Eaton Vickers SMC20 Product Support Download

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Released 5/95

714

Vickers

General Product Support

SMC20 Motion Controller

Summary of Contents for Vickers SMC20

Page 1: ...Released 5 95 714 Vickers General Product Support SMC20 Motion Controller...

Page 2: ...1 Contents Description 2 Features 3 Front Panel 4 Communication Interface 4 Specifications 5 Installation 6...

Page 3: ...nge mounting Figure 1 1 shows the front panel and connections Features The SMC20 motion controller presents several features D High performance for electric and hydraulic motion control applications D...

Page 4: ...tputs are digital LED indicators immediately adjacent to Axis 1 and Axis 2 connections show which pins are active Communication Interface Communication between an operator and the SMC20 occurs through...

Page 5: ...dc Single Ended Standard 10 Vdc Differential Standard Optional 50 mA Current Optional 24 mA Component change required Optional 100 mA Component change required Serial Interface Ports RS232C and RS422...

Page 6: ...ed on changes to this manual CAUTION This controller is used in motion control systems which involve operation of linear actuators and or rotary motion which can cause machine damage or personal injur...

Page 7: ...ach other internally Connect one ground wire to the machine frame the other to the power company ground When you complete the power supply connection go on to the common system connections Common Syst...

Page 8: ...Wiring the Common Sys tem Connections with a User Power Supply Axis Connections The axis connections provide the link between the SMC20 and the actuator motor drive amplifier Each axis connection has...

Page 9: ...ed D18 O Output uncommitted D16 DRV Input drive amplifier OK D14 JG Input jog direction D12 JG Input jog direction D10 LIM Input travel limit D8 LIM Input travel limit D6 HOM Input home switch D4 RUN...

Page 10: ...nals constitute analog input Channel 1 This differential analog input can be used as a variable Please refer to the Programming Reference Manual for use of this input Both connections require twisted...

Page 11: ...On as long as the axis remains within the band D24 HC The D24 HC Home Complete output goes On when the system completes the home sequence D22 ERR The D24 ERR Error output goes On when any error condit...

Page 12: ...er selectable 5 VDC or 15 VDC to power the encoder See Appendix B for jumper settings Figure 2 16 locates the position feedback encoder connections on the SMC20 front panel Figure 2 17 shows the pin l...

Page 13: ...ach resolution setting Resolution Channel 1 Channel 2 JP3 7 JP3 8 JP4 13 JP4 14 16 bit 1 1 1 1 14 bit 1 0 1 0 12 bit 0 1 0 1 10 bit 0 0 0 0 0 Installed 1 Removed Table 2 5A Resolution Jumpers Resoluti...

Page 14: ...rify all connections before applying power to the controller It is a must that the User install Emergency Shutdown provisions which operate independently of this controller The Emergency Shutdown shou...

Page 15: ...s the function of that blue button for that screen The functions vary with the screen When Up Down arrows appear pushing the green arrow keys will change the screen or one of the choices on the screen...

Page 16: ...f segments in a given profile and the number of different profiles which can be programmed on an axis is not fixed but instead is governed by the available memory The SMC20 can store 900 segments Each...

Page 17: ...n MONITOR MOTION AXIS F1 POS 2 X XXXX SEL F2 PER 2 X XXXX SEL F3 VEL 2 X XXXX SEL F4 The second screen reached by Up Down arrow keys is used to monitor Alarms Error Flags See General Faults section pa...

Page 18: ...hown in five sections The axis parameters should be set before trying to activate any of the axes When the CFG mode switch is pushed one of the five screens in Figure 3 4 comes up The others are reach...

Page 19: ...AXIS 1 QUIT F1 IN POSITION AXIS F2 ERROR EU SAVE F3 10 0000 EDT F4 AXIS 1 QUIT F1 MAXIMUM AXIS F2 SPEED EU SEC SAVE F3 399999 9388 EDT F4 AXIS 1 VAL QUIT F1 FOR JOG SPEED AXIS F2 SELECT VARIABLE VAR F...

