ViX250IM ViX500IM Stepper Drives User Guide Part No: 1600.324.01b February, 2004 (For software revision 2.
IMPORTANT INFORMATION FOR USERS Installation and Operation of Motion Control Equipment It is important that motion control equipment is installed and operated in such a way that all applicable safety requirements are met. It is your responsibility as an installer to ensure that you identify the relevant safety standards and comply with them; failure to do so may result in damage to equipment and personal injury.
Product Type: ViX250IM, ViX500IM The above product is in compliance with the requirements of directives • 73/23/EEC Low Voltage Directive • 93/68/EEC CE Marking Directive • 89/336/EEC Electromagnetic Compatibility Directive Provided the installation requirements described in this user guide are met, and there are no special requirements of the installation and operating environment so that the application may be considered typical, the ViX servo drive series installation will conform to the protecti
Contact Addresses For engineering assistance in Europe: Parker Hannifin plc Electromechanical Automation 21 Balena Close Poole, Dorset England, BH17 7DX Tel: +44 (0)1202-699000 Fax: +44 (0)1202-695750 e-mail: sales.digiplan@parker.com e-mail: support.digiplan@parker.com Website: www.parker-eme.com For engineering assistance in Germany Parker Hannifin GmbH Electromechanical Automation P. O. Box: 77607-1720 Robert-Bosch-Str.
CONTENTS i Contents 1. Introduction.............................................................................................................1 2. Mechanical Installation ...........................................................................................5 3. Electrical Installation...............................................................................................9 4. Control of ViX Drives ..............................................................................................
ii VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Latest Changes Sheet This page lists important changes occurring immediately before publication or between issue updates:
1. INTRODUCTION 1. Introduction Product Description Available in two current ratings, these microstepper indexer drives employ an optimised digital field oriented current loop to provide low speed smoothness coupled with high speed torque. Advanced digital techniques result in reduced settling time and reduced mid speed instability when compared with similar competitive drive types.
2 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Product Variants Digital microstepper indexer drives are available in two current ratings with two interface options. Table 1-1 lists the possible combinations: Product Code ViX500IM ViX250IM ViX500CM ViX250CM Description 5.6A RMS (8A peak) microstepper indexer drive with an RS232 control interface 2.8A RMS (4A peak) microstepper indexer drive with an RS232 control interface 5.6A RMS (8A peak) microstepper indexer drive with Canbus/RS485 interface 2.
1. INTRODUCTION Fit Kits A fit kit is available for ViXIM drives: Part Number 1650.937.01 5004.023 5006.211 0405.811 0405.961 0405.962 0405.963 0409.530 0313.020 4005.218 4216.101 4216.102 4216.103 VIX-KIT Quantity Description 1 Information sheet 1 Plastic bag 1 Product label 1 10-way Flange plug strip 1 9-way D-type plug 2 15-way HD D-type plug 1 15-way HD D-type socket 4 9-way D-type cover 1 H8FE1115NC ferrite sleeve 1 3:1 heatshrink 19mm diam. 1 Closed P-clip 9mm ID 1 Closed P-clip 10.
4 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Further Information This user guide contains all the necessary information for the effective use of this drive. However, to gain a more in-depth understanding of drive applications and motion control, consider attending one of our world-wide Customer Specific Training Workshops.
2. MECHANICAL INSTALLATION 5 2. Mechanical Installation Installation Requirements Environment ViX drives operate in a temperature range of 0° to 40°C with natural convection, or 50°C Max with forced-air cooling (see Hardware Reference), at normal levels of humidity (5-95% non-condensing). The drives can tolerate atmospheric pollution degree 2, which means only dry, non-conductive pollution is acceptable. Drive Cooling Cooling of all drive types is by natural convection up to 40°C.
6 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Dimensions ViX250 and ViX500 drives share the same dimensions, shown in Figure 2-1. 3 4,5 21 5 10.1 98.5 (with connector) HVSTFB X1 X3 X2 X5 88,1 4,5 42 Figure 2-1. ViX250 & ViX500 Dimensions 145 135 124.
2. MECHANICAL INSTALLATION 7 Drive Mounting Options If you require a DIN-Rail mounting ViX drive use the optional DIN-Rail clip adapter bracket shown in Figure 2-2. 131.2mm 57.2mm 16mm Viewed from the back of the DIN rail Allow 10mm for release Figure 2-2. DIN-Rail Adapter Bracket Remove the panel mounting plate from the back of the drive and attach the bracket to the back of the drive using the screws provided.
8 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Mounting Mechanical Considerations Keep motors securely fixed in position at all times. Do not test a motor/drive combination without first securing the motor – see the Safety Warning at the front of this user guide. CAUTION – risk of equipment damage Do not back drive the motor, that is use the motor in an application that causes mechanical rotation of the motor shaft in a manner uncontrolled by the drive.
3. ELECTRICAL INSTALLATION 9 3. Electrical Installation Installation Safety Requirements ViX stepper drives meet the requirements of both the European LVD & EMC directives when installed according to the instructions given within this section. It is recommended the drive be installed in an enclosure to protect it from atmospheric contaminants and to prevent operator access while it has power applied.
10 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Power Supply Connections Power drives from a DC supply derived from an isolating transformer or a DC power supply (See Power Supply Options later in this section). Note: Pin 10 is at the top of the connector X1 and pin 1 at the bottom. Power & motor X1 10-way 10 connector +HV 9 -HV 8 PE 7 +24V DC 6 0V (GND 24v DC) 5 GND 4 3 2 MOTOR CONNECTIONS 1 Figure 3-1.
3. ELECTRICAL INSTALLATION 11 WARNING The drive HV supply input is not reverse polarity protected. Reverse polarity connections will damage the drive. Current and Capacitance A supply must have a minimum amount of capacitance to support a drive at peak power draw. Drive Type ViX500 ViX250 DC Supply Current 5.6A RMS 2.8A RMS Supply Capacitance 6600µF 3300µF Table 3-2. Drive Supply Currents +24V Requirements Both drive types require a +24V controller and logic supply.
12 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE ViX250 with SY561 Nm ViX250 with SY562 Nm 0.4 0.8 0.3 0.6 0.2 0.4 0.1 0.2 0 0 0 10 20 30 40 50 0 10 20 Speed, revs/sec ViX500 with SY563 Nm 30 40 50 40 50 40 50 Speed, revs/sec ViX250 with SY871 Nm 1.5 1.5 1.0 1.0 0.5 0.5 0 0 0 10 20 30 40 50 0 10 Speed, revs/sec ViX500 with SY872 Nm 20 30 Speed, revs/sec ViX500 with SY873 Nm 3.0 4.0 3.0 2.0 2.0 1.0 1.
3. ELECTRICAL INSTALLATION 13 XL-PSU Power Supply The XL-PSU is a 250W, power factor corrected, switched mode power supply. Designed for direct operation from world wide single phase AC input voltages, the supply is capable of powering up to two ViX250 drives (see note 1) without the need for an EMC mains input filter (see note 2).
14 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE XL-PSU Supply/Drive Connections When used to supply up to two drives the power supply can be wired as shown in Figure 3-3. 10 mm Mininum spacing between drives & PSU HV ST FB X1 10 X3 1 +DC (80V) -DC EXT. BRAKING RES.
3. ELECTRICAL INSTALLATION 15 XL-PSU Mounting Information Mount the supply vertically, near the drives it will supply. Both the top 4.5mm diameter fixing hole and the bottom two 4.5mm width fixing slots should be used. Allow a minimum free space of 50mm both below and above its case and 10mm free space on both sides. Do not mount the supply above or close to other products that generate a significant amount of heat by radiation or convection.
16 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE PL1100 Power Supply General Description The PL1100 is a linear power supply with a rated output of 1120W (80V/14A) for use with ViX and XL series drives. The supply requires a suitably rated transformer supplying 50V AC RMS for the HV and 20V AC RMS for the +24V DC.
3. ELECTRICAL INSTALLATION 17 EMC Installation These EMC installation recommendations are based on the expertise acquired during the development of compliant applications, which Parker believes are typical of the way, a drive or drives may be used. Provided you have no special installation requirements or untypical operating environment requirements, ViX drives will conform to current EMC Directives, as defined at the front of this user guide.
VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE HV ST FB X1 10 X3 CABINET BACK PLANE Lead length restriction (less than 1 metre) X4 1 X2 X5 DC Supply Star earth point to the metal backplane Located in the base of the cabinet AC Supply CORCOM Output (load) Transformer 6FC10 Input (line) 18 - + LOAD 3VK1 LINE Power wiring conduit Figure 3-5.
3. ELECTRICAL INSTALLATION 19 Motor Connections to the Drive The recommended wire size for ViX250IM/500IM motor cables, of length less than 20m, is 1mm2. For motor cable lengths greater than 20m (up to a maximum of 50m) use a wire size of 2.5mm2. Use a cable containing five conductors plus the braided screen (such as Lapp 34805), the green wire being used to provide an earth return to the drive.
20 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Note that the motor cable routing within the equipment cabinet should be kept at least 300mm away from I/O cables carrying control signals. All motor connections must be made using a high quality braided-screen cable. Cables using a metallised plastic bandage for an earth screen are unsuitable and in fact provide very little screening.
3. ELECTRICAL INSTALLATION 21 Motor Selection Usually optimum performance will be obtained when the current rating of the motor is between 1 and 1.5 times the drive rating. Drives can be de-rated to accommodate motors with lower current ratings (using variable MC within the MOTOR command), however the high speed torque will be reduced. Do not use a drive setting which gives an output current greater than the motor rating.
