1.4 TUTORIAL - ULTRA 100 MOTORS AND DRIVERS
1. Obtain the motor and controller sets. This should include a brushless servo motor (Y-1003-2H), an Ultra 100 Controller and miscellaneous cables. The cables are described below. located and verify they are connected as indicated in the sequence given below.
a) the motor is connected to the controller with two cables, one for the power to drive the motor, and the other a feedback from the encoder. The encoder is used to measure the position and velocity of the motor. If not connected already, connect these to the motor controller.
b) the controller should also have a serial cable for connecting to a PC serial port. Connect this to a PC.
c) a custom made connector will be provided with some labelled wires. This will be used to connect to other devices for experimental purposes.
d) a power cord to be connected to a normal 120Vac power source. DO NOT CONNECT THIS YET.
2. The custom made connector needs to be attached to devices to control and monitor the motor. The figure below shows a test configuration to be used for the tutorial. The letters in ovals correlate to the ends of the provided connectors. Do not turn on the devices yet.
3. Plug in the power cord for the Ultra 100 drive and look for a light on the front to indicate that it is working. WARNING: The motor might begin to turn at this point. Turn on the power supplies and the oscilloscope.
4. Run the ’Ultramaster’ software on the PC. When prompted select ’drive 0’. At this point the software should find the drive and automatically load the controller parameters from the controller. when it is done a setup window will appear.
5. In the setup window ensure the following settings are made. When done close the setup window.
Motor Type: Y-1003-2-H - this is needed so that the proper electrical and mechanical properties of the motor will be used in the control of the motor (including rotor inertia).
Operation Mode Override: Analog Velocity Input - This will allow the voltage input (C+ and C-) to control motor velocity.
6. Select the ’Drive Configuration’ window and make the following settings.
Analog Output 1: Velocity - Motor Feedback - this will make the analog voltage output from the controller (R+ and R-) indicate the velocity of the motor, as measured by the encoder.
Scale: 500 RPM/VOLT - this will set the output voltage so that every 500RPM will produce an increase of 1V.
7. Open the Oscilloscope on the computer screen and make the following settings. When done position the oscilloscope to the side of the window so that it can be seen later.
Channel A: Velocity - command
Channel B: Velocity - motor feedback
Time Base: 50ms
8. Open the control panel and change the speed with the slider, or by typing it in. Observe the corresponding changes on the oscilloscope on the screen, and the actual oscilloscope.
9. Hold the motor shaft while it is turning slowly and notice the response on the oscilloscopes.
10. Open the tuning window and change the ’I’ value to 0. Change the motor speed again and notice the final error. It should be larger than in previous trials.
11. Leave the ’I’ value at ’0’ and change the ’P’ value to 50 and then change the speed again. This time the error should be larger, and the response to the change should be slower.
12. Try other motor parameters and see how the motor behaves. Note that very small or large values of the parameters may lead to controller faults - if this occurs set more reasonable ’P’ or ’I’ values and then reset the fault.
13. Set the parameters back to ’P’ = 200 and ’I’ = 66.
14. Stop the ’Control Panel’, this will allow the motor to be controlled by the external voltage supply. Change the voltage supply and notice how the motor responds.
ADD: POSITION CONTROL, TORQUE CONTROL, CHANGING MOTION PROFILE