of 163), set MF to 1. This will provide a better dynamic range for the monitored signal.
7.4.4.3. Monitoring Position Error

Monitoring the position error is useful for improving the tracking quality, for finding the source of
torque disturbances, for measuring settling time and for setting the acceleration feed forward
(AF).
To monitor the position error, reset MN to 3 and DC to 4. Usually the error value is less than 500,
so MF should be set to a non-negative value.
TABLE 7-9 Scale factor as a function of MF
MF VPE [volts/count]
-2 0.00488
-1 0.00976
0 0.0195
1 0.039
2 0.078
3 0.156
4 0.312

7.4.4.4. Monitoring Current Position

Monitoring the current position (CP) is a useful tool for measuring settling time. Usually the
value of CP is large. While moving, the monitor signal will overflow. Ignore it. Just examine the
last part, where the axis settles.
The [volts/counts] scale factor is identical to the scale factor for position error monitoring.
Example: Set the system to check whether the axis overshoots the target point by more than 10
counts when moving in MM1 between CP=0 and CP=32768.
Solution: Set DC to 2, MN to 3 and MF to 3. A 10 count overflow will generate a 1.5V overshoot
at the end of the move.

WARRANTY 8-1
8. WARRANTY
ACS-TECH80 warrants that its products are free from defects in materials and workmanship
under normal use during the warranty period. The warranty period is one (1) year from receipt by
the end user. This warranty does not apply to any product from which the serial number has been
removed or destroyed, or damage as a result of accident, fire, misuse, abuse, negligence, operation
outside the usage parameters, unauthorized modifications, or acts of G-d.
ACS-TECH80 is not liable for any damages (material, financial, or physical) caused by the
products or the failure of the products to perform. These limits of liability shall including, but not
limited to: any lost profits, lost savings, lost earnings, loss of programs or other data, business
interruption, incidental damages, consequential damages or personal injury.
These limitations apply whether damages are sought, or a claim made, under this warranty or as a
tort claim (including negligence and strict product liability), or any other claim. These limitations
of liability will be effective even if you have advised ACS-Tech80 of the possibility of any such
damages.
ACS-Tech80 makes no other warranties, expressed or implied, including any implied warranties
of merchantability or fitness of any product for a particular purpose. ACS-Tech80 expressly
disclaims all warranties not stated in this warranty. ACS-Tech80 reserves the right to make
change to this warranty without notice.

INDEX I-1
INDEX
point to point move, 5-53

7
safety inputs, 7-11
7-segment display, 4-30
searching for index, 5-60
A
Adjuster, 5-5
AC induction motor setup, slip constant
adjusting, 5-5
optimization, 6-15
Ambient temperature, 4-1
AC servo (DC brushless) motor
analog I/O, 4-24, 4-26, 4-27
phase advance, 6-18
connector, 4-24
AC servo (DC brushless) setup, optimizing
torque, 6-18 analog inputs, 7-13
Acceleration feed forward, 6-16 differential, 4-27
ACS Adjuster, 5-5 general, 4-26
ACS Debugger, 5-43
B
ACS Loader, 5-62
B/E motion state, 7-12
ACS Saver, 5-62
C
ACS Tools, 5-4
cables
ACSPL
length, 2-3
about, 5-43
shielding, 2-2
CAN, 7-6
CAN, 7-6
digital inputs, 7-10
connector, 4-10
direct mode, 5-46
parameters, 7-9
I/O, 7-10
switch, 7-6
Input & Output Ports, 7-10
troubleshooting, 4-11
point to point, 5-53