22 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Large Motors The largest recommended motor size is a 34-frame 3-stack. Please contact Parker if you wish to use a larger frame motor. Motor Connections at the Motor Motor connections should be made directly between the drive and motor, the use of any switching devices, such as contactors is not recommended.
3. ELECTRICAL INSTALLATION 23 Custom Motor Set Up Within screen 2 of Guided stepper initialisation, clicking upon the Setup custom button will open the window shown in Figure 3-7. Figure 3-7. EASI-V Custom Motor Configuration Window Motor the general name/number for the motor. Phase current (parallel) continuous current rating of the motor in Amps RMS. Resolution number of steps per revolution Rated speed shaft speed in rpm for a rotary stepper.
24 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE The Other Parameters Tab Selecting the Other parameters tab gives you access to the screen shown in Figure 3-8. Figure 3-8. EASI-V Custom Motor Other Parameters In-position time (IT) Digital I/O The decimal number required by the IC system variable to configure the input/output state of the drive.
3. ELECTRICAL INSTALLATION 25 Figure 3-9. EASI-V Custom Motor Limits/home Parameters Limit inputs Four radio buttons used to configure the limit inputs. Limit switches Selection of normally closed or normally open limit switches. Home enabled Enable/disable the HOME command. Home reference edge Select the required edge of the home switch where you wish the home position to be. Home switch Defines the type of home switch used, normally open or closed.
26 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Voltage Ratings Motors with a withstand voltage rating from phase to earth of 1000V AC should be used. An insulation withstand rating of 500V AC is acceptable if an isolating transformer with earthed screen is used to power the system, and X1 pin9 (0V/GND) input is earthed, as specified. Motor Safety Earth/Ground Connection It is recommended that the motor is independently bonded to a local safety earth point.
3. ELECTRICAL INSTALLATION 27 A range of mating connectors are supplied, depending upon the type of fit-kit ordered. HV ST FB X1 10 9 8 7 6 5 4 3 2 1 Power & Motor 24-80V DC +HV 0V / GND -HV Earth PE 24V DC 0V (GND 24v DC) Motor Gnd Motor phase (A+) Motor phase (A-) Motor phase (B+) Motor phase (B-) Protective Earth PE X1 10 X3 Power & motor 10-way connector 1 5 9 1 Feedback, Digital encoder Function Feedback enc. Z+ Feedback enc. ZGND Reserved +5V output GND Feedback enc. AFeedback enc.
28 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Terminal Description X1 Connector X1 is the main power and motor connector. Both HV, +24V and the motor phase connections are made to X1. Connector Type The mating connector for X1 is a Wieland 8213B/10F, part number 25.323.4053.0 (Parker part number 0405.811). An approval marked version of this connector has the part number 25.323.1053.0.
3. ELECTRICAL INSTALLATION 29 X2 Connector X2 provides the primary input connections for the motor feedback device. This is the input that should be used for position maintenance and stall detection functions. Connector Type Connector type is a high-density 15-way D-type socket. Connector Pin Out Connector Pin X2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Primary Encoder Feedback enc. Z+ Feedback enc. ZGND reserved +5V output GND Feedback enc. AFeedback enc. A+ reserved Motor overtemp+. Feedback enc.
30 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motor Overtemperature Sensor Standard Parker stepper motors do not use an over-temperature sensor, however when using custom motors provision is made for the connection of either a thermal switch or thermistor device. The following devices are supported: • Thermik SNM130ES • Cantherm F11 110-2-5 U106 Other ptc thermistors with a switch like characteristic are supported to DIN44081/44082.
3. ELECTRICAL INSTALLATION 31 Baud Rate Use system variable BR to alter the baud rate of serial communications. Any change made to the baud rate will only take effect following a save (SV) and system reset or power cycle. Reset to RS232 Mode To reset the drive to RS232 mode and to return to factory settings, remove power from the drive, connect X3 pin 2 to GND and restore power. CAUTION This will erase ALL of your user settings and programs in volatile memory.
32 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RS232 Connecting Leads RS232 cables can be ordered from Parker. Various lengths are available as listed in Table 3-9. Part Number RS232-EASI-0250 RS232-EASI-0500 RS232-EASI-0750 RS232-EASI-1000 RS232-EASI-1250 RS232-EASI-1500 Length 2. 5m 5.0m 7.5m 10.0m 12.5m 15.0m Table 3-9. RS232 Connection Lead Types X4 Connector Connector X4 gives access to the following encoder input and output signals and the differential analogue inputs.
3. ELECTRICAL INSTALLATION 33 Inputs Depending Upon the State of System Variable EI Connector Pin X4 12 7 13 8 EI=0 EI=1 STEP+ STEPDIR+ DIR- EI=2 CW+ CWCCW+ CCW- A+ AB+ B- Outputs Depending Upon the State of System Variable EO* EO=0 Connector Pin X4 14 STEP+ 9 STEP15 DIR+ 10 DIR*Requires encoder feedback input on X2 EO=1 CW+ CWCCW+ CCW- EO=2 A+ AB+ B- Differential Analogue Input The ViX stepper drive can accept a differential analogue input for use with the FRATE command.
34 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Figure 3-13 shows the input characteristic. Velocity (rps) Commanded velocity Dead band -10V Volts +10V Figure 3-13. Analogue Differential Input Characteristic An analogue deadband can be set, using system variable ‘AB’. _________ Energise/Shutdown Enable the drive by allowing the input pin to float high ‘1’ or by linking the pin to zero volts, depending upon the input’s polarity. System variable ES controls the polarity of this input.
3. ELECTRICAL INSTALLATION 35 X5 Connector X5 is the user Input/Output connector. Connector Type Connector type is a high-density 15-way D-type plug. Connector Pin Out Connector Pin X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Input/Output 0V 0V 0V Output 2 Output 1 Input 5 (limit+) Input 4 (limit-) Input 3 (home) Input 2 (registration) Input 1 (stop) +24V +24V +24V Output 3 Reserved Table 3-11.
36 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE User Inputs Inputs can be configured using the Easi-V graphic interface or by writing directly to the IC system variable. By adjusting the user input configuration, you can set the input switching level threshold and you can set the internal input resistor to be a pull-up or a pull-down. Figure 3-14 shows the position of software switches.
3. ELECTRICAL INSTALLATION 37 User Outputs User outputs can be configured using the Easi-V graphic interface or by writing directly to the IC system variable. By adjusting the user output configuration, you can set the output to source or sink current. Figure 3-15 shows the output circuit. Common IC housing all top-switches for all outputs +24V '1' = Current source 0V Output '0' = Current sink 0V Figure 3-15. User Output Circuit User outputs are compatible with high-level 24V logic only.
38 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Bits 0 to 4 control the input resistor pull-down/pull-up of inputs 1 to 5 (SWA setting). Setting a bit to a ‘1’ sets the input resistor to be a pull-up to +24V, a ‘0’ sets the resistor to be a pull-down. Bits 5 to 7 controls the source/sink operation of outputs 1 to 3.
3. ELECTRICAL INSTALLATION 39 Fault Output The fault output is an independent NPN open-collector output which is normally ‘low’, active ‘high’. The output ratings are +30V maximum in the OFF condition and 15mA maximum in the ON condition. Figure 3-16 shows the output circuit. Drive circuit Fault Output 0V Figure 3-16. Fault Output Circuit Limit Switches The drive has two limit inputs, the positive limit input and the negative limit input.
40 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RJ45 Interfaces Positioned beneath the drive are two RJ45 communication interfaces X6 and X7. The two interfaces provide support for Canbus, RS485 (using the Field Expansion Module) and daisy chain ports for multi-axis RS232 connections between drives. 8 1 X7 RS232 daisy chain output 8 1 X6 RS232 daisy chain input High speed comm. Interface Figure 3-18.
3. ELECTRICAL INSTALLATION 41 X6 1 2 3 4 5 6 7 8 FEM1 CANopen/RS485 RX+/TX+ RS485 RX-/TX- RS485 CAN H RS232 Gnd RS232 Gnd CAN L RS232 Tx RS232 Rx CAT5 cable colours White/Orange Orange White/Green Blue White/Blue Green White/Brown Brown RX+/TX+ RS485 RX-/TX- RS485 CAN H RS232 sense RS232 Gnd CAN L RS232 Rx RS232 Tx White/Orange Orange White/Green Blue White/Blue Green White/Brown Brown X7 1 2 3 4 5 6 7 8 Table 3-12.
42 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Communication Daisy Chain Drives can be ‘daisy-chained’ for RS232/RS485* operation as shown below. Using this arrangement the drive connected to the controlling PC, via its front panel D-type connector, becomes axis #1. To automatically assign addresses, connect all power, motor, feedback and communication cables then power-up all the drives, see ‘#’ command for more details.
3. ELECTRICAL INSTALLATION 43 To maintain the integrity of the EMC screening, all RS232 and RS485 connections must be made via the drive’s X3 D-type connector. RJ45 Connecting Leads RJ45 link cables can be ordered from Parker. Various lengths are available as listed in Table 3-13. Part Number VIX-RJ45-0025 VIX-RJ45-0050 VIX-RJ45-0075 VIX-RJ45-0100 VIX-RJ45-0200 Length 0.25m 0.5m 0.75m 1.0m 2.0m Table 3-13.
44 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE
4. CONTROL OF VIX DRIVES 45 4. Control of ViX Drives Overview This section introduces you to the operation of the ViX stepper drive, the implementation of motion control moves and the way commands are used. Basic controller operation is described together with the code structure. How system information is signalled via system variables and the use of various flag registers for status and fault reporting are described.
