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OPERATING MODES

OVERVIEW

The Positioning Drive is differentiated from common analog servo drives in that the amplifier
includes a position feedback loop. As a result, the amplifier will provide both precise position
and velocity control of the motor. The drive utilizes resolver feedback for both velocity and
position feedback. Thus, a tachometer is no longer required.

The drives include three different control modes providing alternatives for implementing motion
control. The modes are listed below.

Table X

Motion Control Modes

MODE

CONTROL

INTERFACE

COMMAND DEVICE

Analog

Velocity

Zero to +/- 10vdc

Velocity Controller

Torque

Zero to +/- 10vdc

Torque Controller

Pulse

Position

Increments

Pulse & Direction

+5 to +15V Logic

Motion Generator,

Indexer, CNC

Position Increments

CW & CCW Pulses

Motion Generator,

Indexer, CNC

Indexing

Index, Home, Jog

Inputs & Outputs 10 to
+30vdc, Optically Isolated
(sink or source)

Relay Logic, Operator
Control Panel or a
Programmable Logic
Controller

Index, Home, Job
and Motion
Programming

RS423/422/232C Serial
Interface XMIT/REC ASCII

Personal Computer, ASCII
Unit on PLC, ASCII
Terminal

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Summary of Contents for DX-202

Page 1: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

Page 2: ...ibility is assumed by MERSON EMC for its use EMERSON EMC reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice EMERSON EMC also assumes no responsibility for any errors that may appear in this document Information in this document is subject to change without notice P N 400221 00 REV A7 DATE 6 24 92 Artisan Technolo...

Page 3: ...on 26 Load Coupling 26 Selecting An Enclosure 27 Amplifier Losses 27 System Troubleshooting 27 AMPLIFIER MOUNTING INFORMATION 27 AMPLIFER I O LOCATIONS 32 MOTOR MECHANICAL INFORMATION 36 MOTOR WIRING 43 MAIN AUXILIARY AX POWER 46 CABLE WIRING DIAGRAMS 48 TDS TDL CABLE 48 TDT Cable 48 Optional Bulkhead Connectors 49 OPERATING MODES 50 MODE SELECTION 51 POSITIONING DRIVE CONFIGURATION AND PROGRAMMIN...

Page 4: ... T 16 SETUP AND OPERATION 136 INSTALLATION AND CONNECTIONS OF THE PCM 1 138 INPUT OUTPUT INTERFACE PCM 1 139 OVERVIEW 139 OUTPUT FUNCTIONS 141 WHAT ARE PROGRAMS 147 DESCRIPTION OF PROGRAMMING FUNCTIONS 149 WAIT FOR INPUT 149 DWELL TIME 149 UPDATE OUTPUTS 149 EXECUTE INDEX 149 EXECUTE PROGRAM 149 EXECUTE COMPOUND INDEX 149 END 149 HOW TO CREATE A PROGRAM 151 PROGRAMMING CAPABILITIES 154 SUSPEND RES...

Page 5: ...ITCHES AND PROTOCOL 184 LOCATIONS OF SWITCHES 184 SERIAL CABLES 186 Wiring Diagrams From Computer to Drive 186 Wiring Diagram for DD XXX Multi Drop Cable 187 SERIAL INTERFACE CONTROL 188 ASCII COMMANDS 189 SUMMARY OF SERIAL COMMANDS 210 INDEX 216 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 6: ...rough our customer service organization Need on site help Emerson provides on site service in most cases the next day Just call Emerson s Customer Service Center when on site service or maintenance is required TRAINING SERVICES 612 474 1116 Emerson EMC maintains a highly trained staff of instructors to familiarize customers with Emerson Electronic Motion Controls and their applications A number of...

Page 7: ... manual adjustments or tuning required Installation Installation and wiring is fast and easy because the Positioning Drive operates in most environments directly from an AC line source without requiring a separate isolation transformer The unit is designed to be back mounted within a standard Nema enclosure typically found in a production facility The size has also been minimized to allow users to...

Page 8: ... Motor TDL XX Cable DX 6120 120 in lbs DXA 6120 Amplifier DXM 6120 Motor RC XX Cable DX 6200 300 in lbs DXA 6200 Amplifier DXM 6200 Motor RC XX Cable DX 6300 300 in lbs DXA 6300 Amplifier DXM 6300 Motor RC XX Cable DX 8200 200 in lbs DXA 8200 Amplifier DXM 8200 Motor DX 8300 300 in lbs DXA 8300 Amplifier DXM 8300 Motor DX 8400 400 in lbs DXA 8400 Amplifier DXM 8400 Motor NOTE The DX 8XXX series mo...

