IRIS ORCA RM220115 Bedienungsanleitung

ORCA™ SERIES MOTOR

RM220115

ORCA™ SERIES MOTOR

Reference Manual 220115

This document applies to the following Orca Series linear motor ﬁrmware:

●6.1.7

For more recent ﬁrmware versions, please download the latest version of this reference manual at

https://irisdynamics.com/downloads

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ORCA™ SERIES MOTOR

RM220115

CONTENTS

List of Tables....................................................................................................................................................... 4

List of Figures......................................................................................................................................................4

REVISION HISTORY........................................................................................................................................... 5

Introduction......................................................................................................................................................... 6

Powering the Motor........................................................................................................................................... 7

Fuse.................................................................................................................................................7

Ground.............................................................................................................................................7

Chassis........................................................................................................................................... 7

Communication Interfaces...............................................................................................................................8

Methods of Motor control.................................................................................................................................9

IrisControls Software..................................................................................................................... 9

Modbus RTU................................................................................................................................... 9

Orca Analog Interface.................................................................................................................... 9

Autonomous................................................................................................................................... 9

Modes of Operation.........................................................................................................................................10

Sleep Mode (1)............................................................................................................................. 10

Force Mode (2)............................................................................................................................. 10

Position Mode (3).........................................................................................................................10

Haptics Mode (4)......................................................................................................................... 10

Kinematic Mode (5)......................................................................................................................10

Getting Started with IrisControls...................................................................................................................11

Required Software..............................................................................................................................11

Required Hardware............................................................................................................................ 11

Connecting to IrisControls...........................................................................................................12

Troubleshooting Connection............................................................................................................12

Navigating the GUI....................................................................................................................... 13

Home Page................................................................................................................................... 13

Position / Kinematics Page......................................................................................................... 14

Tuning Panel........................................................................................................................................15

Kinematic Panel..................................................................................................................................16

Application Note:................................................................................................................................ 17

Force / Haptics Page................................................................................................................... 18

Application Notes:.............................................................................................................................. 19

Modbus / OAI Page......................................................................................................................21

Modbus Server Status.......................................................................................................................21

Orca Analog Interface........................................................................................................................22

IrisControls Logging.....................................................................................................................22

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RM220115

Orca Registers.................................................................................................................................................. 22

Control Registers..........................................................................................................................23

CTRL_REG_0...........................................................................................................................23

CTRL_REG_1...........................................................................................................................23

CTRL_REG_2...........................................................................................................................23

CTRL_REG_3...........................................................................................................................24

CTRL_REG_4...........................................................................................................................24

Sensors.............................................................................................................................................................. 26

Force Sensor.................................................................................................................................26

Position Sensor............................................................................................................................ 26

Power Sensor............................................................................................................................... 26

Temperature Sensors...................................................................................................................27

Controllers......................................................................................................................................................... 28

Force Controller............................................................................................................................28

Position Controller....................................................................................................................... 28

General Tuning Guide........................................................................................................................ 28

Proportional Action............................................................................................................................ 28

Integral Action.....................................................................................................................................29

Derivative Action.................................................................................................................................29

Saturation Level.................................................................................................................................. 29

Kinematic Controller.................................................................................................................... 30

Software Triggering........................................................................................................................... 30

Hardware Triggering.......................................................................................................................... 30

Conﬁguring a Motion......................................................................................................................... 31

Haptic Controller.......................................................................................................................... 32

Effects...................................................................................................................................................32

Conﬁguring Effects............................................................................................................................ 33

User Conﬁgurations.........................................................................................................................................34

Maximum Temperature.................................................................................................................... 34

Maximum Force..................................................................................................................................34

Maximum Power................................................................................................................................ 34

Communication Timeout..................................................................................................................34

Errors.................................................................................................................................................................. 35

Active and Latched Error Registers.............................................................................................35

Conﬁguration Errors...........................................................................................................................35

Force Clipping..................................................................................................................................... 35

Temperature Exceeded..................................................................................................................... 36

Force Exceeded.................................................................................................................................. 36

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ORCA™ SERIES MOTOR

RM220115

Power Exceeded................................................................................................................................. 36

Shaft Image Failed............................................................................................................................. 36

Voltage Invalid.....................................................................................................................................36