46 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE during up-loading/down-loading of programs. Declaring labels in the command line, before any START code, makes the most efficient use of the available memory. If you then up-load the program to a PC and later down-load the same program the declarations will have been lost. To retain declared labels you must declare them in the START code, this allows a program to be up-loaded and down-loaded without loss of declared labels, although more memory will be used.
4. CONTROL OF VIX DRIVES 47 Structure The code example of an absolute positioning move shown in Figure 4-1 demonstrates how to write code that follows the block structure. Use the start code to initialise the drive: 1START: 1DECLARE(MAIN) 1DECLARE(MOVE2) 1LIMITS(3,0,0) 1GOTO(MAIN) 1END Start code and Initialisation 1MAIN: 1PROFILE2(40,10,-48000,25) 1GOSUB(MOVE2) 1END Main Program Block 1 Block 2 Block 3 1MOVE2: 1W(PA,0) 1MA 1USE(2) 1G 1END Figure 4-1.
48 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Finally, call individual moves from the main part of the program: 1MOVE2: 1W(PA,0) 1MA 1USE(2) 1G 1END ; define program label “move2” ; zero position absolute ; absolute positioning move ; use motion profile 2 ; execute move ; end of program move 2 definition Note: PROFILE2 defined in the main part of the program has the following characteristics: ACCELERATION 40rps² , DECELERATION 10rps², DISTANCE 48000 steps (12 REVS MOVE), NEGATIVE DIRECTION , VELOCITY
4. CONTROL OF VIX DRIVES 49 LOOP Command The block structure of the code lends itself to performing repetitive operations, using the LOOP command. The command can be used to call a particular labelled block of code for either a specified number of times or continuously.
50 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Reserved System Labels Certain pre-defined labels are recognised by the controller as containing code used for common operations. If event triggered code is enabled (ARM1), the code entered for these common operations will be automatically run when the event occurs.
4. CONTROL OF VIX DRIVES 51 The conditions under which the FAULT label is called will vary depending upon the fault itself and the condition of various other commands and command parameters. An exact description is presented in Table 4-1. However, in general, a FAULT label will be called given any one of the following conditions: • An attempt to go home further onto a limit is made and the limit is enabled.
52 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Example The following example shows the use of a FAULT label within a program. 1ARM11 1SV ;enable auto-run on power-up & enable fault routine ;save the settings 1START: 1ARM11 . . 1O(1XX) . . 1END ;start of program ;re-enable auto-run & fault in case ‘K’ command sent 1FAULT: 1O(0XX) . * .
4. CONTROL OF VIX DRIVES 53 Start Label The system label START: introduces the drive’s setup and initialisation code. With ARM enabled the code is automatically executed at system start-up*. Consequently the code needs to be saved with ARM1X set. If you save a program with ARM0X set, the start-up code will not run and the controller will only respond to serial input commands. *Unless a drive fault is pending and a fault routine is defined and armed.
54 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Use of the LSEL Command You can let user inputs call programmed routines by the use of special label names and associated user input numbers. By including the code you wish to action, following a predefined input label, will enable your code to be run when the defined user input is activated.
4. CONTROL OF VIX DRIVES 55 Upon receipt of a valid numeric input pattern the controller runs the associated routine. For example, binary pattern 3 causes routine L3 to run. This routine must finish (reach the END command) before the inputs can be automatically scanned again. The state of the inputs is presented to the controller as a parallel bit pattern. Invalid binary patterns (for non-existent labels) are ignored.
56 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Table of System Variables Table 4-2 lists system variables in alphabetic order together with their read/write status and range of values stored.
4.
58 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Var ST ST1 ST2 ST3 ST4 TT Name Status of indexing Status of indexing Status of indexing Status of indexing Status of indexing Trigger Timeout R Y Y Y Y Y Y W N N N N N Y UF User program Fault status User Fault Status User Fault Status User Fault Status User Fault Status Y N See below First byte of 32-bit ST variable Second byte of 32-bit ST variable Third byte of 32-bit ST variable Fourth byte of 32-bit ST variable Optional timeout for trigger comman
4. CONTROL OF VIX DRIVES 59 CQ Command Queuing Enable command queuing in mode incremental/absolute to buffer each command waiting for the previous command to complete, before issuing the next. In certain circumstances, disable this sequential operation, for example if you need to generate a trigger pulse part way through a move.
60 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE EI Description System parameter EI, controls encoder inputs (connector X4) as defined in Table 4-4. X4 12 7 13 8 EI=0 STEP+ STEPDIR+ DIR- EI=1 CW+ CWCCW+ CCW- EI=2 A+ AB+ B- Table 4-4. Encoder Input Configuration CAUTION De-energise the drive before changing EI and EO.
4. CONTROL OF VIX DRIVES 61 ES Description System variable ES controls the required polarity of signal on the enable/shutdown_bar input (X4 pin 11). The default value of ES is zero (ES=0), therefore to enable the drive connect X4 pin 11 to X4 pin 4 (0V). With ES=1 X4 pin11 may be left open circuit to enable the drive. To energise the drive, the drive must be enabled and the ON command issued.
62 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE You do not have to wait for the IP flag to be set at the end of every move, but its use improves positioning accuracy. Example Use this code after each G command to improve positioning. 1MI 1W(CQ,0) 1G 1T0.1 1IF(MV,=,1) 1”Moving” 1TR(IP,=,1) 1”Stopped” 1W(CQ,1) ; mode incemental ; turn off command queuing ; start the move ; wait 100ms ; re enable command queuing HF Description HF sets the final home velocity when you perform a GH command.
4. CONTROL OF VIX DRIVES 63 PA Description PA reports the actual position of the motor shaft, assuming a primary encoder is fitted. Although PA is marked as being read only it will accept the value 0 to be written to it for resetting purposes. If you perform a W(PA,0) system variables PF, PE and PT will also be set to 0. PE Description PE reports the position error, that is, the difference between PT and PA.
64 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RM Description Reports a 1 if a registration move is being actioned. RV Description Reports the revision of software being used by the controller. SC S-Curve configuration To reduce the amount of jerk (rate of change of acceleration or deceleration) within a move, enable SC. When enabled, this variable smoothes-out rapid changes of acceleration, as shown in Figure 4-3.
4. CONTROL OF VIX DRIVES 65 SN Description reserved. ST Description See reporting of status bits in Reporting the Status of Variables. TT Description The trigger timeout can be set or read using TT. If a timeout occurs status bit 8 is set high. Note: Setting a value of 0.00 results in NO trigger timeout. Example: 1W(TT,1.5) 1G 1TR(IN,=,1) 1IF(ST1,=,XXXXXXX1) 1GOTO(TOUT) 1”IN1 ON” . ;timeout after 1.
66 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Bit Number 1 2 3 4 5 6 7 8 9 11 12 13 14 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Bit Tested ST1.1 ST1.2 ST1.3 ST1.4 ST1.5 ST1.6 ST1.7 ST1.8 ST2.1 ST2.3 ST2.4 ST2.5 ST2.6 ST2.8 ST3.1 ST3.2 ST3.3 ST3.4 ST3.5 ST3.6 ST3.7 ST3.8 ST4.1 ST4.2 ST4.3 ST4.4 ST4.5 ST4.6 ST4.
4. CONTROL OF VIX DRIVES 67 Fault Status Reporting Faults are classified into two groups: Drive Faults DF (hardware faults present in the drive) or User Faults UF (user program faults) Drive Faults Hardware drive faults will cause the drive output stage to be turned OFF (de-energised). This will cause the Drive LED to turn RED. Once the fault has been corrected the drive may be re-energised using the ON command.
68 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Bit 1 2 3 4 5 6 7 8 Bit Tested DF 1.1 DF 1.2 DF 1.3 DF 1.4 DF 1.5 DF 1.6 DF 1.7 DF 1.8 9 10 11 12 13 14 15 16 17 18 19 20 21 DF 2.1 DF 2.2 DF 2.3 DF 2.4 DF 2.5 DF 2.6 DF 2.7 DF 2.8 DF 3.1 DF 3.2 DF 3.3 DF 3.4 DF 3.5 22-24 25 26-31 32 DF 3.6/8 DF 4.1 DF 4.4/7 DF 4.
4. CONTROL OF VIX DRIVES 69 Drive Fault Byte Reporting In exactly the same way as the status variable, the drive fault status can be reported a byte at a time, using DFn within a read command. User Faults User faults can be caused by programming errors, such as issuing a GO command when the drive is de-energised. They are reported in a 32-bit word format the same as Drive Faults. Performing a read UF command will report the current state of any User Faults listed in Table 4-7.
70 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE User Fault Byte Reporting In exactly the same way as the status variable, the user fault status can be reported a byte at a time, using UFn within a read command. For example to read or test the first 8 bits (first byte) of the UF variable status word, use UF1. Since the status word consists of 4 bytes the relevant part of the word can be read using UF1 (bits 1 to 8), UF2 (bits 9 to 16), UF3 (bits 17 to 24) or UF4 (bits 25 to 32).
4. CONTROL OF VIX DRIVES 71 Reporting System Information During Code Development Whilst developing a program using EASI-Tools, it is likely that certain blocks of code when downloaded to the drive will return an *E error code. To analyse the cause of the error you can make use of EASI-Tools Status report window which, when read, will report back the cause of the error. For example, selecting status report ‘User’ following a *E may report back ‘Label of this name not defined’.
72 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Conditional Code The flow of a motion control program will depend upon the position of the motor in combination with the value of particular inputs and commands. System variables are used to continuously monitor the state of a drive’s indexer and are able to report such things as ‘status of indexing’ or ‘moving’/not moving’ as listed in Table 4-2.
