UM1040

Connection and initialization

Doc ID 18362 Rev 3

5/19

The basic software provides three interface options:

–

SPIMD20_LOCAL_vnn_nn_nnnn.rbx (Local interface): allows control of the

SPIMD20 from the PC via the RS232 serial connection, and to parameterize the

SPIMD20 and perform the current, speed, and autotuning tests.

–

SPIMD20_CANOP_vnn_nn_nnnn.rbx (CANopen interface): allows the operation

of the SPIMD20 as a slave of a CANopen master with the DS301/DSP402

protocols. This software version also contains the Local interface, which is

selectable with the dedicated command in the shell partition. In this way the

CANopen interface is completely bypassed and the SPIMD20 is controlled only via

the serial channel.

–

SPIMD20_ECAT_CoE_vnn_nn_nnnn.rbx (interface Can Over EtherCAT): allows

the use of the SPIMD20 as a slave of an EtherCAT master with the CoE DSP402

protocol.This software version also contains the Local interface, which is

selectable with the dedicated command in the shell partition. In this way the

CANopen interface is completely bypassed and the SPIMD20 is controlled only via

the serial channel.

2.4

Initialization of the SPIMD20/motor base parameters

1.

Install the Robox RDE programming suite and copy the licence file into the installation

folder

2.

Start RDE

3.

Open the workspace “SPIMD20_Local.rws”

4.

If connecting for the first time, set the communication port in the Workspace window:

Menu Display > WorkSpace Windows, to open the window

5.

Double-click Connection > BCC/31 on RS232 > mycomm, and set the COM port of the

PC (speed=autodetection, handshake=none)

6.

Save the workspace to avoid repeating the procedure at the next startup

7.

Enter the command “sysinfo” into the shell command bar and press Enter to check the

answer, to verify that communication is running correctly

8.

Activate the IMD configuration tool by pressing the relevant key in the toolbar and enter

“Live” mode

9.

Set the NMT machine state to “Pre Operational” mode by pressing the relevant key

(some parameters can be set only in this mode)

Note:

The dictionary tooltip is available on each configurator item. Refer to the IMD Local Interface

SW Manual for each entry description.

10. Set the SPIMD20 basic parameters in the following menus:

●

Configuration > Transducer > Transducer Type:

Select the transducer type and fill in the corresponding parameter menu:

for resolver

–

number of poles

–

frequency of the driving signal (4/8 KHz)

–

disactivate the resolver fault alarm

for rotary EnDat

–

configure the number of bits per rotation