Inspiring MotionSince 1988的工业自动化手册下实操派文库一最全的工业自动化手册下载至Elmo Application Studio IIUser GuideElmo实操派文库Elmo Application StudioInspiring MotionSince 1988学PLC就www.elmomc.ElmoDecember 2013(Ver.2.201)Motion Control实操派文库Notice实操派文库一最全的工This guide is delivered subject to the following conditions and restrictions:This guide contains proprietary information belonging to Elmo Motion Control Ltd.Suchinformation is supplied solely for the purpose of assisting users of Elmo's servo drive(s)in动化手册下载their installation.The text and graphics included in this manual are for the purpose of illustration and referenceonly.The specifications on which they are based are subject to change without notice.Elmo Motion Control and the Elmo Motion Control logo are trademarks of Elmo MotionControl Ltd.Information in this document is subject to change without notice.Elmo Motion Control and the Elmo Motion Control logo areElmoregistered trademarks of Elmo Motion Control Ltd.Motion ControlEthercAT.EtherCAT Conformance Tested.EtherCATR is a registered trademarkTechnology Groupand patented technology,licensed by Beckhoff Automation GmbH,Germany.CANopen pliant.CANopen is a registered trademark andpatented technology,licensed by CAN in Automation(CiA)GmbH,Kontumazgarten 3,DE-90429 Nuremberg,Germany.实操派文库一最全的工Document no.EAS_ll_UM(Ver.2.201)Copyright©2013Elmo Motion Control Ltd.All rights reserved.Revision HistoryVersionRelease DateChanges/Remarks业自动化手册下载2.000May 2013Pre-release version2.001June 2013Edited pre-release version2.002July 2013Edited pre-release version changes2.003August 2013Edited pre-release version changes based on the EAS llapplication up to Version 2.0.0.192.100October 2013Edited pre-release version changes based on the EAS llapplication Version 2.0.0.242.201December 2013Edited pre-release version changes based on EAS ll applicationVersion up 2.0.0.25 up to Version 2.0.0.34实操派文Table of ContentsEA5_IL UM (Ver.2201)实操派文库3chapter 1:Introduction..............................................................101.1How to use this Manual ....................101.2What is the Elmo Application Studiol (EAS )?1o1.21Shortening Development Time...........101.2.2Motion System Development for All Levels of Expertise.....111.2.3Multi-language Operating System Support...................1.2.4Chapter 2:.132.1System Requirements132.2Installing EAS I.心142.3Upgrading EAS 172.4.183.1Quick EtherCAT Configuration .......3.2Quick Tuning......3.2.1Axis Configurations...............233.2.2Motor and Feedback......243.2.2.1Motor Settings Page...243.2.2.2Feedback Settings Page....253.2.3Automatic Tuning..............26Chapter 4:EAS II Infrastructure...........................实操派文4.1The Main EAS II Window..............................4.24.3EAS II Navigation Pane...38最全的4.3.1Selecting an Activity.39Navigation Buttons........3943.3Selecting a Tool ........4.4Ribbon Tabs…434.4.1General Ribbon...4644.2 core Ribbon Tabs.494.4.3Contextual Ribbon Tabs .....53册4.4.4Tools Ribbon Tabs..734.4.5Drive Programming Ribbon Tabs.....4.4.6G-MAS Programming Ribbon Tabs .......4.4.7Recorder Tools Ribbon Tabs....109Chapter 5:Getting Started with EAS......1215.1Accessing EAS .1215.1.1New Workspace.1235.1.2Targets....5.1.3Connecting a Drive to the PC.......1265.1.3.1Connecting Gold Drives.1265.1.3.25.1.3.3Connecting G-MAS Motion Controllers............1275.1.4实操派文Table of ContentsEA5_IL UM (Ver.2201)实操派文45.2EtherCAT Configurator Tool (ECCT)..1.325.2.1Setting the EtherCAT Configuration.....1345.2.1.1 Adding an EtherCAT G-MAS....1345.2.1.2Configuring EtherCAT.......1375.2.2EtherCAT Configuration Options.1445.2.3EtherCAT Master Settings Tabs...1.455.2.3.1Master Tab…..145册下5.2.3.2Quick Settings Tab.5.2.3.3Diagnostics Tab...........5.23.4System Infor mation Tab..1555.23.5Process Image Tab..............1565.23.6Cyclic Tab….1585.2.3.7Distributed Clocks Tab....1605.2.4EtherCAT Slave Settings Tabs........5.2.4.1Slave Tab.1635.24.2State Tab..1655.2.4.35.2.4.45.24.5Mailbox Tab….1725.2.4.6Init Commands Tab........5.24.7Distributed clocks Tab......1775.2.4.8Memory Tab.......1805.2.5The EtherCAT Configuration Window Output Tabs................181Chapter 6:Drive Parameters Setup.....182实操派文库6.1Configure a Drive to use Ether with DHCP........1.826.1.16.1.2PC Configuration...........1876.1.2.1 Pc Configuration-Windows XP......................187最6.1.2.2 PC Configuration-Windows 7.................1896.2Configuring a Drive to use Ether with a Static IP.............1916.2.1Configuring EAS ll and a Servo Drive.......1916.2.2PC Configurations-Ether with a Static IP Address................1956.3Connecting a Different Drive........................