4. CONTROL OF VIX DRIVES 73 Conditional Code Example The following code is a good example of how the conditional IF statement can be used for fault diagnosis within the FAULT label.
74 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Motion Control Using the EASI Command Set Move Types Mechanical movement results from the motion of a motor shaft. By controlling the velocity, acceleration, distance and direction of the motor, different move profiles can be created for particular applications. Move types can be preset, meaning a move is made in a controlled way over a specified distance, or continuous where only acceleration, velocity and direction are defined, distance being ignored.
4. CONTROL OF VIX DRIVES 75 Motor Direction & Positive Motion A positive direction command usually produces clockwise (CW) rotation of the motor shaft when viewed from the shaft end*. However, when limit switches are used it is important that the positive direction produces motion towards the positive limit switch (see sub-section on HOMING). If this is not the case, interchange the motor connections to A+ and A- to reverse motor direction.
76 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Trapezoidal Profile A trapezoidal move profile results when the defined velocity, you have programmed, is attained before the motor shaft has moved half of the specified distance. This is due to a defined velocity that is low, a defined acceleration that is high, a move distance that is long, or a combination of all three.
4. CONTROL OF VIX DRIVES 77 Once a valid registration mark has been detected the registration move is performed using the move parameters taken from the previously defined profile* (profile_number in the command parameters). At the end of the registration move the user program GOSUBs to the code immediately following the REG label. If no registration mark is detected, the standard move profile completes and the user program GOSUBs to the code immediately following the NOREG label.
78 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE A successful registration will cause the code, following the registration move, to jump to the REG label, from which normal program operation can continue. Before you can perform a registration move, the following code elements must be in place: 1. Enable the registration function. 2. Completely specify the registration move required, in terms of distance, velocity, acceleration and deceleration.
4. CONTROL OF VIX DRIVES 79 Homing The term ‘homing’ refers to an automatic return to a mechanical reference position which is usually performed when the system is first powered up. All subsequent moves will then be relative to this reference position. The home position is usually determined by an optical or proximity switch, though a mechanical switch can also be used.
80 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Homing Configuration Command The command allows you to define the mechanical edge of the home switch at which you wish home to be. The command also allows you a choice of home switch type, that is normally closed or normally open, however if you change the switch type this does not change the edge you are homing to. Remember the positive edge is the mechanical edge of the home switch closest to the positive limit.
4. CONTROL OF VIX DRIVES 81 Go Home Command The go home command (GH) is used to return to the reference home position. Issuing a GH command will cause motion in a direction defined by the HOME configuration command. Figure 4-8 shows the path taken if motion was started between the positive edge of the home switch and the positive limit (positive side of home).
82 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE If the negative edge of the home switch is selected in the homing configuration command a similar motion path would be followed, but finishing on the other side of the home switch, as shown in Figure 4-9. Negative edge HOME SWITCH OPERATING RANGE Positive edge GH positive GH negative POSITIVE LIMIT GH GH HFrps Start (from positive side of home) Finish Figure 4-9.
4. CONTROL OF VIX DRIVES 83 Final Direction of Travel Note that no matter where motion starts from, that is from positive side of the home switch, in the home switch region or from the negative side of the home switch, or in which direction it goes from its starting point (positive or negative), its final direction of travel towards a nominated home switch edge is always the same.
84 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE system will respond as if a limit has been hit in the ‘normal’ manner, that is, whilst not performing a homing move. In the second case, where home and limit are wired together, the following interaction is possible: If the load is commanded to go home in a direction away from the home switch and hits a limit, then the move will be automatically started in the opposite direction.
4. CONTROL OF VIX DRIVES 85 associated flags are cleared. The program will also be aborted if you are already on a limit and you request motion in a direction which takes you further on to that limit. If the LIMIT command has been set to ‘stop motion when a limit is hit but continue the program’ and you hit a limit or request motion in a direction which takes you further on to a limit no response will be given, apart from a possible *E (depending upon the setting of the EX variable).
86 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Limit Switches The drive has two limit inputs, the positive limit input and the negative limit input. When wiring the limit switches it is essential to check that a positive direction command produces motion towards the positive limit switch. If this is not the case, interchange the motor connections to A+ and A- to reverse the motor direction. +24V NC NEGATIVE LIMIT NC POSITIVE LIMIT Positive limit input POSITIVE MOTION Negative limit input Figure 4-11.
4. CONTROL OF VIX DRIVES 87 Using Closed Loop Operation Closed loop refers to the operation of a stepper motor/drive where the position of the stepper motor shaft is measured and compared with the commanded position. This is normally arranged using an encoder attached to the motor’s shaft and electrically connected to the stepper drive’s encoder input, as shown in Figure 4-12. Stepper drive Position demand Stepper motor Encoder Coupling Figure 4-12.
88 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE position using the 1R(PA) command. Now, rotate the encoder shaft in the same positive direction by about half a turn. Again read the encoder position, which should be greater than the first reading, indicating that the encoder count is increasing for positive motion. If the second count is less than the first, cross over the A- and A+ signals on the encoder connector, and repeat the test until an increasing count is obtained.
4. CONTROL OF VIX DRIVES 89 At the end of the main move the controller waits until the in position time delay and the settle time (if programmed) have timed out, at this point the encoder count is read. A calculation is performed which compares the encoder count with the target position, if the difference between these two readings is less than the defined dead-band then the move is complete and the next user program command is executed.
90 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Settle Time When Position Maintenance is enabled all moves will track actual position against commanded position. Position Maintenance allows the in-position signal to be held off for a settle-time, the value of which can be programmed in the command parameters. Speed Of Correction Once a move has been completed and the controller decides position maintenance correction is required, it will move the motor at a fixed speed of 1rps.
4. CONTROL OF VIX DRIVES 91 Stall Detection Stall detection is only possible if an encoder is fitted to the motor or load. A stall is reported when the error between the commanded position and the actual position, determined by the encoder, exceeds the value set in the error window of the STALL command. Stall Detection Set-up A stall condition is signalled when the number of expected stall-encoder steps does not match the number of steps received.
92 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Scaling Using scale allows ‘user-friendly’ settings of distance, velocity and acceleration to be defined in user units, rather than units required by the drive. For example, using a ViXIM to control a linear table, it is possible to program distance units directly in mm, velocity in mm per second (mms-1) and acceleration in mm per second/per second (mms-2).
4. CONTROL OF VIX DRIVES 93 You can use SCALE in combination with other commands such as LOADENC, STALL or POSMAIN. The exact mix of commands together with the source of the feedback, and the type of programming steps used are presented in Table 4-9. In the command columns 0 = disabled and 1 = enabled. In the feedback source column Motor = motor-mounted encoder steps, Load = load-mounted encoder steps and X = invalid combination. In the command steps column (the steps used to program the application e.g.
94 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE
5. EASI-V SOFTWARE 95 5. Easi-V Software Computer Requirements To be able to run Easi-V software, necessary for the control and programming of the ViX, you will require an IBM™ compatible PC running Windows 95/98/2000/XP™, NT4 or ME. The PC needs to be specified to run Windows™ with at least 16MB of RAM, a VGA monitor, Windows™ compatible mouse, CDROM drive. The installed program size is approximately 1.3MB. Easi-V is supplied on a CD or may be downloaded free of charge from our Website (www.parker-eme.
96 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Installation Procedure This procedure takes you quickly through the steps necessary to install Easi-V on your PC. The entire installation process takes less than 10 minutes. Before starting the installation, terminate all applications currently running. A step by step installation of Easi-V software follows: 1. Place the Easi-V CD in your PC’s CDROM drive. 2. Once loaded the CD should auto-start.
5. EASI-V SOFTWARE 97 6. Once you have selected a destination for Easi-V or have decided to use the default directory, select NEXT to begin file transfer. 7. Once Easi-V has been loaded, the screen will display a message dialogue box, stating ‘Setup is complete. You may run the installed program by double-clicking on the program icon.’ When you click the OK button, the window shown in Figure 5-2 will appear. Note: Easi-V may also be run from the Start menu. Figure 5-2.
98 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Figure 5-3. Easi-V Product Selection Selecting Product from the Utilities menu will also display the product selection screen.
5. EASI-V SOFTWARE 99 Menu Overview File Filing Operations Creates a new editor file, or .
100 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Terminal Terminal on-line operations Configure the serial communications Open/close the terminal (after testing the connection) Configure test buttons Edit buffer Create an editor file window or terminal buffer Log to file Open/close file logging terminal buffer actions Utilities Specific tools Displays Product Selection screen Help screens guide you through drive setup Similar to above, but uses tabbed text boxes Display status bits or messages Download p
5.
102 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Terminal Menu Selections Terminal menu selections control the setup and configuration of communication between a PC and drive. Communicating with a Drive The default settings of a new drive from power-up are RS232 communications with an address setting of #1. Wire the RS232 communication lead as described in the Electrical Installation section.
5. EASI-V SOFTWARE 103 Select the required configuration and, click OK. Then, again from the Terminal menu select Connect to start communications. Every time Connect is issued the communications link is tested to establish it is working correctly and the message box ‘Testing communications integrity’ is flashed on the screen, followed by ‘Now on-line to controller’ if the Connect is successfully made. If the link fails, refer to the Troubleshooting Section.
104 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Utilities Menu Selections Utilities menu selections control the way drives are setup and configured for use with a particular motor type. The menu offers two levels of setup, depending upon the skill and experience of the operator. • • Guided drive setup (guides you through setup for a particular motor type – quick and simple) Drive setup (allows text entry of motor parameters – for experienced users) From the Utilities menu select ‘Guided drive setup’.
