Wiring

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Introduction

This page contains information on how to correctly wire the Argon servo drive to the chosen hardware. Others methods can also be correct depending on the feedback device, type of attached motor or motion control. Those methods are not covered in this wiki.

Most of the wiring is done accordingly to the drive manufacturer recommendation. It is recommended that the Argon documentation is carefully read before using this guide.

Wiring overview for current set up

The picture below show the basic concepts on wiring the Argon to the proposed set up of this Wiki (LinuxCNC + mesa card 7i77). This corresponds to the final wiring on this page, that is preceded by the start up wiring, recommended to test and tune the servo drive with the servo motor.

ArgonConnection HighRes.png

Initial wiring (basic wiring to enable the PC connection)

On this sub section the initial wiring of the Argon is made. After the connection is made, a PC, running Granity software can be used to connect and tune the servo drive to the corresponding servo motor.

This connection will not be undone on the final wiring, only complemented, so a correct, fully detailed wiring can be done, as it will evolve into the final wiring. Also the PC connection using Granity can still later be used when the final wiring is completed.

Mains supply

The first thing to do to be able to control the motor is to provide power to the Argon servo drives. To ease the process of wiring we start connect the line filter to J4 connector following the next schematic.

Argon wiring 1.png

Logic supply

The next step is to provide the 24VDC logic power supply to the Argon servo drive on the J3 plug. Switching this power supply from the Argon produces a forced reset, that is useful if the drive enters in a un-recovering error mode (for example initialization errors that are not cleared by the built in clear faults input). For this reason a normally closed relay was used between the power supply and the Argon. This NC relay will be controlled by the CNC controller meaning that the CNC controller will be able to hard reset the drives.

The used servo motor did not had a brake so no connection was made on BK contact. If the motor was supplied with a brake, this connection would be slightly different, making use of the BK (please see J3 connector wiring on Argon documentation).

Argon wiring 22.png


SimpleMotion V2 break out board

Now is time to connect the SimpleMotion V2 break out board. This board interfaces the communication link to RS485 electrical serial communication standard for all data transfer and break out the enable and STO signals for easy wiring through wire terminals.

Smv2brk 1.png

Following this schematic, the enable line is left disconnected for now. This enable line will be used by the CNC controller. Software enable can be done on the Granity software (Argon software interface for the PC), and for motor tests and tuning is enough for now.


SMV2BRK.JPG


After the servo motor is correctly connected (see Servo motor power plug and Servo motor resolver plug), the Argon is now ready to be connected to the servo for tuning. Follow the pages on Tuning for more info on the used procedure.

Final wiring

Argon J1

This connector is intended to feedback device wiring, as the motor have resolvers, the Argon resolver adapter was used.

512px-Resolveradapterwiring.png

Argon J2

J2 is used to SimpleMotion V2 communication link. The SMV2 connector acts also as emergency stop or safe torque off input.

SimpleMotion V2 break out board

In addition to previous wiring, now we need the enable signal from the controller, with will activate the drives when its needed so the ENA input from SimpleMotion V2 break out board will be connected to Mesa 7i77 output-07.

This is the final writing of the break out board:

Smv2brk 1 f.png

Argon J3

Argon's J3 is a 3 pole terminal block type connector used for supplying 24VDC to drive and optionally controlling motor solenoid brake.

Argon j3.png

Argon J4

J4 is a 10 pole terminal block connector for several functions: earthing, AC power input, motor output, regenerative resistor output and HV DC link sharing.

Argon j4.png

Encoder signal generator

One of the advantages of working with the Argon / Granite Devices is the openness of the system and the flexibility the company provides.

Since the servo motors used on this project were fitted with resolver's, and the Mesa 7i77 expects quadrature signals for encoder feedback, the use of the resolver could be problematic as no direct compatibility existed. Three "standard" options existed:

Option Advantages Disadvantages
Replace the resolver's to standard incremental encoders
  • Easy to obtain
  • Economical up to 3600ppr
  • Mechanical adaption is required on the motor back
  • The resolver fitted on the motors were high quality high resolution
  • Cost if a high resolution is needed
Translate the resolver signals into compatible encoder signals
  • A motion control solution could be used without compromise the project complexity
  • Use the high quality resolver's that were standard on the motors
  • Use the basic yet versatile combination 5i25+7i77
  • Use the high resolution provided by the resolver directly to the Argon
  • Extra hardware needed to translate the resolver signal to encoder signal
  • Deficient market availability
  • Cost


So the decision was not easy and not consensual to our building team. Since the Argon directly accept resolver signals, we contacted the Granite Devices development team and asked if there was the possibility of the Argon to generate the quadrature signals based on the resolver signals. Fortunately they accepted to create a test firmware and we provided some test results.

After several attempts and some tuning, we were able to test a working firmware that was able to output quadrature signals that emulates a encoder. Therefor, the Mesa 7i77 could be used and see the motor feedback as a encoder.

Note:
When this wiki was written, officially the Argon does not have this ability, and the hardware needed to produce the quadrature signals is not available. Hopefully Granite Devices will mass produce the needed add on hardware to the Argon and public release the firmware.

Thank you, Granite Devices !

Argon J5

The Argon J5 is intended to I/O, setpoint and switches wiring. For ease the wiring a IDC terminal block/breakout board was used:

Idc breakout.JPG

A ferrite core on the ribbon cable to attenuate electrical noise:

Ribbon ferrite.JPG

The following schematic shows how the connections were made:

X drive Argon J5.jpeg

J5 Inputs

  • Pin 7 and 8 correspond to the analog input setpoint. ANAIN1+ (pin8) should be connected to mesa 7i77 TB5 aout0 and ANAIN1- (pin7) to gnd. This will control the velocity setpoint of the motor. The following image shows on of the 6 mesa 7i77 analog outputs. The output "0" was used.

9 Mesa7i77 crop.jpg

  • Pin 26 is the clear drives faults input.Transition from false to true attempts to reset active faults of drive. This pin was connected to out08 (DriveClearFault) and can be seen on the 7i77 connections schematic.

J5 outputs

Argon also have outputs signals. We are using some of the available signals to inform LinuxCNC about the servo drive status and to provide a safe working environment. Therefor we used:

  • Pin 11 is the servo ready status. This pin is set to true when drive is initialized and ready to accept user commands/setpoint. Connects to Mesa 7i77 input-16. See the 7i77 connections squematic.
  • Pin 15 correspond to fault stop status. This pin is set to true when drive is stopped due to any fault. Connects to Mesa 7i77 input-17. See the 7i77 connections schematic.