Communications Timeout................................................................................................................36

APPENDIX : Orca Memory Map.....................................................................................................................37

LIST OF TABLES

Table 1:RJ45 Pinout 7

Table 2: Communication Interfaces 8

Table 3: Sensors 24

Table 4: Kinematic Motion Conﬁguration Registers 29

Table 5: Haptic Effect Conﬁguration Registers 31

Table 6: User Conﬁguration Registers 32

Table 7: Errors and their Impact 33

LIST OF FIGURES

Figure 1: Block Diagram 6

Figure 2: Initial Orca Series Motor Setup 6

Figure 3: IrisControls Software without an Orca Series motor connected 11

Figure 4: Orca Series Linear Motor 11

Figure 5: RS485 to USB cable 11

Figure 6: RJ45 Splitter 11

Figure 7: IrisControls Connection Information 12

Figure 8: IrisControls Settings Dialog 12

Figure 9: Orca GUI with Home Page Open 13

Figure 10: IrisControls Position Page 14

Figure 11: IrisControls Tuning Panel 15

Figure 12: IrisControls Kinematic Panel 16

Figure 13: IrisControls Force Page 18

Figure 14: IrisControls Modbus Panel 21

Figure 15: IrisControls Orca Analog Interface Panel 22

Figure 16: Changing logging period through console 22

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ORCA™ SERIES MOTOR

RM220115

REVISION HISTORY

Version

Date

Author

Reason

0.0

January, 2022

Initial Draft

1.0

April, 2022

Include GUI and Kinematic sections

1.2

August, 2022

Review and update

1.3

September, 2022

Update for 6.x.5 changes.

1.4

February, 2023

Update for 6.1.6 changes.

1.5

April, 2023

Formatting, memory map update

1.6

May, 2023

rm, ab,

Update GUI, add Haptics section, change section order

1.7

Aug, 2023

kh, sj

Expand on control register

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ORCA™ SERIES MOTOR

RM220115

INTRODUCTION

This document describes the functions and operation of Orca™ Series linear motors having

integrated drivers and an integrated sensor suite.

Figure 1: Block Diagram

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ORCA™ SERIES MOTOR

RM220115

Figure 2: Initial Orca Series Motor Setup

POWERING THE MOTOR

Orca Series motors are powered by DC voltage. The Orca Series variant name speciﬁes the

voltage at which the motor is most eﬃcient, however all Orca Series motors can be powered by

12 – 60 VDC.

Flying lead power connections are provided for each motor. Orca Series motors are conﬁgured to

be able to draw signiﬁcant currents and proper attachment of the power lines to a suitable power

source is important.

Suitable power sources for Orca Series motors are AC-to-DC converters, batteries of various

chemistry, capacitor banks, or other sources of DC voltages. Engineering support from Iris

Dynamics on the selection of a suitable power source is available.

Fuse

A 30-amp fast-blow fuse must be installed between the power supply and the motor. This fuse

will be destroyed if negative voltage is applied to the motor.

Ground

In all cases, the black power lead is “Ground” and should be connected to the negative terminal of

the power supply or battery.

It is important that the power supply Ground, and the Ground of any electronics attached to the

device’s communication cable is kept at the same level. Usually this is done by making sure the

power supplies of the motor and external controller (if different) are connected to Earth at both

their chassis and negative output terminal.

Chassis

As an important safety measure, the chassis of the motor must be securely connected to Earth.

Proper grounding of the chassis is also important for proper operation of the motor.

The motor enclosure and cable shields are connected but these are not connected to the Ground

circuit of the on-board electronics. Therefore, a separate connection from the Chassis to Earth

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ORCA™ SERIES MOTOR

RM220115

must be made which can be accommodated by threading a conductive bolt into any of the

provided thread patterns on the enclosure.

COMMUNICATION INTERFACES

Communication cables are typically terminated with an RJ45 connector. The 5V and GND lines on

the connector can be used to power the motor’s logic so that communications and diagnosis can

continue when the motor’s power source is switched off or disconnected.

Table 1:RJ45 Pinout

Signal

Notes

RX2+

Modbus

RX2-

TX2+

RX/TX1+

IrisControls™

RX/TX1-

TX2-

Modbus

+5V

Can be used to power logic,

or indicate logic power

status

GND

Must be connected to the

communication hub

ground.

