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Section 5: Motor management tool rev. 01 September 2009

1.

COMPOSER motor management tool .....................................................................................2

1.1
System requirements ............................................................................................................3
1.2
Installing Composer .............................................................................................................3
1.3
Connections..........................................................................................................................4
1.4
Moving axes with SMART TERMINAL.........................................................................5
1.5
Loading the Firmware on the motor drive .........................................................................10
1.6
Loading data to the motor drive.........................................................................................17

Notes:

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1.
COMPOSER motor management tool
Composer is a sophisticated Windows based software suite designed by the Drive manufacturer to
provide rapid and easy configuration whilst optimising its combination with the movement control,
brushless servo motor drive and internal position sensors systems.
The Composer can be used to:
Conduct the manual or automatic tuning of the motor unit.
Conduct tests on the motor unit with feedback control option.
Interpret the results and modify the test parameters,
Perform tests to determine the best control options for each specific application.
Each application created with Composer includes all the communication parameters with the
control host used for the application, a dedicated programme, all the servo motor drive settings,
motor settings etc defined for each specific applications. Each application can be used on other units
with the same features without having to install it again.

This manual was not devised to provide in-depth instructions on how to use
Composer, it aims to provide guidelines to assist the final testing operators or
the maintenance squad when searching to detect errors or faults, during start-up
or equipment repair phases; it allows operators to remotely handle a transmission
or motor unit using a PC without the control charts. This should help technicians
to conduct fault targeted diagnosis and assist them during repair phases. Bear in
mind, however, that due to their complexity and the way they are made, the
motor units should be repaired using suitable equipment/materials at the
factory.
The aforementioned package can also be used to programme the motor unit.
Do not use Composer to programme the Drive, "Tune" where necessary or
change the motor unit settings.
Performing these operations without the supervision of a qualified operator
can cause faults or serious damages to the motor unit and the equipment.
The operator is accountable for any possible damages caused by incorrect
operations.

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1.1 System requirements

The following elements are required before installing Composer on the PC:
Microsoft Windows 95/98/2000/XP/Vista/Win7
Minimum 32 MB RAM
Available disk space 300 MB
CD-ROM
Pentium II processor or equivalent (minimum)
RS-232 Port
1.2 Installing Composer
Installation instructions for Composer software from CD-ROM to PC:
Insert the CD-ROM in the computers CD drive;
Open the Composer_setup. folder and double click setup.exe to start installation.
The installation wizard will be displayed as seen below:

Press <Next> to continue and follow the Composer installation instructions page by page.
On completing the installation phase, create a shortcut to the desktop for easy access in the
future.
Remove the CD-ROM from the CD drive when finished.

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1.3 Connections
Connect the cable between the PC serial port and the motor unit drive you wish to test connector
CN2 (RS232-C Serial).
Use the connection cable carrying code 57076 supplied by GMM.
The equipment must be switched off when performing the connection operations below:
Remove the guards to access the motor unit to be checked.
Connect the connection cable Mx-CN2 (motor drive), for motors with brakes, remove the
fitted connection to connect.
Connect the cable to the PC serial port.
To manage the M11 motors (detector pivoting) and M12 (detector rotation), remove
the brake control connection from the outside using the control board (M11-CN5 and
M12-CN5) and connect the motor brakes to its drive. The brake is now controlled by
the Drive and no longer from outside (see layouts).

To connect to the Drive via the SMART TERMINAL, and to download the
Firmware or data to the Drive, simply make sure the auxiliary power supply
(24Vcc) is enabled and access the Drive with the emergency mushroom head
buttons (power OFF).
To handle the motor unit via the SMART TERMINAL make sure the power
is ON (200Vcc), the emergency mushroom head buttons are released (power
ON). If a motor unit malfunctions, the watch-dog will intervene by shutting
down the power supply; it is then necessary to bypass the watch dog to obtain
the power needed (join S1-CN9.1 to S1-CN9.2 see layouts).
It is now possible to boot the PC and the equipment to commence testing.
On completing the test operations, with the machine switched off:
Disconnect the cable from the serial output and restore the jumper where necessary.
Reinstate the external brake control connection if the internal option is enabled.
Reinstate watch-dog intervention if it was by-passed earlier on.
The equipment must operate with the watch-dog enabled on the safety
switch circuit.