Page 20: ...nter JOB Speed FT Foot MM Millimeter RV Revolution CM Centimeter EU Engineering Unit counts Figure 3 6 Engineering Unit Home Direction and Job Speed Screens 19 Axis Parameter Screens These screens are...

Page 21: ...Quit Go to previous screen F2 Axis Selects 1 X or 2 Y F3 Save Saves new value to RAM Memory F4 EDT For all parameters This brings up one of the Axis Gains screens For Integrator Delay when SAVE is pus...

Page 22: ...600 1200 2400 4800 9600 19200 and 38400 Data Bits Available values are 7 or 8 Stop Bits Available values are 1 or 2 Parity Available values are Odd Even None A common setting is 9600 8 1 None The dev...

Page 23: ...Reference Manual An introduction to I O and function reference reassignment is given below There are 256 internal I O addresses The first 32 0 thru 31 are normally assigned to the front panel default...

Page 24: ...Position Reference 254 AXIS 2 Default Address Function Assignment Torque Enable 16 Velocity Enable 17 In Motion 18 In Position 19 Home Complete 20 Error 21 Program Select 253 Program Select Bit 0 253...

Page 25: ...ory screen and Save It is a good idea to go to this screen several times during a programming session to save the current data so that it is not inadvertently lost during a power down or loss In the C...

Page 26: ...Segment Profile section JOG AXIS 1 QUIT F1 POS 1 1 0000 AXIS F2 POS 1 1 0000 JOG F3 POS 1 1 0000 JOG F4 See Testing Initial Set Up section 25 D Enter a Kp proportional gain of about 1000 5000 to start...

Page 27: ...UIT F1 HOME AXIS F2 POSITION EU SAVE F3 0 0000 EDT F4 Home Offset defines the offset position from Home Limit Switch in the length units previously selected inches meters etc AXIS QUIT F1 HOME AXIS F2...

Page 28: ...ration value to zero velocity and hold position The axis must then be jogged off the limit switch in the opposite direction before normal operation can resume Set Up Checklist and Operation Test It is...

Page 29: ...configuration limits These will be entered for each axis from the Configuration CFG mode The controller will use these limits as defaults at other programming levels These configuration parameters sh...

Page 30: ...Speed may therefore never actually reach Move Speed because of the start of deceleration or acceleration to reach Target Velocity Note that Target Velocity can be 0 or any velocity less than the Prof...

Page 31: ...Dwell Time has been programmed as part of the Input Conditions it will start timing and completely time out before anything else occurs 2 Next any Input Events that are part of the Input Conditions a...

Page 32: ...1951 EDT F4 PROGRAM QUIT F1 MAXIMUM F2 ERROR EU2 SAVE F3 2000 0000 EDT F4 PROGRAM QUIT F1 IN POS F2 ERROR EU2 SAVE F3 10 0000 EDT F4 PROGRAM QUIT F1 F2 EVENT DEL F3 CONDITION EDIT F4 PROGRAM MODE NEW...

Page 33: ...ogram segments may not necessarily correspond 1 to 1 with profile segments as special purpose program segments can be used to carry out non motion aspects of the profile such as waiting for specific i...

Page 34: ...ber of any segments which previously had higher segment numbers F3 INS Inserts a segment ahead of the segment shown The new segment uses the number on the screen and the segment which previously had t...

Page 35: ...in Axis Event Condi tion Undefined Jog Speed 1 in sec Go to PRG mode Assume that no programs have been saved The following screen should come up PROGRAM MODE NEW F1 AXIS 1 AXIS F2 PROGRAM SEL F3 DOES...

Page 36: ...Press Edit F4 then press Program Segments Edit F4 PROGRAM 10 QUIT F1 SEGMENT 1 SEL F2 NEW F3 EDIT F4 Press NEW F3 to get to Segment 2 Press Edit F4 and use arrow keys to go to the Entry Conditions sc...

Page 37: ...ld appear as 1 START 2 OUTPUT TO 3 IO 06 4 END EQ Note Brackets appear in F3 field to highlight the port to be selected Press Save F4 to save to RAM Be sure to go to CFG mode and save to FLASH Memmory...