5. EASI-V SOFTWARE 105 From the dropdown menu select your motor type or perform a custom set-up. Press ‘Next’ to select Motor Standby current and In-position settling Time values. This screen allows the selection of the motor standby current (MS) and the In-position settling time (IT). Press ‘Next’ to allow selection of stall detection and/or position maintenance. Selecting Set Mode Position jumps forward to guided screen 8.
106 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Encoder feedback must be selected to allow stall detection or position maintenance. Press ‘Next’ to select the required limits. This screen allows the selection of the + & - limits and the type of limit switch used. You may also control the limit mode and the deceleration value used to bring movement to a stop. Press ‘Next’ to configure the home switch setting.
5. EASI-V SOFTWARE 107 This screen allows the configuration of the home switch. Press ‘Next’ to configure the drive’s user inputs and outputs. Configure the drive’s user inputs and outputs and setup the following encoder inputs or the simulated encoder outputs. Press ‘Next’ to configure the drive’s general settings.
108 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE This screen allows the setup of all the drive’s controls not available on other screens. Press ‘Next’ to complete the setup process and to generate a setup program. This screen signals the end of the guided setup process. Checking the ‘Append a test routine’ box will include a simple routine that turns the motor shaft to verify drive operation. To alter any configuration set-up step backwards using the ‘Back’ button.
5. EASI-V SOFTWARE 109 NOTE ANY CHANGES TO THE MOTOR TYPE NUMBER MUST BE FOLLOWED BY A SAVE (SV) AND RESET (Z) OR CYCLING POWER TO THE DRIVE. TIP Create a setup program first, rather than download immediately, because if changes are required it’s easier to edit a saved program. CANopen Drives If you are setting up a CANopen drive an extra screen is included (8 of 10) that allows adjustment of the baud rate, node ID and control setting.
110 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive settings / Setup This facility gives easy access to setting system variables in a more direct manner than Guided Drive Setup. Figure 5-6 shows a sample screen. Figure 5-6. Axis Setup Tab The buttons displayed along the base of this screen can be used as follows: Upload retrieves the current settings for the selected axis Download updates the current axis with your latest changes Open opens a stored .cfg file Save save the file to disk as a .
5. EASI-V SOFTWARE 111 Status The Utilities menu axis Status provides a convenient method of examining the double word status bits. The tool gives access to the status of User Faults, Status bits and Drive Faults using a series of tabs, as shown in Figure 5-7. Figure 5-7. Status Reporting The Status Report can be permanently displayed during program development or testing to monitor the operation of the drive.
112 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Downloading and Uploading Programs A drive program that exists within an active edit window can be downloaded to the drive by selecting Download from the Utilities menu. Following the usual communication checks, the program will download to the drive’s internal memory. Function key F4 provides a shortcut download. Figure 5-9.
5. EASI-V SOFTWARE 113 A program may also be uploaded from a drive, a useful facility if a drive needs to be swapped between axes. To upload a program select Upload from the Utilities menu. An upload dialogue box will be displayed, allowing you to specify the name and address of the program to be uploaded. A shortcut upload is provided by function key F5. Figure 5-10. Upload Dialogue Box If you receive an error message during program upload refer to the Troubleshooting Section.
114 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Confirming Drive Operation With the drive and motor correctly wired and the serial connection made to a PC running Easi-V software, the operation of a drive may be confirmed by creating and downloading the following code: Before running this code return the drive to its factory settings and save those settings – see returning a drive to its factory settings in Maintenance & Troubleshooting section.
6. COMMAND REFERENCE 115 6. Command Reference Command Description Each command has a simple 1 to 7 character name usually an abbreviation of its full descriptive title. Listed commands are in alphabetic order with any non-alphabetic symbols appearing last. Each individual description will include a one-line header giving the abbreviated name followed by its full name.
116 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE aGOSUB(label) Label parameter Command name Address prefix aLIMITS(parameter1,2,3,parameter4) Parameters 1,2,3 & optional parameter 4 Command name Address prefix Figure 6-2. Parameter Commands Attention [1] Terminate all commands with a carriage return. A space is not valid. [2] A command must not contain any space characters. [3] All commands are device specific, that is, they always need an address.
6. COMMAND REFERENCE 117 Immediate Only Immediate only commands are: C, K, S, R(RB), R(UF), R(DF) and R(ST) The controller acts upon these commands as soon as they are received. Immediate or Buffered Immediate or buffered commands are immediate unless command execution is being delayed or command queuing is enabled whilst moving, in which case the command is buffered.
118 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Can’t be used in labelled block Means it is not possible to include the command within a labelled program block. Saved by SV A command that has the property of being ‘saved by SV’ means data associated with that command is capable of being stored in non-volatile memory. The saved value will become the default value on power-up or following a Z command.
6. COMMAND REFERENCE A Syntax aAn Description Properties Example Acceleration/Deceleration Units see SCALE Range of ‘n’ 0.01 to 99999.99 Default 10 See also AA AD SCALE This command will set both the acceleration and deceleration rates of the motor to the same value. Values set for the AA and AD commands are over-written, if previously set. Immediate or buffered, can be used in labelled block, saved by SV To set the acceleration and deceleration rates of axis 1 to 120 rps2, type .....................
120 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE AD Syntax aADn Description Properties Example Deceleration Units See SCALE Range of ‘n’ 0.01 to 99999.99 Default 10 See also A AA SCALE The AD command will set or report the programmed linear deceleration rate of the motor. The deceleration value assigned to the AD command is overwritten, if previously set. Immediate or buffered, can be used in labelled block, saved by SV To set the deceleration rate of axis 4 to 320 rps2, type....
6. COMMAND REFERENCE ARM 121 Enable label triggered code Syntax Units aARMnm - Range of ‘n & m’ 0 or 1 Default See also 01 START label FAULT label The ARM command allows you to enable (arm) or disable the START label. It also enables/disables the FAULT label. n=1 : start label is enabled n=0 : start label is disabled (default condition) The second parameter ‘m’ is a fault switch that enables/disables the fault label from being run. See Fault Label in Control of ViX Drives.
122 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Example Note The code following the START label will be run at power up: 1START: 1T0.5 1ON 1LIMITS(3,0,0) 1PROFILE1(100,100,4000,25) 1USE(1) 1G 1END ;start label ;delay 1ARM1 1SV ;arm the start label ;save the code ;disable limits ;define profile 1 ;use profile 1 ;execute profile 1 If you save the controller with ARM0, then the start-up sequence will fail to run, and the controller will wait for serial commands.
6. COMMAND REFERENCE C Continue Syntax aC Description Properties Units - Range of ‘n’ - Default - See also PS The C (continue) command causes a user command to resume execution following a pause command.
124 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE D Syntax aDn Distance Units See SCALE Range of ‘n’ -2,147,483,647 to 2,147,483,647 Default - See also M SCALE Description The D command will set or report the programmed move distance. The value programmed is only used for preset moves. In MC (Move Continuous), the direction is observed. Properties Immediate or buffered, can be used in labelled block, saved by SV Example To set the move distance of axis 2 to 15000 steps type ..
6. COMMAND REFERENCE Declare Syntax aDeclare(label) Description 125 Declare Units - Range of ‘n’ - Default - See also CLEAR All labels, apart from START, REG, NOREG & FAULT need to be declared at the beginning of the program using a DECLARE command. Labels consist of up to 5 upper case alphanumeric characters terminated with a colon (:), but a label must begin with an alpha character. Choose a name that is relevant to the operation being performed, or a system label name.
126 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE E Enable/Disable Communications Syntax aEn Description Properties Example Units - Range of ‘n’ 0 or 1 Default 1 See also - The E command disables or re-enables serial communications. E1 turns command communications ON, whilst E0 turns it OFF. In E0 mode the only command seen by the controller is E1.
6. COMMAND REFERENCE EXIT Syntax aEXIT Exit from loop Units - Range of ‘n’ - Default - See also LOOP Description The EXIT command will terminate a loop function at the end of a label.
128 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE FOLLOW Syntax Description Configure following aFOLLOWon/off(source,mode,scale) The Configure Following command is used to setup following, allowing an axis to copy movement from another drive. The source parameter specifies the device to follow.
6. COMMAND REFERENCE Note 129 Only mode 1 is implemented at present. Do not use mode absolute (MA) while following. Do not perform a go home (GH) while following. If you hit a limit whilst following, movement is immediately stopped and following disabled*. Do not use POSMAIN while following. Refer to X4 Connector in Electrical Installation section. *Driving through a limit, disables following.
130 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE FRATE Feed Rate Override Syntax aFRATEn Description Units - Range of ‘n’ 0 or 1 Default 0 See also M Feed Rate Override, the FRATE command, is used together with the analogue input to scale the peak velocity of the drive (V). The purpose of the command is to allow the speed of the process being performed by the drive to be controlled by a single external analogue signal.
6. COMMAND REFERENCE G Syntax aG 131 Go Units - Range of ‘n’ - Default - See also PS S K M Description Issuing a G command starts motion using the parameters specified by the V, A or AA/AD, and D commands or via the PROFILE and USE commands. The mode of motion must have been previously set as this determines which parameters are used and which are ignored. For example, mode continuous will ignore the distance parameter.
132 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE GH Go Home Syntax aGH Units - Range of ‘n’ - Default - See also HOME S K Description The go home command instructs the controller to search for the home position as defined by the home input switch. For this command to function correctly, the home function must define the homing parameters.
