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Motion Control Training Classes

Basic Elmo Servo Drive Products and Motion Control Technology

Course Model	Description	Movies
(1.2) Motor Basics	Agenda Magnetic Field Magnetic Field Simplified Representation Magnet in Magnetic Field Torque Angular Dependence Single Turn in Magnetic Field – Back EMF Single Turn in Magnetic Field - Torque Torque and Back EMF Functions Magnetic Reluctance Torque Reluctance Torque Angular Dependence DC Brush Motor DC Brush Motor Constant Speed Operation DC Brush Motor Braking DC Brush Motor Torque-Speed Curve DC Brush Motor Pros and Contras DC Brushless (Trapezoidal) Motor AC Brushless (Sinusoidal) Motor AC Brushless Motor Pros and Contras AC Brushless vs DC Brushless Linear Motor Torque Motor
(1.3) Power Conversion Basics	Power Conversion Basics Diodes Switching Devices – FET Switching Devices – IGBT Switching Devices – IGBT vs MOSFET Unregulated Rectifier – Single Phase Unregulated Rectifier – Three Phases In-Rush Current and its Limitation Linear versus Switched Mode Power Conversion Switched Mode Conversion Drawbacks Single- and Two-Quadrant Topologies H-Bridge Four-Quadrant Topology Bipolar PWM Bipolar PWM Generation Advanced Unipolar PWM Advanced Unipolar PWM Generation Advanced Unipolar PWM Implementation Three-Phase Power Bridge Three-Phase Sinusoidal PWM Current Sensing Voltage Sensing Protections Shunt Regulator Shunt Regulator as a Separate Product Motor Mode vs Braking Mode Shunt Regulator Operation Principle Amplifier Losses Thermal Management by Design Thermal Management by Control
(1.4) Feedback Devices	Sensor Groups SimplIQ Feedback Options Advantages for All Feedback Options Digital FB– Digital Halls Digital FB– Incremental Encoder Digital FB– Incremental Encoder and Digital Halls Analog FB– Technical Overview Analog FB– Technical Overview cont’ Analog FB- Resolver Analog FB– Interpolated Analog Encoder Analog FB– Interpolated Analog Encoder and Digital Halls Analog FB– Analog Halls Analog FB–Tachometer Analog FB- Potentiometer Analog FB- Absolute Coarse/Fine Analog Encoder Absolute Position Sensors Absolute Position Sensors
(1.5) Servo / Control loops	Control Loops SimplIQ Core Commutation Current Mode Current Controller Structure Active and Reactive Currents Phase Voltages PI Current Limiting PI Current Controller Velocity Mode Position Controller Position Mode PID vs. PIP Control
(2.1) Analog Servo Amplifiers	Why Elmo Servo Amplifiers? Violin, Piccolo, Flute Differentiations Multi-Axis Custom Boards Violin Servo Amplifier Violin Accessories Piccolo Servo Amplifier Piccolo Accessories Flute Servo Amplifier Flute Starter Kit
(2.3) Interface Connectors and Connection Diagrams	Interface connectors and connection diagrams System Architecture Power Cable Ampacity and ampacity derating American Wire Gauge AWG Table and approximate corresponding sizes Recommended wire cross sections of ELMO Drives CELLO Detailed Connection Diagram DC Brush Motor power connection diagram DC Brushless Motor power connection diagram Main power supply connection Connecting auxiliary power Main Feedback Types Main Feedback Types cont’ Main Feedback Abs Encoder cont’ Main feedback – Incremental encoder connection diagram Main feedback – Interpolated analog feedback connection diagram Main feedback - Resolver Resolver signals Main feedback - Tacho Feedback without encoder option Main feedback – Tacho cont’ Main feedback - potentiometer Auxiliary feedback options Main encoder buffered output or Emulated encoder output (YA[4]=4) Main encoder buffered output or Emulated encoder output connection diagram Differential auxiliary encoder input YA[4]=2 Differential auxiliary encoder input connection diagram Single ended auxiliary input option YA[4]=2 Pulse and direction input YA[4]=0 I/O connection Analog inputs Digital inputs Digital input interface Digital Input suggested connections Digital outputs Digital output interface How to connect high current relay to a digital output Communication connections RS232 Connection diagram CanOpen connection diagram
