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BoschRexroth LMS Basic Setup Manual
BoschRexroth LMS Basic Setup Manual
송일곤 (DCKR/SFS2)
2012.04.16
2012.10.08
2013.03.29
개 요
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
1) bootloader install
2) firmware install
3) gateware install
Boot4110.bin
firmware4110_lms.sys
drivefpga_4120_lms.bit
Node 이름 설정
주파수 설정 ( 2 KZ 설정)
설정 후 “Apply” 적용
Maximum temperature 설정
Coil 추가 및 삭제
-New/ Delete
PTC Signals 설정
digin6&7 활성화 설정
(Active Low or Active High)
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
Axis 이름 설정
Resolution: 2/1
(이것은 100 Pu = 1mm)
LMS 최대 5um/1pu
모터 영역(Motor tab)
Set the saturation level
모터의 정격 전류 ~ 모터의 최대 전류
범위 내에서 설정함.
I2T(Overcurrent)내의 범위 유지
(최초 overshoot값은 내부적으로 처리됨)
디지털 IO Number:
- Axis id 0 = digin6
- Axis id 1 = digin7
센서 supply tab
Slot: 현재 해당 축 설정.
Analog in id: 무조건 1로 설정
내장 드라이브 사용 할 때의 내부 규약
(외장 Indradrive 사용시와는 다름)
Safety tab
구분
NY4960/10 = 5V
NY4960/20 = 15V (demo kit)
단위 주위
예)100pu = 1mm
Advised to set:
일반적으로 “ERROR_0_INPUT” 은
“DISABLE_DRIVE” 선택함.
모든 QUICK_STOP은
Q_STOP_OPEN_LOOP로 변경
각 축 설정 저장.
저장 Format : *.XML
표준 축 이름 정의:
Cxx.xml
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© All rights
the event reserved for
of applications by industrial
Bosch Rexroth AG,rights.
property even and especially in cases of proprietary rights applications.
We also retain sole power of disposal, including all rights relating to copying, transmission and dissemination.
개 요
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
다음 순서로 환경 구성함:
LMS
Track
Coil
Sensor
Bumper (homing mode 10 사용시에만 가능함.)
LMS Level
물리적인 코일(Pysical Coil name)이름 설정 및 추가
machine name 설정
interpolation factor 수정 하지 않음.
Coil
코일 이름 및 코일 Xml 파일 경로
지정
number of coil triplets 설정
Saturation Level 설정
(Motor Peak Current)
0 0.5 1
Position offset
일반적으로 코일의 중심은
양쪽 센서의 중심으로 구성됨.
코일 중심 과 양쪽 센서의 중심이 다른 경우
Position offset 변수 조정함.
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the event reserved for
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Bosch Rexroth AG,rights.
property even and especially in cases of proprietary rights applications.
We also retain sole power of disposal, including all rights relating to copying, transmission and dissemination.
LMS 전용 요소 설정 (Track Level)
Track 레벨 정의
number of coils
number of bumpers (opt)
the pole pitch
number of pole pairs
the coil triplet pitch
the track type
the homing parameters
공유 코일 설정
트랙 시작점(Begin)에서 공유되는 코일 설정
트랙 끝점(End)에서 공유되는 코일 설정
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the event reserved for
of applications by industrial
Bosch Rexroth AG,rights.
property even and especially in cases of proprietary rights applications.
We also retain sole power of disposal, including all rights relating to copying, transmission and dissemination.
LMS 전용 요소 설정 (Track Level)
Pole pitch
Number of pole pairs
1 2 3 4 5 6 7 8 9 10 11 12
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the event reserved for
of applications by industrial
Bosch Rexroth AG,rights.
property even and especially in cases of proprietary rights applications.
We also retain sole power of disposal, including all rights relating to copying, transmission and dissemination.
LMS 전용 요소 설정 (Track Level)
Track type
- 0 : linear track(선형)
- 1 : oval track( 원형)
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the event reserved for
of applications by industrial
Bosch Rexroth AG,rights.
property even and especially in cases of proprietary rights applications.
We also retain sole power of disposal, including all rights relating to copying, transmission and dissemination.
LMS 전용 요소 설정 (Track Level)
Home mode
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of applications by industrial
Bosch Rexroth AG,rights.
property even and especially in cases of proprietary rights applications.
We also retain sole power of disposal, including all rights relating to copying, transmission and dissemination.
LMS 전용 요소 설정 (Track-Logical Coil)
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the event reserved for
of applications by industrial
Bosch Rexroth AG,rights.
property even and especially in cases of proprietary rights applications.