Page 38: ...EL F3 RUNNING STOP F4 Pressing Stop F4 will stop the selected axis program motion The Stop key STOPS all motion both axes Running Programs from Digital I O Programs can be commanded to run from the di...

Page 39: ...o jog in the opposite direction of the limit in order to achieve motion D Verify Enable ENBL input is active D Verify the Enable Axis EN input LED is On This input may be toggled after occurrence of a...

Page 40: ...Axis 2 233 Over travel for Axis 2 234 Profile select error for Axis 2 235 Maximum position error for Axis 2 236 Profile segment error for Axis 2 237 Position sensor error for Axis 2 238 DSP error for...

Page 41: ...sition error This required Position Error is called Following Error and is the amount by which measured position is behind the reference position for a given velocity The Position Error is routed thro...

Page 42: ...actory Jumper Settings The encoder interface card has jumper selectable ouput voltages for the encoder power Refer to Figure B 1 Position Interface Card Encoder Jumpers Figure B 1 Position Interface C...

Page 43: ...42 The Main Board CPU has many factory set jumpers no user configurable jumpers are provided on this board The factory jumper positions are shown in FigureB 2 SMC BD Jumpers Figure B 2 SMC Bd Jumpers...

Page 44: ...5 4 Axis 2 Y1 4 4 2 5 4 Axis Configuration Limits3 36 4 1 4 15 Axis Connections2 4 2 10 2 11 2 12 2 13 2 14 3 19 3 20 Fig 2 7 Axis Gains3 13 3 16 3 37 4 30 5 2 5 5 A 1 Fig 3 4 Fig 3 7 Axis I O Address...

Page 45: ...19 2 21 3 35 4 22 4 29 Fig 2 13 Digital Outputs1 6 2 10 2 20 2 21 4 22 Fig 2 14 Digital Signal Processor1 3 Digital to Analog2 11 3 11 A 3 Dither1 3 DO 2 11 2 15 DO 2 11 2 15 DREF3 35 Drive Amplifier1...

Page 46: ...me Complete2 21 3 22 3 23 3 34 Home Direction3 34 Fig 3 2B Fig 3 5 Fig 3 6 Home Limit Switch2 12 2 13 2 23 3 19 3 20 3 22 3 23 3 33 3 34 3 38 Fig 3 11 Home Offset3 15 3 33 Fig 3 2B Fig 3 5 Home Parame...

Page 47: ...6 Jog Velocity2 22 5 2 Jog 2 22 3 22 3 23 Jog 2 22 3 22 3 23 Jump Conditional Events4 22 Jump Conditions4 4 4 6 4 7 4 26 Fig 4 2 Fig 4 5 Jump Event4 5 4 26 Jump Event Condition4 6 4 27 Jump Instructio...

Page 48: ...e3 5 3 6 3 14 4 1 4 2 4 3 4 6 4 7 4 9 4 14 4 22 4 28 Fig 4 1 Mounting1 1 2 3 2 33 Move Speed4 5 4 14 4 20 4 21 Fig 3 2B Move Velocity4 4 4 5 MTN2 12 2 13 2 21 3 19 3 20 New Segments4 8 4 12 Non Volati...

Page 49: ...23 4 26 Fig 4 2 Fig 4 4 Program Select3 22 3 23 5 4 Program Select Bit 3 22 3 23 Programming Structure3 4 Fig 3 1 Proportional Gain3 16 3 29 3 37 3 38 5 2 A 2 Proportional Valve Amplifier1 1 Quick Se...

Page 50: ...5 4 System Parameters3 17 Fig 3 4 Fig 3 8 Target Position4 4 4 5 Fig 3 2B Target Speed 4 20 4 21 Fig 3 2B Target Velocity4 4 4 5 4 14 Torque Enable2 12 2 13 2 21 3 19 3 20 3 22 3 23 TQ2 12 2 13 2 21 3...

Page 52: ...Corporation 0000 All rights reserved Printed in U S A Eaton Hydraulics 15151 Highway 5 Eden Prairie MN 55344 Telephone 612 937 7254 Fax 612 937 7130 www eatonhydraulics com 46 New Lane Havant Hampshi...

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