There are two serial communication interfaces available which enable a Windows-based GUI (via

IrisControls), ﬁrmware updates, and a Modbus RTU communication stream.

Table 2: Communication Interfaces

Splitter Port

Signalin

Protocols

RS485

Half

Duplex

IrisControls (GUI)

IrisBootloader

RS422

Full

Duplex*

Modbus RTU

* See UG230323 – Orca Series Modbus over Half-Duplex RS485 for information on setting up a

half-duplex connection on this port.

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RM220115

METHODS OF MOTOR CONTROL

IrisControls Software

The Orca Series motors can be commanded and conﬁgured through an integrated graphical user

interface (GUI). See the Getting Started With IrisControls section of this document for full details.

Modbus RTU

The Orca Series motors are Modbus RTU servers, with additional functionality to support a

high-speed stream of commands and feedback. See the UG210912 – Orca Series Modbus user

guide for further details.

All conﬁgurations and control options are available through registers on the Orca Series motors.

See the Orca Memory Map for a list of register addresses.

A PLC, PC, or other Modbus client can be used to command the motor. Third party programs with

built in Modbus libraries such as Labview, or Matlab can also be used. There is an IrisSDK for

Windows available with libraries that abstract the Modbus communications for use in custom

software solutions.

UG230503 – Orca Series Modbus RTU PLC document provides further an example of

communicating with a motor using a PLC.

Orca Analog Interface

The Orca Analog Interface allows for control of Orca Series motors in force, position, and

kinematic modes through simple digital and analog inputs. Real-time force and position data is

also fed back from the Orca to the Orca Analog Interface and provided as analog outputs.

For details on conﬁguring the Orca Analog Interface of this manual. For further details on the Orca

Analog Interface itself see UG230424 – Orca Analog Interface user guide.

Autonomous

Orca Series motors can be conﬁgured to continuously cycle motions on power up or to move

through a set of motion proﬁles by connecting the Orca data cable to a hardware button.

See the autonomous looping sequence application note section for details on setting up this

option.

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ORCA™ SERIES MOTOR

RM220115

MODES OF OPERATION

The motor operates in ﬁve main modes of operation: Sleep Mode, Force Mode, Position Mode,

Kinematic Mode, and Haptic Mode. Force Mode and Position Mode are meant to be used with a

Modbus communication stream and cannot be entered directly through the IrisControls GUI.

Sleep Mode (1)

In this mode, power drivers are not active and windings in the stator are all shorted (producing a

braking effect). Force and position commands are ignored.

When Sleep Mode is commanded (even when sleep mode is currently active), any active errors

will be re-evaluated and cleared where appropriate.

Force Mode (2)

The force controller will control the power delivered to the motor to achieve the forces written to

the FORCE_CMD register. Note: this register is double-wide (32 bits).

Once in Force Mode, communications must be made regularly over the Modbus interface to avoid

a timeout error. In the event of communications failure or other motor errors, the motor will cease

all power draw and put the windings into a passive braking effect.

Position Mode (3)

The position controller will calculate forces for and command the force controller according to the

conﬁgured PID tuning, the setpoint, and the current shaft position.

Before entering Position Mode, the user should make sure the shaft has been zeroed to a known

position.

Once in Position Mode, communications must be made regularly over the Modbus interface to

avoid a timeout error. In the event of communications failure or other motor errors, the motor will

cease all power draw and put the windings into a passive braking effect.

Haptics Mode (4)

The force controller works similarly to Force Mode, however, force commands will be dictated by

the haptic controller rather than a Modbus stream.

The haptic controller comprises several haptic force effects that can be conﬁgured and enabled.

The sum of forces resulting from all enabled haptic effects is used as the force target.

Kinematic Mode (5)

The position controller works similarly to when in Position Mode, however, position commands

will be dictated by the kinematic controller rather than a Modbus stream.

The kinematic controller outputs motion proﬁles to move to a shaft position over a speciﬁed time,

while respecting the chosen kinematic constraints.

In Kinematic Mode, the motions can be triggered by MODBUS messages, or by hardware edge

detection. If hardware triggering is enabled, the Orca will boot up in Kinematic Mode, but MODBUS

communication will be disabled.

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