I-2 INDEX
CAN-BUS, 4-10, 4-11 DIP Switch

CL parameter, 5-27 COM_SD, 4-31
COM_SD DIP switch, 4-31 PROG., 4-31
Communication, 3-3 DIP switches, 4-31
communications direct mode, 5-46
shutdown, 4-10 display
connectors 7-segment, 4-30
Analog I/O, 4-24 seven-segment, 4-30
CAN, 4-10 drive, 4-7
Digital I/O, 4-6, 4-13 Drive
Drive, 4-7 connector, 4-7
Encoder, 4-12 Drive interface, 3-2
HSSI/PEG, 4-27 dual loop
RS-232/422, 4-8, 4-23 control, 6-18
Safety Inputs, 4-23
E
Supply, 4-6
EA parameter, 5-28
constant velocity, 5-50
Early Ready motion state, 7-12
Control
Encoder
dual loop, 6-18
connector, 4-12
control loop
ER parameter, 5-28
block diagrams, 6-5
error
theory, 6-5
maximum, 5-28
Control supply, 3-3
Error
Controller, 3-3
monitor, 7-15
Current level (CL) parameter, 5-27
position, 7-15
Current position
Error limit (ER) parameter, 5-28
monitor, 7-15
Error limit during accel./decel. (EA) parameter,
5-28
D
error messages
D array, 6-2
25, 5-28
D22 velocity scale factor, 7-14
27, 5-27
D4 analog output, 7-13
error, following, 6-1, 6-16
DC (Data Collection) parameter, 7-14
Debugger, 5-43 F
differential inputs, 4-27 FEATURES, 3-1
digital I/O, 4-6, 4-13 filter
Digital I/O connector, 4-6, 4-13 low pass, 6-10
digital inputs, 7-10 proportional-integral, 6-10

INDEX I-3
following error, 6-1, 6-16 M

fuse, 4-30 maximum error, 5-28
MF (Monitor Factor) parameter, 7-14
G
MN (Monitor) parameter, 7-14
general inputs, 4-26
Monitoring
grounding, 2-3
current position, 7-15
H
motion, 7-13
High Speed Serial Interface, 4-27
position error, 7-15
HSSI, 4-27
velocity profile, 7-14
HSSI/PEG
motion
connector, 4-27
by joystick, 5-51
I Motion
I/O monitoring, 7-13
ACSPL, 7-10 motion state
I/O, 3-2 B/E, 7-12
analog, 4-26, 4-27 Early Ready, 7-12
digital inputs, 4-15 Interpolation, 7-13
digital outputs, 4-20 Ready, 7-12
I/O, ACSPL mounting, 4-1
working with I/O, 5-61 move by sequence, 5-49
indicators, 4-29 Multiple drop configuration
Input & Output Ports, 7-10 RS-232, 7-2
inputs RS-422/485, 7-5
analog, 7-13
O
digital, 4-15, 7-10
optimizing
safety, 7-11
torque, 6-18
Interpolation motion state, 7-13
Output
J analog, 7-13
joystick, 4-26, 5-51 Output Mask (OM), 7-12
outputs
K
digital, 4-20, 7-12
K array, 6-2
P
L
parameters
LEDs, 4-29
CL, 5-27
Loader, 5-62
EA, 5-28
ER, 5-28

I-4 INDEX
TL, 5-27 serial communications, 4-8, 4-23

TO, 5-27 Serial communications, 7-2
PEG, 4-27 seven-segment display, 4-30
phase advance, 6-18 shielding, 2-3
phase advance, AC servo (DC brushless) motor, cables, 2-2
6-18
shutting down
point to point move, 5-47
communications, 4-10
ACSPL, 5-53
Slip constant
Polishing, 6-16
optimization, 6-15
Position
SPECIFICATION, 3-1
error, 7-15
Specification
Position Control, 3-3
I/O, 3-2
Position Event Generator, 4-27
specifications
Position feedback, 3-2
memory, 3-3
position loop
Specifications
setup, 6-13
communication, 3-3
power cable, 2-2
controller, 3-3
powering on, 5-3
dimensions, 3-3
PROG. DIP switch, 4-31
drive interface, 3-2
R position control, 3-3
Ready motion state, 7-12 position feedback, 3-2
repetitive point to point move, 5-48 supply, 3-3
routing cables, 2-2 velocity control, 3-2
RS232, 7-4, 7-5 velocity feedback, 3-2
RS-232, 7-2 supply, 4-6
Multiple drop configuration, 7-2 Supply
RS-232/422 connector, 4-6
connector, 4-8, 4-23
T
RS-422/485
Temperature, 4-1
Multiple drop configuration, 7-5
TL parameter, 5-27
S TO parameter, 5-27
safety torque
inputs, 7-11 optimizing, 6-18
safety inputs, 4-23 torque limit, 5-28
ACSPL, 7-11 Torque limit (TO) parameter, 5-27
Saver, 5-62 Torque limit low (TL) parameter, 5-27
searching for index, 5-60 torque optimization, phase advance, 6-18