6. COMMAND REFERENCE 1END 1MOVE1: 1USE(1) 1G 1O(XX1) 1T0.1 1O(XX0) 1END 1MOVE2: 1USE(2) 1G 1T1 1TR(IP,=,1) 1END Note ; use the move profile 1 ; turn output 3 on ; wait for 100mS ; turn output 3 off ; use the move profile 2 ; pause for settle time If you exceed the number of nesting levels the program will halt and return a *E. R(UF) will return a ‘Program nesting overflow’ message. If a GOTO command is used, the number of nesting levels is set to zero.
134 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE GOTO GO TO routine Syntax aGOTO(label) Units - Range of ‘n’ - Default - See also GOSUB Description The GOTO command continues user program execution from the label specified. Program execution does not return to the original place in the program (use GOSUB if command execution is required to return).
6. COMMAND REFERENCE H Syntax aHn Description 135 Change direction Units - Range of ‘n’ + - or blank Default + See also D, LOOP The H command changes the direction of motion. Specifying H+ sets the direction to clockwise, H- counter clockwise, and H alone reverses the current direction. This command has no effect in Mode Absolute. In Mode Continuous, the use of H+ and H- are recommended for setting direction.
136 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Note CAUTION The USE command or the D command will re-define the move direction each time it is executed. To set up a loop to go CW (clockwise) then CCW (counter clockwise), make sure the D or USE command is outside of the LOOP otherwise the direction will be the same each time around the loop.
6. COMMAND REFERENCE HOME 137 Configure Homing Syntax aHOMEon/off(reference_edge,home_type,direction_&_velocity, acceleration/deceleration,mode) Description The Configure Homing command is used to setup homing prior to the use of the GH (Go Home) command. See also system variable HF. Use on/off to arm and disarm homing.
138 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE In mode 0, when the home position is reached, the absolute position of the controller is set to 0. The incremental position reports the distance moved to reach the home position. (system variable PI). Typing aHOME on its own will return the current parameter values for the nominated axis. For example: The command 3HOME will return: * AR1 E- TP1 V+10.00 A10.
6. COMMAND REFERENCE IF 139 Test condition Syntax aIF(system_variable,relation,value) Description The IF command compares the specified system variable with the specified value using the specified relation. If the condition is met, the next line of code is executed otherwise it is skipped. Refer to the table of system variables that can be used for conditional control.
140 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE IS Syntax aIS Description Input Status Units - Range of ‘n’ - Default - See also O The IS command reports the status of the configurable user inputs when configured as pull-down (non-inverting) inputs.
6. COMMAND REFERENCE K Kill Syntax aK Description 141 Units - Range of ‘n’ - Default - See also S, PS, KILL Issuing a KILL will command motion to stop at limit deceleration rate. The command will then zero the position error to remove torque from a stalled load. Carefully consider the use of this command in applications where a load with a large inertia may be required to stop quickly. By commanding K the motor could stall and lose torque.
142 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LIMITS Configure limit inputs Syntax Description aLIMITS(mask,type,mode,LD) The LIMITS command allows the user to define whether the LIM+/- inputs are used as limit inputs or user inputs via the LIM_MASK.
6. COMMAND REFERENCE To report the current configuration of the limits, type................................................................... 143 3LIMITS *LM1 TP1 M0 LD100.0 See also The response, using the above example.......... IS AD KILL Notes The default value of LIMITS type field is 1, that is normally closed. Hitting a limit stops motion, which cannot be re-started until you drive the load back off the limit switch. An exception to this occurs while following.
144 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LOADENC LoadEnc settings Syntax aLOADENCon/off Description This command allows a user to specify distances in load movement steps when used with a load mounted encoder connected to X2. It can be used in combination with position maintenance or any application where you need to specify distance in load mounted encoder steps, such as feed-to-length.
6. COMMAND REFERENCE LOOP 145 Repeat user code Syntax aLOOP(label,cycles) Description The LOOP command repeatedly calls a labelled block of code a number of times specified by the cycles parameter, the range being 0 to 65000. Note: If the number of cycles is set to 0 the loop will continue indefinitely. Properties Example Nesting of loops up to 5 levels is permitted.
146 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE LSEL Label Select Syntax aLSELon/off(code,inputs,execution,type) Description The label select command allows the code following a label having the name Lnn (where nn is the detected input code) to be performed when a certain user input pattern is detected on a number of inputs in the range 1 to 5. The code can be continuously repeated or may be re-triggered, depending upon the command’s execution parameter setting.
6. COMMAND REFERENCE 147 The range of input code patterns is given below. Selecting a BCD code restricts the number of input codes detected (1 to 9 and 11 to 19).
148 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Example The main code configures the label select command to detect a binary code on 5 inputs (all high gives decimal 31), and if detected, to continuously run the code at label L31. Use binary mode for PLC control and BCD for control via a thumwheel. 1START: 1DECLARE(L31) 1LSEL1(1,5,0) 1ARM1 . 1L31: 1A10 1V10 1G 1END To check the current mode, type....... The response will be .........................
6. COMMAND REFERENCE M Syntax aMn Description 149 Mode Units - Range of ‘n’ see below Default - See also FRATE The mode command sets up the mode of operation of the controller. The values of n are: A – indexed move with absolute positioning B – continuous move with velocity controlled from the analogue input C – continuous move I – indexed move with incremental positioning P – step and direction base drive mode Mode absolute – all move distances are referenced to absolute distance.
150 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Summary of microstepper modes Mode MA MB MC MI MP Key: Source TG ANA I/P TG TG ENC I/P Enable/Energise Enable Enable Enable Enable Energise/Shutdown Limits Local Local Local Local Remote TG – Trajectory Generator (internal command reference) ANA I/P – ANA1+, ANA1- analogue input on X4. See also AO and AB. ENC I/P – The encoder inputs on X4 Enable/Energise – describes the function of X4 pin 11.
6. COMMAND REFERENCE MOTOR Syntax Description 151 Motor Settings aMOTOR(Type,Current,Resolution,Max_vel,%thirdharmonic,Resistance, Inductance) This command describes the characteristics of the motor being used to the rest of the drive. The parameters used are: Type – 0 to 1023 number code Current – RMS continuous motor current (0.1 to 5.6 A in 0.1 A increments for ViX500). Resolution – Any value from 200 to 51200 steps per rev.
152 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Properties Immediate or buffered, can be used in labelled block, saved by SV Note [1] The motor command can take up to 12 seconds to finish execution. [2] When changing motor type the fault and status information may not be valid until the motor has been defined, saved and the drive re-initialised. [3] For less than 30% drive rating the motor current resolution is degraded. For 25% drive rating the maximum resolution is 50800.
6. COMMAND REFERENCE OFF 153 Shutdown motor power Syntax aOFF Units - Range of ‘n’ - Default OFF See also ON Description Issuing an OFF command de-energises the drive to shutdown the motor power. The controller responds to move commands that are issued after an OFF with *E. If you check the fault variable UF, you will see the ‘Drive disabled’ bit set to indicate that the drive was de-energised when a move was attempted.
154 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE ON Syntax aON Description Turn ON motor power Units - Range of ‘n’ - Default - See also OFF Issuing an ON command energises the drive and clears the current state of the drive fault registers. The command allows execution of moves provided the motor is not on a limit. ON will clear the User Fault and Drive Fault variable to all zeros, but if a fault is still present the motor will not energise and the fault variables will be updated once again.
6. COMMAND REFERENCE POSMAIN 155 Position maintenance Syntax aPOSMAINon/off(dead_band_range,output,settletime) Description POSMAIN must use an encoder connected to X2 to monitor the system’s actual position. The command enables position maintenance. The on/off parameter takes the values of 1 for ON and 0 for OFF.
156 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Properties Immediate or buffered, can be used in labelled block, saved by SV Example 1POSMAIN1(10,3) 1POSMAIN1(20) Note ; Enable position maintenance. Allow ; a 10 step dead band window and set o/p 3 ; when within the desired range ; Enable position maintenance. Allow a ; 20 step dead band window. Output not set. [1] Position maintenance is performed at the end of a move to correct any overall position error.
6. COMMAND REFERENCE PROFILE Syntax Description 157 Define move profile aPROFILEnumber(AA,AD,D,V) The PROFILE command sets up a table of move profiles in the controller memory. These profiles can be recalled at any time by the USE command. The PROFILE command parameters are: Acceleration AA Deceleration AD Distance D Velocity V Ranges for the AA, AD, D and V commands are as stated for each individual command. The range of PROFILE number is 0 to 8, but PROFILE0 cannot be defined.
158 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Profile number Acceleration Deceleration Distance Velocity 1 2 200 200 1500 25 150 200 4800 45 The move parameters specified by Profile 2 may be used (that is, copied to profile 0) with the statement ........ 4USE(2) Note A profile command will overwrite any individually programmed values of acceleration, deceleration, distance and velocity once the USE command is issued.
6. COMMAND REFERENCE PS Pause Syntax aPS Description Properties Example 159 Units - Range of ‘n’ - Default - See also C The PS (pause) command causes immediate command execution to cease until a C (continue) command is issued. The command is useful as a debug aid when testing small trial code blocks. The PS command cannot be used whilst running a program.
160 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE REG Syntax Description Registration move aREGon/off(edge,profile_number,hold_off_distance,registration window,output) The REG command, once turned ON, defines a registration move. After a number of steps, determined by the optional hold off distance, the controller will begin to search for a valid registration signal.
6. COMMAND REFERENCE Example 161 2START: 2PROFILE1(10,10,40000,5) 2PROFILE2(20,20,20000,10) 2REG1(1,1,10000) 2USE(2) 2G 2END 2REG: 2O(XX1) 2T0.5 2O(XX0) 2END 2NOREG: 2O(X1X) 2T0.