Close the protection guards.

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1.4 Moving axes with SMART TERMINAL

The SMART TERMINAL is an interactive mechanism that supplies the online communication
with the drive inside the motor unit and allow you to send commands to an individual axis and
view the feedback.
During this phase the axis movements are free and not subject to the
software control.
Pay your best attention while moving the axis in this situation.
During the movements of the axis with the SMART TERMINAL, the
operator shall be responsible for possible damages caused by wrong
operations.

Click the <COMPOSER>

Click the < Open Communication Directly> icon to view the popup window below:

icon to view the popup window below:

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Click on <END>, if the selected communication port is correct, and enters the SMART
TERMINAL directly, otherwise:
Select communication type <RS232>
Click <Properties> to check the communication port properties, as seen in the popup
window below:

Set the Com Port = COM x number of the PC Com port connected to the motor serial
Set Bit per second to 19200
Set parity to None
Click <Connect> if the popup window below appears:

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Check if the drive is powered up and if the connections are correct, otherwise directly access
the SMART TERMINAL and the following popup window will appear:

Click the <Monitor> icon to view the popup window below:

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Follow the instructions below to move the motor or axes:

Power up the equipment Power ON (see Chap. 1.3).
Enable <Jogging mode>
Enter a speed value in RPM. Key in a low value, 100 = 100RPM.
Positive values move the axes upwards, to the right and in a clockwise direction.
Negative values move the axes downwards, to the left and in a counter clockwise
direction.

Click <GO> to enable axis movement (motor ON = green indicator led on)
Click <STOP> to disable axis movement (motor OFF= green indicator led off), the Stop
icon below the <GO> will halt all movement but keep the axes aligned. Always press the
<STOP> icon on the tool bar to halt movements.
If it is necessary to replace a motor unit or if it has been disassembled from
the equipment, (mechanical uncoupling) for test purposes, check the
position of the encoder before reassembling it.
When assembly has been completed, repeat the acquisition of the relative
transmission end of strokes.
Incorrect positions and assembly procedures can cause faults or serious
damages to the motor unit and the equipment.
The operator is accountable for any possible damages caused by incorrect
operations.

Check that the step encoder number <Position in [cnt]> set for the motor unit is about
<10000000> i.e. between 950000010500000. If this is not the case, move the motor to the
desired position.
Mount the axis and acquire the end of strokes of the transmission in question.
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To disconnect from the drive and quit the programme:

Press the <STOP> icon on the tool bar to make sure the motor is off.
Click the <Disconnect> icon to disconnect from the drive, the popup window seen below
will appear:

Press <YES> to disconnect.

Press <Exit> to quit the programme.

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1.5 Loading the Firmware on the motor drive

The motor drive firmware is loaded by the Manufacturer; it is not
necessary to reload the firmware if a motor unit or drive are replaced.
Only download the firmware if the drive or GMM requests an update. The
latter occurs when connecting the SMART TERMINAL to the motor
drive.
Before downloading the drive firmware, contact the GMM service to
verify the compatibility of the file in your possession and/or to find out if
any updated files are available.
If a firmware is downloaded incorrectly, this will cause faults or serious
damages to the motor unit and the equipment.
The operator is accountable for any possible damages caused by incorrect
operations.
To download the new version of the firmware, proceed as follows:

Connect the PC serial port to the motor serial port.

Power up the equipment (at least the auxiliary 24Vcc power should be available).

Click the <COMPOSER>

Click the < Open Communication Directly> icon to view the popup window below:

icon to view the popup window below:

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Click <END> if the communication port RS232 is selected and its parameters are correct,
then enter the SMART TERMINAL otherwise:

Select communication type <RS232>:

Click <Properties> to check the communication port properties, as seen in the
popup window below:

Set the Com Port = COM x number of the PC Com port connected to the motor
serial
Set Bit per second to 19200
Set parity to None
Click <Connect> if the popup window below appears:

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Check if the drive is powered up and if the connections are correct, otherwise two different
popup windows will appear, according to the operative status:
The former applies only if the update has been requested by the Drive following a partial
programming error.
The latter, in standard operating conditions, directly enters the SMART TERMINAL.