自动化手Chapter 7:System Configuration Activities......199下7.1Workspace Tree…7.1.1Workspace Tree Actions..........2027.2Adding Drives or Devices to a Target.......207.2.1Adding a Group.….2067.2.2Adding an IO Device.2077.2.3Adding a Virtual Device................7.2.4Adding a CAN G-MAS Network........2097.3G-MAS and Drive Administration......21173.1System Configuration Commands.2117.3.2Remended Download Sequence for Gold Drives .....................1673.3Downloading Firmware...........2177.3.3.1Downloading Firmware to G-MAS..........2207.3.3.2Downloading the Firmware to a Gold Drive via USB..............2247.3.3.3Downloading Firmware to a Gold Drive via FoE....................28Table of Contentswww.elmomc.Table of Contents实操派文库EA5_IL UM (Ver.2201)实操派文57.3.3.4Downloading Firmware to a SimpllQ Drive via USB .............317.3.4Downloading PAL...2347.3.4.1自动Downloading PAL to a Gold Drive via USB ...........................347.3.4.2 Downloading PAL to a Gold Drive via FoE ...........................24073.5.1 Uploading the Personality from a Gold Drive....................4573.5.2 Uploading a Personality from a SimpllQ Drive......47自动化手册下载7.3.6Upload Parameters.............7.3.6.1 Upload Parameters from the G-MAS ............7.3.6.2 Upload Parameters from a Gold Drive..........2517.3.6.3 Upload Parameters from a SimpllQ Drive ............................5673.7Download Parameters.................2617.3.7.1Download Parameters to the G-MAS......26173.7.2Download Parameters to a Gold Drive..................................637.3.7.3Download Parameters to a SimpllQ Drive..........................2677.3.8Download Resource File to the G-MAS...............................27373.9Upload Resource File from the G-MAS..2.767.3.10Download User File to the 6-MAS....2.78Chapter 8:Drive Setup and Motion Activities........2808.1Expert Tuning….2858.1.1Saving Expert Tuning Information........................................2868.1.2Expert Tuning Procedure......2888.1.33088.1.4Motor and Feedback.….312实操派文8.1.4.1Motor Settings....3128.1.4.2Feedback Settings........3148.1.4.3Feedback Settings Advanced Options.3538.1.5Limits and Protections.....8.1.5.1Current Limits......3588.15.2Motion Limits and Modulo....3608.15.3.36281.6Application Settings.......3648.1.6.1Brakes.….3648.1.6.2Settling Window.….....3658.1.6.3册下8.1.6.4Emulation(TBD.3718.1.6.5External References....3728.1.7Current ...............3738.1.7.18.1.7.2Design..................................3788.1.7.38.1.88.1.8.1Commutation and Sensor Selection....3898.1.8.2Incremental Sensor and Digital Halls...............8.1.8.3Incremental Sensor without Hall Sensors ..........................3908.1.8.4When to use a different method with absolute sensor?.......3908.1.8.5Running Commutation.......3918.1.9Velocity and Position....3948.1.9.1ldentification....394Table of Contentswww.elmomc.Table of Contents实操派文库EA5_IL UM (Ver.2201)实操派文库6最全的工业8.1.9.28.1.9.38.1.9.4Verification.4378.1.108.2Special Tuning Application-Gantry System....4558.2.1Method Overview....4568.2.2Slave Setup and Tuning......457自动化手册下载全8.2.3Master Setup and Tuning.....8.2.4Error Mapping (Correction).........................4818.2.4.1Error Mapping Results Example......4828.2.4.2Code for Error Mapping Procedure..............4838.3Motion -Single Axis..4868.3.1Screen Areas.48783.2The Motion Area..........................4888.3.3Selecting the Drive Mode.........4908.33.2Velocity Loop Mode.5018.3.3.38.3.3.4Stepper (UM=6)Mode .........5108.3.3.5Stepper (UM=3)Mode ......8.3.4The lo Status Area....5198.3.5The Motion Status Area....5198.4Motion-Multi Axes...5208.4.1Multi Axes Motion-Parameters Table....5218.4.2Units..........5258.4.3实操派文库8.4.3.18.43.2Velocity Loop.5348.4.3.3current Loop.538最8.4.3.4Stepper.................8.5.5448.5.1Creating a Command Macros Script........5.4585.2Command Macros User Interface..........8.5.2.1 Table