Connecting UMI-7774 to KEB Motor Drive. file attached

[lll]

Hi,

I'm having problems to connect my Servo motor: KEB, With Combivert F5 Motor Drive.

I have the manual and all the pin assigment for this motor drive but i cant run my servo from MAX.

I'm using : LabView 8  + Max 8

NI Motion and  Motion Assistant  1.3

I attach one pdf file with 2 pages,  the pin assigment of my KEB  Motor  Drive  (Model: Combivert F5)

This URL for the Model from KEB Website : http://www.keb.de/common/catalogues/C_vert_F5/0000000-91F5-07-03.pdf

the other page in my attached file is the umi 7774  AXIS 1 pin assigment.

I will appriciate any help if someone can help me and describe to me how i should

connect my umi 7774 FeedBack & Control pins to the pins of my  KEB-CombivertF5 Motor Drive.

Thanks in advanced.

Mor

[Lorne H.]

Mor,

Ok.  I had to download the manual for your device, but I think I can help you out.

1.  Do you have the 9 pin D-Sub connector that provides the Auxilary Incremental Encoder, or do you have the 15 pin D-Sub connector for the sinusoidal commutation, or do you have both?  I would recommend the Auxilary Incremental Encoder if possible.  I need to know which one you have in order to help you completely setup your system.

2.  You need to connect pin 3 of the drive to pin 1 of the Axis 1 Control connector on the UMI.

3.  You need to connect pin 4 of the drive to pin 9 of the Axis 1 Control connector on the UMI.

4.  You need to connect pin 4 of the drive to pin 8 of the drive.

5.  You will need to change the settings on the drive so that it know you are in Torque mode instead of velocity mode (CP.10).

6.  Depending on what you are going to use for feedback (Auxilary Incremental Encoder/Sinusoidal Commutation) you will need to hook the proper D-Sub connecter to the UMI,  the instructions on how to do this can be found in the 735x user manual, which can be found through the link below...

http://www.ni.com/pdf/manuals/371060a.pdf

NOTE:  I recommend you use the Auxilary Incremental Encoder if possible, it is easier to use and setup.  If you do not have both the Auzilary Incremental Encoder and the Sinusoidal Commutation, then you will need to purchase it for your drive.  Attached is an excerpt from the manual showing what I am talking about.

I hope this helps,
Lorne Hengst
Application Engineer
National Instruments

[lll]

Dear Lorne,

Thanks for your response.

I have the 9 pin D-Sub connector that provides the Auxilary Incremental Encoder.
How i connect it to the umi?

I also have the 15 pin D-Sub connector for the sinusoidal commutation.

You wrote: " 4.  You need to connect pin 4 of the drive to pin 8 of the drive."
its short from pin 4 to pin 8 in the drive, its ok ? i understand you ??
and then  "to connect pin 4 of the drive to pin 9 of the Axis 1 Control connector on the UMI"

Thank you for your reply.
I'll connect it and try it with  MAX , NI Motion &  LabView
I hope i know how to do the test in MAX to be sure that i connect everything as needed.

Regards,

Moti Mor.

[Lorne H.]

Moti,

As long as the voltage output of the 9-Pin D-Sub connector is ttl, you will want to connect the "Encoder Phase A" of the UMI to "A+" of the 9 pin connector.  "Encoder Phase B" of the UMI to "B+" of the 9 pin connector.    "Encoder Phase A-" of the UMI to "A-" of the 9 pin connector.  "Encoder Phase B-" of the UMI to "B-" of the 9 pin connector.  "Encoder Index" of the UMI to "N+" of the 9 pin connector.  "Encoder Index-" to "N-".  And finally "Digital Ground" to "GND".

"You wrote: " 4.  You need to connect pin 4 of the drive to pin 8 of the drive."
its short from pin 4 to pin 8 in the drive, its ok ? i understand you ??
and then  "to connect pin 4 of the drive to pin 9 of the Axis 1 Control connector on the UMI""

You are right, you shouldn't short those pins.  I would either connect the two pins together via a large resistance so that the differential input will be referenced to the ground of the device.

Lorne Hengst
Application Engineer
National Instruments

[roy@start-art.co.il]

Dear Lorne,

I have the same equipment like Mor. I have tried to wire the driver like you suggested but its not working.

do I need to do some more configurations with the F5 driver before expecting it to work?

Roy 

[Lorne H.]

Roy,

The National Instruments Motion controller needs the drive to be in torque mode (i.e. the drive needs to accept a voltage which the drive converts to a torque output on your motor, also known as current mode).  And the the drive needs to have the differential quadrature encoder output enabled.  My guess is that there are settings you need to change on your drive which tell it to be in "Torque Mode" and to enable the Quadrature Encoder output.

There is a whole host of reasons why your motor might not be working.

How are you trying to move the motor?

Are you getting a "Following Error" in 1D interactive when trying to move the motor?

Is your quadrature encoder working (you can check this by spinning your motor and checking to see if the position of the motor increments/decrements in 1D interactive)?

Does the motor move at all when you try move it?

Common Problems...

1.  Incorrect Wiring. (Symptoms, no motor movement, following error)

2.  Inhibit/Enable Lines have wrong polarity.  (No motor movement, inhibit LED is on in 1D interactive)

3.  Encoder Steps Per Revolution incorrectly set.  (Following error)

4.  poorly tuned PID constants (Following error, jittery motor, no motor movement)

5.  Drive not setup properly (no motor movement, crazy motor movement).

This is what I could come up off of the top of my head (there is a lot more).

If you can provide me with as much info as possible I can see what I can do to help you solve your issue.

Lorne Hengst
Application Engineer
National Instruments