162 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE RFS Syntax aRFS Description Return to factory settings Units - Range of ‘n’ - Default - See also SV Issuing an RFS command initialises the controller to factory default settings. The drive must be de-energised (OFF) for RFS to be executed. Factory settings must be saved using the SV command before they take effect. The default settings are: All labels cleared, all outputs set to logic low.
6. COMMAND REFERENCE S 163 Stop Syntax aS Description Units - Range of ‘n’ - Default - See also PS, K Use the S command to bring motion to a controlled stop. The command will use the current value of deceleration as specified by either the immediate A or AD commands or the current profile being used. This command also aborts label execution when used from the command line. Use the command from the command line or within a label.
164 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE SCALE Scale settings Syntax aSCALEon/off(SCLA,SCLD,SCLV, PEU) Description This command allows a user to specify Acceleration, Distance and Velocity in their own chosen units. The drive firmware needs to know how many commanded position steps there are in a user unit and then how many fractions of a unit there are for an A, D or V of 1. The parameters used are: SCLA – 1 to 100,000,000 Used to scale A. A of 1 unit/s2 = PEU encoder counts per sec2.
6. COMMAND REFERENCE 165 Example: Suppose we have a motor attached to a linear table. The motor resolution has been set to 4000 steps per rev. The linear table has a load mounted 10um encoder and is 0.5m long. It takes 80 motor revs to move the table its complete length. The motor has to position the table in 100 distinct linear positions at a speed range of 0.02ms-1 to 0.2ms-1. • 50000 / 80 = 625 load encoder counts per motor revolution Set variable EM to 625 Enable LOADENC • 0.
166 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE STALL Stall detect Syntax aSTALLon/off(error_window,mode,output) Description The STALL command is used to enable stall detect. To use this command an encoder must be connected to X2 to monitor the system’s actual position. The on/off parameter takes the values of 1 for ON and 0 for OFF and has a default value of OFF. If the error between demanded position and encoder position exceeds the error window, then the drive will generate a stall fault.
6. COMMAND REFERENCE Note 167 [1] The error window is measured in motor steps with LOADENC and SCALE disabled, load steps with LOADENC enabled, and user steps with SCALE enabled. [2] If scaling is enabled, the value given in the error window will remain the same, but is now in user units.
168 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE STATUS Syntax aSTATUS STATUS of Drive Units - Range of ‘n’ - Default - See also Description Use this command to check the state of a drive. It is intended for set-up purposes rather than for use when a program is running. Properties Immediate or buffered, can’t be used in a labelled block, not saved by SV Example 1STATUS ;checking the configuration and state of a drive 1STATUS *ViX500IM-Stepper Copyright 2003 Parker-Hannifin *Firmware: REV 2.
6. COMMAND REFERENCE STOP 169 STOP Input Syntax aSTOPon/off(mode) Description The STOP Input command determines the ‘stop input’ functionality of input 1. When input 1 is active, IS = 1XXXX. The on/off parameter enables/disables the stop input taking the values 1 for ON and 0 for OFF and has a default value of OFF. The mode can be set as follows: 0 1 Stop motion when input 1 is active (IS = 1XXXX) and abort the user program (default setting).
170 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE SV Syntax aSV Description Save configuration Units - Range of ‘n’ - Default - See also Z When the SV command is issued, the current controller system variables and user programs are stored in non volatile memory. Any data saved, will be restored following the next power-ON cycle. The number of write/save cycles is 1 million. Normally, there will be a delay of approximately one-second before a command following a save configuration is executed.
6. COMMAND REFERENCE T 171 Time delay Syntax aTn Description Units seconds Range of ‘n’ 0.05 to 10 Default none See also IF The T command pauses program execution for the time specified by the delay parameter. Timing resolution is to within 50ms increments. Any time value specified within the range 0.05 to 10 seconds will be rounded down to the nearest 0.05 second increment. Any value programmed outside of this range will generate an error (*E out of range).
172 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE TR Wait for trigger Syntax Description aTR(system_variable,relation,value) The TR command pauses command execution until the trigger condition is met. The trigger condition is met if the relation between system_variable and value is true. Valid relations for the comparison are: = <> > < Equals Does not equal Greater than Less than Value is a number generated by the system_variable being tested. Refer to the system variables table for more information.
6. COMMAND REFERENCE USE Use Syntax aUSE(profile) Description Properties Example 173 Units - Range of ‘n’ 1 to 8 Default - See also PROFILE The USE command copies the pre-defined profile to the current move parameters.
174 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE W Write system variable Syntax Description Properties aW(system_variable,value) The W command allows you to set a specified system variable to a particular value. Refer to the table of system variables for more information. Immediate or buffered, can be used in labelled block, saved by SV Example Set system variable DC to 1 2W(DC,1) Report the current value of system variable DC 2R(DC) The controller responds with ....................................
6. COMMAND REFERENCE # 175 Set comms address remotely Syntax a#n Description Units - Range of ‘n’ 1 to 255 Default 0 See also - This command (#) allows you to set the unit address via software. It allows addresses up to 255 to be used. Upon receipt of the command, the controller will send a #n+1 command along the daisy chain provided the echo mode is set. Once received you must send a SV command to save the address configuration.
176 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE ““ Syntax a“ “ Quote command Units - Range of ‘n’ - Default - See also - Description Use QUOTE to send messages to other drives or displays. Using the RS232 link, up to 20 ASCII characters are available to transmit the required command or message in exactly the way in which it was entered. Only ASCII characters between decimal 32 (space character) and decimal 126 (tilde ‘~’ character) inclusive are allowed.
6. COMMAND REFERENCE 177 System Variables Var AB AI AO BR BU CQ Name Analogue Deadband Analogue Input Analogue Offset BAUD rate Buffer usage Command queuing R W Range/default value Y Y 0 to +255, default = 0 Y Y Y Y Y N Y Y N Y DC Damping Configuration Y Y DF DF1 DF2 DF3 DF4 EI Drive Fault status Drive Fault status Drive Fault status Drive Fault status Drive Fault status Encoder Input Y Y Y Y Y Y N N N N N Y EM Encoder count per rev.
178 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Var FB FC FN FP HF Name Fieldbus Baud Fieldbus Control Fieldbus Node ID Fieldbus Protocol Home Final velocity R W Y Y Y Y IC Input/Output Configuration Y Y IN INn IP IT MS Inputs (on drive) Inputs (expansion) In Position flag In Position Time Motor Standby N N Y Y Y N N N Y Y MV PA PE PF PI Moving Position Actual Position Error Position Following Position Incremental Position Master Y Y Y Y Y N N* N* Y Y Y Y PR Position Registration Y
6. COMMAND REFERENCE Var ST ST1 ST2 ST3 ST4 TT 179 Name Status of indexing Status of indexing Status of indexing Status of indexing Status of indexing Trigger Timeout R Y Y Y Y Y Y W N N N N N Y User program Fault status UF1 User Fault Status UF2 User Fault Status UF3 User Fault Status UF4 User Fault Status *Can be set to 0 only.
180 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Faults Bit 1 2 3 4 5 6 7 8 Bit Tested DF 1.1 DF 1.2 DF 1.3 DF 1.4 DF 1.5 DF 1.6 DF 1.7 DF 1.8 9 10 11 12 13 14 15 16 17 18 19 20 21 DF 2.1 DF 2.2 DF 2.3 DF 2.4 DF 2.5 DF 2.6 DF 2.7 DF 2.8 DF 3.1 DF 3.2 DF 3.3 DF 3.4 DF 3.5 22-24 25 26 27 28-31 32 DF 3.6/8 DF 4.1 DF 4.2 DF 4.3 DF 4.4/7 DF 4.
6. COMMAND REFERENCE Status Bits Bit Number 1 2 3 4 5 6 7 8 9 11 12 13 14 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Bit Tested ST1.1 ST1.2 ST1.3 ST1.4 ST1.5 ST1.6 ST1.7 ST1.8 ST2.1 ST2.3 ST2.4 ST2.5 ST2.6 ST2.8 ST3.1 ST3.2 ST3.3 ST3.4 ST3.5 ST3.6 ST3.7 ST3.8 ST4.1 ST4.2 ST4.3 ST4.4 ST4.5 ST4.6 ST4.
182 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE User Faults Bit Number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 22 23 24 25 26 to 32 Bit Tested UF1.1 UF1.2 UF1.3 UF1.4 UF1.5 UF1.6 UF1.7 UF1.8 UF2.1 UF2.2 UF2.3 UF2.4 UF2.5 UF2.6 UF2.7 UF2.8 UF3.1 UF3.2 UF3.3 UF3.6 UF3.7 UF3.8 UF4.1 UF4.
6.
184 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Command POSMAIN PROFILE PS R REG RFS S SCALE STALL STATUS STOP SV T TR USE V W Z # “” Description Position maintenance Define move profile Pause Report system parameter Registration move Return to factory settings Stop Scale settings Stall detect Report status of drive Stop input Save configuration Time delay Wait for trigger Use Velocity Write system variable Reset Set comms address remotely Quote command
7. MAINTENANCE & TROUBLESHOOTING 185 7. ViX Maintenance and Troubleshooting Maintenance ViX drive systems do not require any routine maintenance, but occasional checking of the following points is recommended. Motor inspection Periodically check the motor to ensure that the mounting bolts and couplings are tight. Check that the motor cables are not being damaged by moving parts and are not being pulled or forced into tight bends during machine operation.