columns.5458.5.2.2Managing Command Macros.54685.2.3Output Area........546自动化手册下8.5.2.4Table Functions….54785.3Saving Files..................................8.5.4Loading Command Macros Scripts ........54885.5Running Command Macros Scripts.5.488.5.6Organizing the Command Macros Table5488.6Drive Parameters Explorer.5498.6.1User Interface.....................5508.6.1.1Viewing and Editing Parameters........................5508.6.2The Parameter Tree..............5528.6.3The Parameters Table.5528.6.4The Drive Parameters Explorer Commands...................5538.7Parameters Comparison.......556Chapter 9:Drive Programming Activities.............559Table of Contentswww.elmomc.实操派文Table of ContentsEA5_IL UM (Ver.2201)实操派文9.19.1.1Project Organization Panel......5609.1.1.1Solution Tree........560自动9.1.1.2Workspace Tree.5619.1.29.1.3Text Editor Panel...565Program 565自动化手册下载9.1.4Output Tabs........5679.1.4.10 utput.5679.1.4.2 Watch.…5679.1.4.39.2Managing Projects and Programs.5699.2.1Creating a Project.........5709.2.2Opening a Project.............5719.2.3creating a Program......9.2.4Compiling a Project.....5749.2.5Building and Downloading a Program..5749.2.6Editing a9.2.7Attaching a Project to the Drive...............5759.2.8Linking a Drive to a Project............5769.2.9Running a Program.…5779.2.109.2.10.1 Debugging a Running Program..........5809.2.11Breakpoints...….5819.2.12Program Builder.….581实操派文9.2.13Watching Variables..........Chapter 10:G-MAS Setup and Motion Activities.......58310.1The G-MAS Setup and Motion Tree......58510.2G-MAS Script Manager................588的10.2.2 G-MAS Script Manager Script Editing Area.59210.2.3 Manipulating the Axes.........10.24 G-MAS Single Axis Motion Commands.............................................59910.2.5G-MAS Multiple Axes (Vector)Motion Commands..............................61810.3 MotionG-MAS Axes..............................63510.3.1Parameters Table..64010.3.210.3.2.1 Cyclic Position.....64410.3.2.2Cyclic Velocity.....10.3.2.3 Profile Position ..............10.3.2.4 Profile velocity..64810.3.2.5 Interpolated Position..64910.3.2.6 Homing.-65010.3.2.7 Homing DS402....65210.4Modbus Configuration.....10.4.1 Modbus Configuration Data Support.................10.4.2 Adding or Editing Modbus Data..........65910.5G-MAS EtherCAT Diagnostics....66310.5.1 G-MAS EtherCAT Diagnostics Tree....664Table of Contentswww.elmomc.实操派文Table of ContentsEA5_IL UM (Ver.2201)实操派文810.5.2 G-MAS EtherCAT Diagnostics(Master)..66510.53G-MAS EtherCAT Diagnostics(Slave)..........66910.5.4G-MAS EtherCAT Diagnostics Commands..................................67010.6G-MAS Parameters Explorer...67110.6.1.1 Viewing and Editing Parameters..........67310.6.2The parameter册下10.6.3The Parameters Table..............67510.6.4The G-MAS Parameters Explorer Commands .....................67510.6.5 Recording..…Chapter 11:G-MAS Programming Activities...........Chapter 12:Floating Tools...68412.1 Floating Terminal..68512.2Floating Recorder.68.12.3Floating Single Axis Motion....69912.4Floating EtherCAT Diagnostics.....70312.4.1 Master......70512.4.212.5Floating Modbus Configuration ....710chapter 13:Supporting Tools......71413.1实操派文库13.1.1Drive SignalS.72013.1.1.1 Signals Tab......72013.1.1.2 Analysis Tab.....72413.1.2G-MAS Signals............726最全013.1.313.1.2.1 Signals Tab............Drive13.1.4G-MAS Trigger .......73813.1.5.74113.1.6 Recorder Commands............74813.1.7Chart Properties ................75513.1.8.....................................................75613.1.9.75713.1.9.1 Built-In Presets ...75913.2Terminal.........76813.2.1Terminal Hot Keys............13.2.2 Addressing Multiple Axes..............77113.2.3Working with Scripts.....77213.2.4Terminal and Command Macros ............13.2.5Terminal Inline Help.............13.2.6Terminal Command Reference Inline Help.........................77713.3Status Monitor.........13.3.1 Status Monitor User Interface......77913.3.1.1 Status Monitor Commands.....13.3.1.2 Configuring a Line....781Table of Contentswww.elmomc.Table of Contents实操派文库EA5_IL UM (Ver.2201)实操派文库9最全的13.3.1.3 Saving Monitor Configuration to File...78213.3.1.4 Loading Monitor Configuration from File.813.3.1.5Organizing the Monitor Table.......................78313.513.6Parameters