We also retain sole power of disposal, including all rights relating to copying, transmission and dissemination.
개 요
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
Mux Ids
X s1: Analog s2: Analog
1 input0 input0
Mux id 0 and 1 Mux id 2 and 3
X s2: Analog
2 input0
Mux id 2 and 3
X s3: Analog
3 input0
Mux id 4 and 5
X s4: Analog s5: Analog
4 input1 input1
Mux id 0 and 1 Mux id 2 and 3
X s5: Analog
5 input1
the event
Mux id 2 and 3
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of applications by industrial
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30
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Hall Sensor 설정 (Analog Slot /Mux ID)
Analog Slot id
- Mcu 옆의 Drive Slot 번호
Nyce_SLOT0 (첫 번째 드라이브)
Nyce_SLOT1 (두 번째 드라이브)
Analog input nr
- Mux와 Back plane이 연결된 단자
0 Mux0의 X1, X2 단자
1 Mux0의 X4, X5 단자
Mux id
- Hall Sensor의 Cos/Sin 파형 순서
Sensor
Mux ID 설정(Cos & Sin)
Commutation angle 설정
Sensor 위치 설정
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
설정 내용 점검 단계
NYCeLMSConfig 실행
carrier control 실행
(Tools->Carrier control)
Initialize CM 버튼 실행
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
필요에 따라 Mux id 등을 수정 변경
하강 곡선
Leading south Leading north
Leading south
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개 요
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
Initialize LMS
NYCeTuner 실행
캐리어가 없는 코일에서 튜닝 실시
View Current Control Parameters 선택
설정 파라미터:
CC_MAX_INTEGRATOR_LEVEL
: nominal drive voltage로 설정 (ex 48v)
CC_SAT_LEVEL
: nominal drive voltage로 설정 (ex 48v)
CC_KP
: 사용자가 일반적인 지식을 통해서 KP 튜닝 실시.
(LMS 에서 특별한 KP 찾는 방법은 존재 하지 않음 )
CC_KI
:위와 동일.
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전류 튜닝
Open NYCeTuner 실행
Select Edit at Test Signal 선택
test signal 설정
Type: Block wave
Amplitude: 0.2A
Offset: 0
Frequency: 200Hz
Injection point: B, open-loop
Click apply, then OK
NYCeTuner
free coil 선택
Open Loop 선택
Start Test Signal 선택 1 2
NYCeScope 실행
free coil 선택
channels 추가
- Controller out
- Drive current
Trace size: 30
Controller Out channel 선택
Enable Trigger 선택
Condition 선택
- Trigger value: 0.01
- Trigger mode: Rising edge
Pre delay: 2
Click Start
1. Same Y Position 선택
2. Same Y Scale 선택
3. Auto Scale 선택
1 2 3
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
Initialize LMS
NYCeCommand 실행
Place a carrier straight over a coil
해당 코일 위에 캐리어를 위치 시킴.
아래와 같이 기본 형식으로 Script를 구성함.
A 파라미터: ½ max current
Script 실행
SacMoveCurrnetAngle 명령 실행 후 Carrier의
이동 방향 확인.
Positive direction
commutation angle = 1
Negative direction
commutation angle = -1
모든 코일에 동일하게 적용 후 저장
(기본적으로 Coil의 U,V,W 배선이 동일하다고 가정)
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
NYCeTuner 실행
코일 선택 (in NYCeTuner)
해당 코일 위에 Carrier 위치
Expert view mode 선택
View Alignment Parameters 선택
설정 파라미터:
ALIGNMENT_MODE: 9
PUSH_AND_SETTLE_RAMP_TIME: 1
MAX_ALIGNMENT_OUTOUT: ½ max Peak
current
Quickwatch view 선택
파라미터 선택
LEFT_MEAS_COMMUT_OFFSET
RIGHT_MEAS_COMMUT_OFFSET
Test:
Place a carrier over the coil
해당 코일에 캐리어를 위치 시킴.
Align Motor 버튼 실행.
값에 변화가 크지 않을때 까지 3 ~ 4 번 연속 실행
모든 coils에 적용 및 저장 (LMS.xml)
Shutdown & Reinitialize LMS
LEFT_MEAS_COMMUT_OFFSET RIGHT_MEAS_COMMUT_OFFSET
NyceTuner에서 확인 한 해당 코일의
Left Sensor / Right Sensor
Commutation Angle 설정
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
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of applications by industrial
Bosch Rexroth AG,rights.
property even and especially in cases of proprietary rights applications.
We also retain sole power of disposal, including all rights relating to copying, transmission and dissemination.