186 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Communication Problems When attempting a Connect from the Terminal menu, if the connection fails with the following error message: Figure 7-1. Communications Failure Error Message Check the following: 1. Ensure the serial port configuration is set correctly in EASI-V and you select the correct serial COM port. 2.
7. MAINTENANCE & TROUBLESHOOTING Drive LED Indicators HV ST FB Colour Function Green HV OK Orange HV OK and feedback fault Red Feedback fault with no HV X1 10 X3 1 6 5 9 X4 1 1 5 Colour Function Green Ready (energised) Orange Drive OK but de-energised Drive fault Red Colour Function Green Comms OK Orange Comms status Red Comms fault 6 11 15 10 Figure 7-2.
188 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Complete LED Diagnostics An EASI-V version of this table is available for quick on-line viewing.
7. MAINTENANCE & TROUBLESHOOTING 189 Forcing a Hardware RFS Pin 2 of serial communications D-type connector X3 is for use as a hardware method of forcing a return to factory settings. It may be used when it is not possible to perform an OFF or RFS command. Such a situation may be switching to RS485 mode but having no RS485 interface on the controlling PC, forcing an RFS command will allow you to return to RS232 operation.
190 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Drive Faults The following notes give you a better understanding of what is happening within the drive when a particular drive fault is reported. The explanations assume a ViX drive indexer firmware revision of V2.0. Composite fault This flag indicates that a drive fault has occurred and that the fault is still present. The original fault may have been registered by the FPGA (power card hardware) or by the drive’s microprocessor.
7. MAINTENANCE & TROUBLESHOOTING 191 Vio over-voltage Over-voltage will mean that the 24V supply is out of tolerance. Indexed motion will be stopped instantly and the drive will then de-energise. If there is a user program running and the fault label is armed it will be run. Encoder/Auxiliary 5V under voltage This 5V supply is read every 500uS. This fault is set if it dips below 4.5V. Indexed motion will be stopped instantly and the drive will then de-energise.
192 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Incompatible firmware revision The FPGA firmware code contained in FLASH memory is not compatible with the controller hardware and the drive cannot be used. This message is likely if in future, customers update old hardware with the latest FPGA firmware, which may require specific hardware to function. The firmware will not allow an energise whilst this fault is present.
7. MAINTENANCE & TROUBLESHOOTING 193 A note about “Controlled stop”. A controlled stop will be attempted if the trajectory generator was commanding motion at the time of the fault. If the commanded motion was due to following, then the indexer will disable following, that is there will be no ramp down of velocity. If the drive was following and doing a superimposed move, then the superimposed move will be subject to the ramp down of velocity and once that has stopped, following will be disabled.
194 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Returning the System If a drive module is found to be faulty, you should contact your Parker Automation Technology Centre or the machinery manufacturer who supplied the product. Equipment for repair should NOT be returned directly to Parker without prior authorisation. Repairs will be carried out by Parker but will be processed via your supplier.
8. HARDWARE REFERENCE 195 8.
196 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Indexer Specification Parameter Command Interface Position range Velocity range Acceleration/deceleration range Positioning modes Communication Data format Baud rate Address setting range RS232 connection Digital Inputs User programmable inputs Dedicated inputs Input levels (24V) Input levels (5V) Input impedance Digital Outputs User-programmable outputs Output levels output high output low Output current rating Value +/- 2,147,483,647 steps 0.
8. HARDWARE REFERENCE 197 Drive Environment Specification Parameters Environment Operating temperature range Storage temperature range Humidity Cooling Housing Protection class Weight All drive types Pollution degree 2, Installation category II 0 to 50°C ambient 0 to 40°C natural convection 40°C to 50°C airflow is required through the drive at better than 0.5m/s air velocity entering the drive. -20 to 70°C 5 to 95% non-condensing Natural convection Plastic/Aluminium heatsink IP20 0.55kg Table 8-3.
198 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE
APPENDIX A 199 Appendix A Discrete Power Supply Recommendations If the XL_PSU is not being used individual ViX drives can be powered from transformer/bridge rectifier power supplies of the type shown in Figure A-1. This design suggests suitable component values for powering particular drive types, but can be adapted to power more than one drive provided component power ratings are not exceeded. AC Fuse TD/HBC Line Fuse TD/HBC EMC filter Bridge rectifier rated at 4A min. for ViX250 drive 8A min.
200 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE The size of transformer required for a stepper drive installation depends very much on the application and on the maximum shaft power delivered by individual motors. It is worth noting that in a one-off or low volume application it is usually preferable to be slightly generous in sizing the transformer, rather than spend a great deal of engineering effort trying to calculate the minimum possible rating.
APPENDIX B 201 Appendix B Motor Wiring Identification Tables The following tables supply serial and parallel connection information for a range of different motor types. MAKE Parker SY Series Parker VS Series Parker ES, QM, S & ZETA Motors Parker TS/RS/RE Series Parker OEM Series Parker OS Series Parker STT/STL Pacific Scientific Astrosyn, Rapidsyn, Slo-syn Slo-syn M.A.E TYPE A+ A- B- B+ 8-Lead Blue Green Red Brown 56-T.Box 2 1 3 4 T.
202 APPENDIX B MAKE Parker SY Series Parker VS Series TYPE A+ A- B- B+ 8-Lead Blue Green Red Brown 56-T.Box 2 1 3 4 T.
INDEX Index # # set address remotely, 175 + +24V fuse rating, 17 +24V supply connections, 17 +24V supply lead length restrictions, 17 A A acceleration deceleration, 119 A to D converter, 33 AA acceleration, 119 AB, AI & AO system variables, 58 Absolute preset moves, 74 Absorber ferrite, 20 AD deceleration, 120 AI system variable, 33 ANA1 inputs, 33 Analogue input, 33 AO system variable, 33 ARM code, 121 ARM command, 50 B Baud rate changing, 31 Baud rate selection, 103 Bipolar rating, 21 BR system variable,
204 INDEX Drive cooling, 5 dissipation, 5 fault reporting, 68 Drive fault byte reporting, 69 Drive faults, 67, 190 Drive inspection, 185 Drive settings / setup, 110 Drive types, 2 E E enable/disable comms, 126 Earth arrangements, 9 Easi-V communicating with drive, 102 downloading, 112 help, 113 installation directory, 97 menu overview, 99 prg files, 103 running, 97 software file size, 95 startup, 98 status reporting, 111 uninstall, 97 uploading, 113 Echo queuing, 60 Echo queuing mode selection, 60 Edit menu
INDEX mode 1, 80 mode selection, 80 modes, 80 switch considerations, 79 HOME, 137 definition of terms, 79 Home switch too narrow, 81 Homing operations, 79 Housing material, 197 Humidity, 197 I I/O command, 37 I/O configuration limitations, 38 IC default setting, 38 example, 38 system variable, 37 IF command, 72 IF test, 139 Immediate commands, 117 Immediate or buffered commands, 117 Immediate properties, 117 IN system variable, 62 Incremental preset moves, 74 Indexer specification, 196 INn system variable,
206 INDEX Motor mounting precautions, 8 MOTOR settings, 151 Motors 4 lead, 21 6 lead, 21 8 lead, 21 voltage rating, 21, 26 Move types, 74 Moves absolute preset, 74 continuous, 74 incremental preset, 74 preset, 74 MS system variable, 62 MV system variable, 61 N NOREG, 50 NOREG label, 77 Not saved by SV, 118 O O output, 152 OFF shutdown motor, 153 ON turn on motor, 154 Output circuit, 37 configuration, 37 current rating, 37 Outputs, 37 Overload of outputs, 26 Overtemperature sensor, 30 Overtemperature switch
INDEX Registration example, 78 Registration output, 77 Report commands that can be saved, 71 Reset to RS232 mode, 31 Returning the system, 194 RFS return to factory settings, 162 RJ45 connecting leads, 43 RJ45 patch cables, 43 RM system variable, 64 RS232 cables, 32 RS232 connecting leads, 32 RS232 mode forced reset, 31 RS485 connections, 40 RV system variable, 64 S S curve correction, 64 S stop, 163 Save properties, 118 Saved by SV, 118 SC system variable, 64 SCALE settings, 164 Scaling, 92 SCLA, 92 SCLD,
208 INDEX U UF byte, 69 Uploading programs, 112 USE, 173 USE command, 55 User fault byte reporting, 70 clear conditions, 70 test example, 70 User fault descriptions, 69 User fault reporting, 69 User faults, 67 User faults list, 182 User outputs, 37 Utilities menu, 100 V V velocity, 173 ViX supply current, 11 supply volts, 10 ViX250/500 drive dimensions, 6 W W write system variable, 174 Weight, 197 Welcome box, 96 Windows menu, 100 Windows™, 95 Wire size of motor earth, 22, 26 Withstanding voltage rating, 1
CUSTOMER FEEDBACK 209 Customer Feedback If you have spotted any errors, omissions or inconsistent information within this user guide please let us know. Either use this page (or a photocopy) to describe the error and Fax. it to the number given below. Alternatively, you may phone or email the correction. Name of user guide: Part number: 1600. _ _ _ . _ _ Found on the title page in the bottom left corner.
A range of mating connectors are supplied, depending upon the type of fit-kit ordered. HV ST FB X1 10 9 8 7 6 5 4 3 2 1 Power & Motor 24-80V DC +HV 0V / GND -HV Earth PE 24V DC 0V (GND 24v DC) Motor Gnd Motor phase (A+) Motor phase (A-) Motor phase (B+) Motor phase (B-) Protective Earth PE X1 10 X3 Power & motor 10-way connector 1 5 9 1 Feedback, Digital encoder X2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 6 X4 Motor Earth ME Function Feedback enc. Z+ Feedback enc.