Comparison.....786自动化手册下载：chapter 14:Settings and Configuration.........78714.114.1.114.1.2File Locations.....14.1.314.1.3.1 current ldentification.79314.1.3.2Sensor Calibration and Commutation .........79414.1.3.3 Velocity/Position Design......................................79514.1.414.1.5Workspace Tree............79914.1.6Smart Terminal.80014.1.7.80014.1.8EtherCAT Configuration.....80214.1.9Upload Array Filter...............14.1.9.1 Drive Simplel.....80314.1.9.2 Drive Gold.............80414.2 Flash,RAM and Saving Data...805实操派文库实Chapter 15:15.1ACr0门S...........................................................................................813最全的工业自动化手册下载：到实操派”，学PLC就是快最全的工业自动化手册下载Table of Contentswww.elmomc.实操派文EAS II User Manual10EAS_II_UM (Ver.2.201)派文Chapter 1:Introduction1.1 How to use this ManualThis manual is part of the Elmo documentation set.It should be used in conjunction with the othermanuals that describe Elmo products to be used with the Elmo Application Studio ll最全的工业自动化手册下载(EAS I).Elmo Application Studio ll provides a user interface that makes the use of Elmo products moreaccessible for users.Some of the fields in EAS Il are equivalent to drive mands.In other fields,the user enters information processed in EAS Il to generate a drive mand or a set of mands.To avoid too much overlapping between manuals,this manual provides only a functionalexplanation for every field.Where necessary,the equivalent drive mand or parameter ismentioned.If you require more information about a mand or parameter,please refer to theproduct's mand reference guide.For a better understanding of drive algorithms and therelations between parameters,refer to the product's software manual.1.2 What is the Elmo Application Studio II (EAS II)?Elmo Application Studio ll (EAS Il)is the new generation of Elmo's Application Studio,a suite ofWindows based software tools designed with a similar interface to Microsoft's Office.It is the smartand EASy implementation tool,for optimal performance of your machine's motion control system.The Microsoft Windows-based platform integrates all plex motion activities under oneenvironment:实操Fast and simple drive level configuration,setup and tuningServo performance analysis and optimization实操派文库Field bus work configuration,analysis and managementMulti-axis motion control organization and sequencingTesting,monitoring,recording and troubleshootingAdvanced scripting capabilities最全的工业自动化手册下载Integrated development environment for programming at drive levelIntegrated IEC-61131 development environment for multi-axis and machine motion controlThe EAS Il user interface groups the available tools in task-oriented groups.This allows you to focuson the task,working only on the settings necessary to acplish it.1.2.1 Shortening Development TimeEAS II shortens application development time by providing simple-to-use,fully automatedconfiguration tuning and motion tools for the field engineer.Simultaneously,servo control expertsare able to further optimize system performances using state of the art analysis tools in bothFrequency and Time Domains.Advanced built-in motion sequencing,recording and analysis tools,further allow the user to monitor and optimize multi-axis motion control systems at the machinelevel.实操EAS II User Manual11EAS_II_UM (Ver.2.201)1.2.2 Motion System Development for All Levels of Expertise桑派文EAS Il includes a new quick-tuning wizard to streamline the machine preparation,and activatesmachine motion in a matter of minutes.Even newers to the field of motion control are able touse the advanced features of the Application studio without prior tuning experience.Motioncontrol experts can acplish even more from EAS Il,more intuitively-meeting challenges withgreater efficiency,quality and versatility.1.2.3 Multi-language Operating System Support自动化手册下EAS Il can operate in the following OS environments:Windows XP EnglishWindows 7 EnglishWindows 7 ItalianWindows 7 GermanLC就是快Windows 7 KoreanWindows 7 ChineseWindows 8 English1.2.4 EAS II:All in a Single ToolEasy-to-use,Windows based(32 and 64 bit)multi-language operating system supportCustomizable,System workspace-oriented interface formation实操EtherCAT work configuration and diagnostic tools实操Integrated IEC 61131-3 PLC programing