Velocity loop tuning
controllerOffset : 초기 0 로 설정
controllerGain 증가: carrier가 아무런 문제 없이 Moving 할때 까지
( StartVelocityMode)
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Velocity loop tuning
NYCeCommand 실행
CmMoveCarriersAgainstEndStop 0 1 2000
CmMoveCarriersAgainstEndStop 0 -1 2000
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of applications by industrial
Bosch Rexroth AG,rights.
property even and especially in cases of proprietary rights applications.
We also retain sole power of disposal, including all rights relating to copying, transmission and dissemination.
개 요
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
LMS.xml file 저장
Shutdown & Initialize LMS
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Calibrate sensors
Sensor Calibration
Sensor의 Sin, Cos 파형의 Offset, Amplitude, Phase Correction값의 조정.
전체적으로 센서를 한 번 조정해줌.
Determine Position
해당 Track의 전체적인 위치 값 정의
위치 값 확인을 위해서는 반드시 Sensor를 통과하여 Sensor의 On/Off 상태 확인 필요
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
Determine pos 선택
다음 순서로 설정 함:
Select all 선택
Starting position 지정 (Default at ½ carrier length)
Sampling 선택 및 속도 지정
Prepare Measurements 여부 확인 및 방향 체크
Start 실시
LMS.xml file 저장
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
NYCeTuner
NYCeCommand
NYCeScope
NYCeLMSConfig
NYCeCmMonitor
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Position Loop Tuning
Nyce Tuner
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Position Loop Tuning
1. Motion의 구동
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Position Loop Tuning
1. Motion의 구동
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Position Loop Tuning
2. Test Signal의 생성
Signal Type
PRB Sequence or Random Noise
(PRB Sequence가 주파수 도메인 확인이 더 원활함)
Amplitude : 0.2
Injection Point : B Controller out Closed Loop
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Position Loop Tuning
NYCeTuner 실행
3. Tuning Default 값 생성
KP Gain : 0.001
------------------------------------------------------------------
LLF_LAG_FREQ : 10
LLF_LEAD_FREQ : 1
LLF_SWITCH : 1
------------------------------------------------------------------
LPF_FREQ : 100
LPF_SWITCH : 0 필요하다면 1
LPF_DAMPING : 0.9
------------------------------------------------------------------
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Position Loop Tuning
4. Nyce Scope 실행
1. Channel 선택 후 해당 코일 선택
2. Sensitivity, Cloosed Loop, Open Loop 선택
- Zoom Full 선택 및 Open Loop 선택
- Bode / Nyquist 선도 선택
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Position Loop Tuning
Bode선도 신뢰도
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Position Loop Tuning
Tuning Method!!
1. Kp값을 증가 Nyquist 곡선이 단위원에 근접
2. Bode선도의 Bandwidth Frequency확인 LLF_Lag/Lead_FREQ 계산 후 입력
3. 다시 Nyquist선도 확인 하여 최적화.
4. 튜닝 과정 중 공진현상이 발생, 시스템이 불안정 한 경우 Filter 적용
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Position Loop Tuning
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Nycecmmonitor
nycecmmonitor.exe(C:\Program Files\Rexroth\NYCe4000\amd64\bin )
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개 요
1. 초기 설정 작업 (Basic Setting)
시스템 설정 (Node, Drive)/NyceConfigurator
코일 설정
LMS 전용 요소 설정 (Track, Coil, Sensor)/ LMSConfigurator
Hall Sensor 설정 (Analog Slot /Mux ID)
기본 설정 내용 점검 (initialize)
Hall Sensor 설정 확인 및 변경(Analog Slot Input /Mux ID)
3. 홈밍 실시 (Homing )
Velocity Loop Tuning
4. Calibrate sensors
5. Determine positions
7. Cogging feedforwards
Tools
NYCeLMSConfig
CmServer
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Bosch Rexroth AG,rights.
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Cogging feedforwards
NYCeLMSConfig 실행
Tools Find feed forward tables 선택
아래순서대로 선택:
Tracks: select track
Coils: select all
Step size: 100
Output directory: cff
Velocity: between 300
and 600
Acceleration: factor 10
above velocity
‘Start’ 실행
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Cogging feedforwards
c**_fwd.tmp
Measurement of controller out in forward direction
c**_bwd.tmp
Measurement of controller out in reverse direction
c**_out.tmp
Result of the measurement (raw data)
c**_cff.xml
XML file containing the feed forward table
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Cogging feedforwards
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NYCe4000 LMS – Initial Commissioning
감사합니다.
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83 the event of applications for industrial property rights.