Purpose
This document provides guidance on adjusting the common parameters for the 1S servo system. It highlights the parameters that may require changes differently than default values, based on specific application needs.
Explanation
This document offers instructions for modifying the standard parameters of the 1S servo system. It emphasizes the parameters that might need to be altered from their default settings to suit particular application requirements.
Supported devices
Requirements
•Software Sysmac Studio
•The basic configuration communication of the servo 1S.
Procedure
How to import User Selection
1. Open 1S Drive Parameters
To begin, locate the list of parameters. Right-click on the section to open a context menu.
2. Select "Organize User Selection"
From the context menu, choose the option labeled "Organize User Selection." This will allow you to rearrange or manage the selected parameters.
3. Option to Import a File
If you have a previously exported file, you may import it at this stage. To do so, follow the prompts for file selection, and ensure the file is in the correct format for import.
Direction of Rotation Adjustment for Counting Positive (CW/CCW):
Customers often need to adjust the direction of rotation to ensure that positive counting occurs in either the clockwise (CW) or counterclockwise (CCW) direction. It is recommended to modify the drive direction to align with the machine’s requirements for positive and negative motion.
Control Mode, Inertia Ratio, and Load Estimation:
1. Control Mode Selection:
The user has the option to choose between two different control modes: TDF (default) and ODF.
•TDF (Trajectory Deviation Filter): Designed to limit overshoot by minimizing deviation from the command trajectory. It is ideal for applications where smooth transitions and minimal overshoot are required.
•ODF (Open Deviation Filter): If the application requires following an exact profile without deviation, it is recommended to use ODF. This mode ensures precise adherence to the commanded motion profile.
2. Inertia Ratio:
The default inertia ratio value is set to 250. A value other than 250 would indicate that tuning has been performed.
3. Load Estimation:
After tuning the servo, it is advisable to disable Load Estimation if the load remains constant, to prevent the servo from continuously estimating the load unnecessarily.
4. Adaptive Filter:
Similarly, the Adaptive Filter should be inspected to ensure it is disabled if it is not in use.
5. Absolute Encoder
In many applications involving rotary axes, such as rotary tables, belts, conveyors, or discs, the servo motor rotates continuously in the same direction. It is recommended to select an absolute encoder and disable the multi-turn function. This prevents absolute encoder overflow errors, which occur when the 12-bit multi-turn counter reaches its maximum value.
6. Phase Loss
For drives connected to a single-phase power supply, ensure proper wiring to avoid triggering a power supply phase loss error.
7. Inputs / Outputs
By default, ESTOP, POT, and NOT are assigned to inputs 1, 2, and 3, respectively. If the customer does not use these inputs, the assignments should be changed to "no allocation." Additionally, users can choose to control the motor brake via an external relay by utilizing one of the three programmable outputs.
8. Dynamic Brake
The dynamic brake is designed for use in error situations or during unexpected conditions. It is not intended for regular use. There are six settings where the dynamic brake can be configured. It allows for rapid stopping of the servo when a quick stop is critical. However, under normal operation, the motor torque should be the primary means of achieving stop times. The dynamic brake can be activated in the following scenarios:
•Drive prohibition
•Software position limit
•Servo OFF
•Main circuit power OFF
•Error occurrence
•Control power supply OFF
The user can choose between free-run, motor torque, or dynamic brake in the six setup areas. It is important to note that the dynamic brake is not an emergency device and has a limited lifespan. To preserve its functionality, the activation frequency should be limited to one activation every three minutes or more.
9. Brake Control and Vertical Loads
There are specific settings related to brake parameters depending on whether the motor has a brake. If the motor in use does not have a brake, it is recommended to disable the brake relay. This prevents brake relay life faults, as the default setting continues to count relay activations even when there is no brake present.
Secondly, if the motor in use is equipped with a brake, two parameters need to be adjusted: the brake timeout and the velocity at which the brake is applied. Properly adjusting these parameters prevents issues in vertical load applications, such as the brake closing too late and causing a sudden drop due to gravity.
10. Regeneration
In certain applications, more regenerative power may be required than the built-in resistor can manage. In such cases, the internal resistor should be disconnected, and an external resistor can be connected. The external resistor's resistance value must not be lower than the minimum ohm value specified for the servo size, which is detailed in the table found in the Appendix. By default, the system uses the internal resistor, so to switch to an external resistor, the corresponding parameters need to be adjusted from their default settings.
This application note outlines several common parameters that users may need to adjust from the default settings. The list is presented as a "User Selection," allowing it to be customized, modified, and reused across multiple 1S drives as needed. It is crucial for all applications to quickly configure necessary settings and use a checklist to ensure that common parameters requiring changes from default values are not overlooked.
While this list includes commonly adjusted parameters, users can modify or expand it based on specific application needs. However, it is a good practice to follow a defined checklist to ensure that no important parameters are missed.
The recommended checklist includes:
•Direction
•Absolute encoder
•Limits
•Control mode
•Estimated inertia
•Estimation enable
•Brake control
•Dynamic brake
•Regeneration
•Inputs / Outputs
Additionally, using "User Selection" for a set of parameters can save time, especially in large-scale or repeated setups.
For more detailed information, refer to the 1S Series User Manual
Date/Revision History
First review 11/09/2024 V1.0
2nd Review 01/17/2025
Author:
Aimee Rivera, Technical Support Engineer
References
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