(2.4) Designing Systems with Elmo Pin Based Components – Whistle	The Whistle A Step Further in “The Highest Density of Power & Intelligence” Whistle– What is It? Whistle– Multi-Axis Board Implementation Considerations What makes it So Simple? How is it So Flexible? Port B The Power Supply
(2.5) Application Set-up and Grounding Considerations (Recommended Wiring)	Recommended Wiring Practices for ELMO Drives Impacts of wrong wiring Contents Components Wiring - Gauge Wiring - Routing Wiring – Twisted pair Signal Wiring – Shielded motor power cables Wiring – Twisted power supply cables Additional capacitance to DC power wires Wiring – Daisy Chains Shielding RJ45 connector shielding Grounding Molex ground connection Noise Suppression – AC line filter Noise Suppression – Ferrite core Noise Suppression – Chocks Highlight Rules
(3.1) Tuning with Elmo composer	Tuning with the Elmo Composer 3 Cascade Control Loops Tuning Procedure Steps Communication Establishment Communication Communication Options Communication Established Define Limits and Framework Define Parameters Define Digital I/O Settings Tuning Steps Tuning Automatic Current Loop Tuning Current Loop Tuning Current Loop Manually Commutation Lissagou Commutation Auto Phasing Commutation Screen Velocity Tuning Velocity Tuning Possibilities Manual Tuning Principles Initial Parameters to Velocity Manual Tuning Filters Step Response to Initial Parameters Response after Increasing Kp Further Increase of Kp Manual Velocity Tuning Rise Time Measurement Adjusting Ki Measurement before Tuning Position Rise Time Measurement Position Tuning Setting Position Loop Kp Position Graph Viewing Pe – Position Error Pe in Counts Pe Graph Saving Application Tuning ParametersAdvance Manual Tuning
(3.2) Tuning multi resonance systems	Tuning Multi-Resonance System Tuning Procedure Tuning Principles Initial Test Parameters Initial Low Pass Filter Settings Step Response to Initial Parameters Response after Increasing KP To 100 FFT Analysis at KP=100 Response after Removing Low Pass Filter FFT Analysis after Removing Low Pass Filter Searching for the Resonance Frequency Setting a Notch Filter Response after Adding a Notch Filter Setting FFT Analysis FFT Analysis after Adding Notch Response after Returning the Low Pass Filter FFT Analysis after Returning the Low Pass Filter Finding the Resonance Frequency Setting a 260 Hz Notch Filter Response after Adding the Second Notch Filter Response after Increasing KP to 400 Response to Reducing Velocity to 7000 cnt/sec Response after Reducing KP by 25% to 300 Calculating KI Response after Adding KI Step Response with Parameters for Adding Position Loop Calculating Position Gain Position Loop Response Preparing Position Error Presentation Presenting Position Error
(4.2) System Applications	Control Loops Unit Modes Current Mode, UM=1 Current Mode Commands, Cont’ Current Mode, UM=1 Speed Mode, UM=2 UM2 Software Speed Commands Speed Mode, UM=2 - Example -1 Speed Mode, UM=2 - Example -2, Use of Smooth Factor Follower – Speed Mode , UM=2 (Speed) Follower– Speed Mode Example Dual Position Feedback Mode, UM=4 Typical Position Mode Commands Single Feedback Position, UM=5 Position Reference Generator Position – P2P Example Position – JOG Position target in constant velocity Position – JOG, Example – II Position - PVT PVT Example Position – PVT Example I Position – PVT Table – Execution Position – PT PT Example Follower– Position Mode, UM=5 Commands Follower- Example Position - ECAM Position ECAM– Linear- Example Position – ECAM- Example ECAM Example Pulse & Direction- Position Mode Pulse & Direction Position Follower Mode