based IDE(Integrated Development Environment).Drive level user programing development environmentFast,easy and efficient simplified and advanced Auto Tuning toolsNumerous sensor types calibration supportFlexible sensor setup in Dual Loop configuration最全的工业自动化手册下载Advanced System Identification and Controller design methodsMIMO Based gantry and planar Controllers automatic tuningSingle axis motion control testing toolsMulti-axis motion control testing toolsAdvanced recording and analysis and capabilitiesOptimize your servo performance by using advanced filtersEtherCAT implementation capabilities.CANOpen over EtherCAT(CoE):Real time munication with EtherCATEther over EtherCAT(EoE):Axis remote control for update settings,monitoring andperform diagnosticsTable of Contents www.elmomc.实操派文EAS II User Manual12EAS_II_UM (Ver.2.201)File over EtherCAT (FoE):Downloading firmware and configuration files桑派文库Built-in Modbus TCP/IP toolAdvanced DS402 multi-axis motion controller capabilities for CANopen and EtherCATHomingCyclic Position最全的工业自动化手册下载：至Cyclic VelocityCyclic Torque实Interpolated PositionProfile PositionProfile Velocity学PLC就是快·Profile TorqueWrite customized machine sequences in a simple manner using the Gold Maestro ScriptManager tool实操派文库一最全的工业自动化手册下载：到"实操派”，学PLC就是快！实操派文库一最全的工业自动化手册下载Table of Contentswww.elmomc.实操派文EAS II User Manual13EAS_II_UM (Ver.2.201)Chapter 2:InstallationThis chapter provides EAS Il system requirements and instructions for installing and setting it up.2.1 System Requirements最全的工业自动化手册下载To install EAS Il,you need a PC with the following requirements:One of the following Operating Systems:Windows XPWindows 7-32 Bit or 64 Bit (without USB connection to the drive)●Windows 8●At least1 GB RAM就是快Microsoft .NET Framework 4 Extended versionTo install and operate EAS Il correctly requires the following:1.Verify that you are using a Windows 7 version with the latest Service Pack.2.To find out which service pack you have installed,go to Control Panel System Security System.PView basic information about your puter实操派文Windows editionService Pack1Verify that you have the Microsoft.NET Framework 4 Extended version by going to ControlPanel Programs Programs and Features Installed Updates.业自动化手册下载T44Table of Contentswww.elmomc.实操派文EAS II User ManualEAS_II_UM (Ver.2.201)14桑派文2.2 Installing EAS IIWhen installing EAS Il for the first time,the following EAS ll related files are installed:EAsⅡsystem filesThe files installed together with EAS Il and are located under the EAS动ll installation folderUSB drivers册Installed with EAS Il,the USB driver files are located under thestandard Windows system32 folder自动化手册下载User filesAll the files created by the user or by any tool during user activity inEAS Il;these files include user programs,scripts,traces,recordingdata,user setup files,etc.Workspace relatedThe files that hold every data related to the workspace,including thefilesworkspace database and target device related dataEAS II settings filesIncludes all global settings related to the EAS ll application,itsappearance,GUI layout,user preferences and tool settings are notrelated to a specific workspaceNotes:This EAS Il installation procedure is for a Windows 7 platform.The EAS II USB is a plug and play device.The system automatically recognizes the USB when itis plugged.The USB driver is installed during the EAS ll installation process.When installing in a system with Windows 7 Operating System,make sure you have实操Administrator rights on your puter.To install EAS ll:1.installation.The Elmo Application Studio ll-InstallShield Wizard window appears.全的工业自动化手册下载The Wele to the InstallShield Wizard for Elmo Application Studio ll appears next.Table of Contentswww.elmomc.EAS II User Manual15实操派文库一最全的工业自动化手册EAS_II_UM (Ver.2.201)派文库一最全的工业自动化手册下载：至2.Click Next.The Destination Folder window appears.实操派文库一最实操派文库Click Next to install EAS Iin the default location,or click Change to select a different location.的工业自动化手Ready to Install the Program的工业自动化手册下载实操派学PLC就是4.Click Install to start the installation.A progress bar is displayed showing the progress of the installation.When the installation ispleted,the InstallShield Wizard Completed window appears,see the following image.Table of Contentswww.elmomc.