INDEX I-5
troubleshooting Velocity feedback, 3-2

CAN, 4-11 velocity loop
friction compensation, 6-11
V
low pass filter, 6-10
Velocity
proportional-integral filter, 6-10
profile, 7-14
tuning, 6-10
Velocity control, 3-2

ERRATA
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SB214SA

Two and Four-Axis Stand-Alone

Hardware and Setup Guide

Document part no. TM-214SA-000

Refer connection, installation, maintenance, adjustment, servicing, and

1-05 Sept./00 4.12.1 Description of CAN indicator LED states improved.

1-07 Feb./01 4.8 Location drawing of sink-source selection jumper (JP10)

2. SAFETY & EMC GUIDELINES 2-1

2.2. General Wiring and Electromagnetic Compatibility (EMC) Guidelines 2-2

3. FEATURES & SPECIFICATIONS 3-1

3.2. Product Specifications 3-3

4. MOUNTING & WIRING 4-1

4.2. Wiring Diagram 4-4

4.3. Supply Connector 4-6

SB214SA Hardware and Setup Guide - Document revision no. 1.08

4.4. Drive Connectors 4-7

4.5. RS-232/422 Connector 4-8

4.6. CAN Connector (J5) 4-10

4.7. Encoder Connectors 4-12

4.8. Digital Input/Output Connector (J9) 4-13

4.9. Safety Inputs Connector 4-25

4.10. Analog Input/Output Connector (J4) 4-26

4.11. HSSI+PEG Connector (J16) 4-29

4.12. Indicators, Display, and Switches 4-30

5. WORKING WITH THE CONTROL UNIT 5-1

5.2. Adjusting the Unit 5-5

5.3. ACSPL Programming with ACS Debugger 5-43

5.4. Direct Mode 5-46

5.5. Program Mode 5-52

5.6. Saving and Loading Control Unit Memory 5-62

6. TUNING THE CONTROL LOOPS 5-1

6.2. Control Loop Block Diagrams 6-5

6.3. Velocity Loop 6-10

6.4. Position Loop 6-13

6.5. Slip Constant Optimization 6-15

6.6. Polishing 6-16

6.7. Dual Loop Control 6-18

7. HARDWARE INTERFACE PARAMETERS 7-1

7.2. CAN Communications 7-5

SB214SA Hardware and Setup Guide - Document revision no. 1.08

7.3. Encoders 7-9

7.4. Input & Output Ports and Motion Monitoring 7-9

SB214SA Hardware and Setup Guide - Document revision no. 1.08

FIGURE 2-1 Cable Spacing.........................................................................................................2-2

SB214SA Hardware and Setup Guide - Document revision no. 1.08

SB214SA Hardware and Setup Guide - Document revision no. 1.08

FIGURE 5-20 Adjustment steps ................................................................................................5-22

SB214SA Hardware and Setup Guide - Document revision no. 1.08

FIGURE 5-55 Opening the Trace window ................................................................................5-59

SB214SA Hardware and Setup Guide - Document revision no. 1.08

TABLE 2-1 Topics covered in this chapter..................................................................................2-1

SB214SA Hardware and Setup Guide - Document revision no. 1.08

TABLE 5-7 Detailed guidelines for calculating protective parameters .....................................5-27

SB214SA Hardware and Setup Guide - Document revision no. 1.08

SB214SA Hardware and Setup Guide - Document revision no. 1.08

ACSPL terms appearing in the text are presented in bold style.

SB214SA Hardware and Setup Guide - Document revision no. 1.08

The SB214SA is a cost effective, stand-alone, advanced, programmable two-axis or four-axis

SB214SA Hardware and Setup Guide - Document revision no. 1.08

2. SAFETY & EMC GUIDELINES