Press <YES> to continue; a popup window will appear with the <BROWSE> option if the
programming status is standard:

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Select Tools Firmware Download, and the following popup window will appear:

In both cases select <Browse> and open the PC directory which stores the Firmware.

Select the Firmware <*.abs> file and press <Open>, one or two popup windows may
appear; the first will only open if the update has been requested by the Drive following a
partial programming error.

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Press <YES> to continue; a popup window will appear when operating in standard
programming conditions:

Press <OK>, the downloading process will commence and a status bar will indicate the
downloading process status .

When downloading the firmware, all the other popup windows will be provisionally
disabled. The following message will be displayed when the firmware downloading has
been completed:
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Firmware Download was Completed Successfully! PLEASE REBOOT THE AMPLIFIER and CLICK
OK!

Reboot the equipment and then press <OK>

Check that the firmware has been downloaded correctly by reinstating motor drive communication
and checking the software version.

Connect to the SMART TERMINAL to check the Firmware version

Type in the < VR > command and press send. The Firmware version will appear in the box
below: GUITAR ...

Downloading firmware does not modify any drive data. Check the drive node is
affiliated with the Can bus network to verify the data.

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Check the motor Can node by typing in the < pp[13] > command and press send. The
entered command followed by the motor node number will be displayed in the box below.

The correspondence between the motor can bus network node is as follows:
Node 1 = M1- tilting motor
Node 2 = M2-table top elevation motor
Node 3 = M3-column longitudinal displacement motor
Node 4 = M4-detector longitudinal displacement motor
Node 5 = M5- focal distance motor
Node 6 = M6-X-ray tube oscillation motor
Node 7 = M7-X-ray tube flapping motor
Node 8 = M8-X-ray tube transversal displacement motor
Node 9 = M9-detector elevation motor
Node 10 = M10-detector transversal displacement motor
Node 11 = M11-detector pivoting motor
Node 12 = M12-detector rotation motor

Press <Exit> to quit the programme.

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1.6 Loading data to the motor drive

The motor drive data are loaded during the motor final testing and
inspection phase at the factory.
If the motor unit or drive are replaced, ask the factory to load the data.
Before downloading the drive data, contact the GMM service to verify
the compatibility of the file in your possession and/or to find out if any
updated files are available.
If data is downloaded incorrectly, this will cause faults or serious damages
to the motor unit and the equipment.
The operator is accountable for any possible damages caused by incorrect
operations.
To download the new version of the motor drive data file, proceed as follows:

Connect the PC serial port to the motor serial port.

Power up the equipment (at least the auxiliary 24Vcc power should be available).

Click the <COMPOSER>

icon to view the popup window below:

Select <File> and <Open Application> or click the <Open an Existing Application> icon,
open the <Motors_file> directory loaded on the PC, the popup window below will appear:

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The <Motors_file> directory contains the data files for all 12 motors (one per motor)

Select the motor data file you want to download.

Click <Change> to check or select the serial port settings for the PC connected to the
motor drive, the popup window below will appear:

Select communication type <RS232>:

Click <Properties> to check the communication port properties, as seen in the popup
window below:

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Set the Com Port = COM x number of the PC Com port connected to the motor serial
Set Bit per second to 19200
Set parity to None

Click <Connect> if the popup window below appears:

Check that the drive is powered up and the connections are correct, otherwise:
Click <Download> to download the file, when the data has been downloaded,
connection to the motor via the SMART TERMINAL will take place, and the popup
window below will appear:

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Check the motor Can node by typing in the < pp[13] > command and press send. The
entered command followed by the motor node number will be displayed in the box below.

The correspondence between the motor can bus network node is as follows:
Node 1 = M1- tilting motor
Node 2 = M2-table top elevation motor
Node 3 = M3-column longitudinal displacement motor
Node 4 = M4-detector longitudinal displacement motor
Node 5 = M5- focal distance motor
Node 6 = M6-X-ray tube oscillation motor
Node 7 = M7-X-ray tube flapping motor
Node 8 = M8-X-ray tube transversal displacement motor
Node 9 = M9-detector elevation motor
Node 10 = M10-detector transversal displacement motor
Node 11 = M11-detector pivoting motor
Node 12 = M12-detector rotation motor
The motor drive data update is now complete.

Press <Exit> to quit the programme.

Disconnect the PC from the serial port, reboot the equipment and check that the motor moves
properly.

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