Page 9: ...ed and stored in a non volatile memory These indexes plus other commands such as STOP and JOG are selected easily by the drive s parallel input output I O lines from devices such as PLCs or operator push buttons Parallel I O commands can be used for stand alone operation or simultaneously in conjunction with any other two control modes Another powerful feature of the INDEXING mode allows ASCII com...

Page 10: ...emory storage capability of the standard digital drive This allows the user greater flexibility in both the size and the number of programs and indexes available Another advantage of PCM 1 is that it increases the number of input lines from 8 to 16 and the number of output lines is increased from 4 to 8 All inputs and outputs are assignable from a standard list of I O functions Lastly the PCM 1 al...

Page 11: ... function key the proper user created message is displayed The message can be created to include information as to what setup parameter is being changed on which axis etc If more than 3 operator altered setup parameters are required a fourth F x key allows the user to store up to 95 additional operator alterable setup functions T 16 Numeric Display The T 16 is used to display position or velocity ...

Page 12: ... 11 FAMILY OF POSITIONING DRIVE PRODUCTS Figure 1 Peripherals Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 13: ...68 3000 30 AMP 10A 8 100 38 76 DX 8200 DXM 8200 200 300 04 3000 20 AMP 7A 7 4 96 27 41 DX 8300 DXM 8300 300 450 08 3000 30 AMP 10A 7 4 96 40 60 DX 8400 DXM 8400 400 600 12 3000 40 AMP 10A 7 4 96 54 81 INPUT VOLTAGE DX 202 DX 205 DX 308 DX 430 DX 450 DX 480 DX 780 DX 7120 96 132 VAC 50 60 Hz single phase INPUT VOLTAGE DX 6120 DX 6200 DX 6300 DX 8200 DX 8300 DX 8400 196 264 VAC 3 PHASE 50 60 Hz SWIT...

Page 14: ...ing range 12 vdc to 12 vdc absolute maximum Different input greater than 9K ohms SERIAL INTERFACE RS423 signal compatible Xmit Rec and GND INPUTS AND OUTPUTS Outputs sink or source 2 terminals 200 Ma max external current limit required each Inputs 10 to 30 vdc internal current limit provided 10 12 15 and 24 vdc typical Table IV User Memory Capacity User Memory Capacity Drive Drive w IOM 1 Drive w ...

Page 15: ...l Load Max Axial Load DXM 202 10 lbs 8 lbs DXM 205 10 lbs 8 lbs DXM 308 20 lbs 15 lbs DXM 318 20 lbs 15 lbs DX 430 50 lbs 20 lbs DX 450 50 lbs 20 lbs DX 480 75 lbs 40 lbs DXM 780 150 lbs 50 lbs DXM 7120 150 lbs 50 lbs DXM 6120 150 lbs 50 lbs DXM 6200 150 lbs 50 lbs DXM 6300 150 lbs 50 lbs DXM 8200 150 lbs 50 lbs DXM 8300 150 lbs 50 lbs DXM 8400 150 lbs 50 lbs Artisan Technology Group Quality Instr...

Page 16: ...Torque Curve DX 7120 Figure 3 Typical Speed Torque Curve DX 205 Figure 4 Typical Speed Torque Curve Continuous torque rating of the motors is measured using a 10 X 10 X 0 25 mounting plate that acts as a heatsink All specifications are 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 17: ...num face plate 3 Derate available torque by 1 per C for operation above 30 C to an ambient temperature of 45 C for motor and amplifier DX 8200 DX 8300 DX 8400 Figure 7 Typical Speed Torque Curve Continuous torque rating of the motors is measured using a 10 X 10 X 0 25 mounting plate that acts as a heatsink All specifications are 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Page 18: ...up status and control can be connected with a 9 pin D type connector The motor connections for the 120 VAC single phase models are accomplished with factory supplied cable and mating connectors The higher power 230 VAC 3 phase models are connected via screw terminals at the amplifier and motor This allows the user to supply his own wire The larger drive motors also have NPT pipe thread holes for m...

Page 19: ...20 VAC Line Sizing The approximate AC line source VA rating can be determined by multiplying the AC line sizing by 120 VAC Example DX 780 Line sizing 40 amp 40 amps 120 VAC 4800 VA Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 20: ... 230 VAC 3 Phase Connections The approximate AC line source VA rating can be determined by W E I 1 732 Example DX 8200 20 Amps Watts 230 VAC 20 Amps 1 732 7 967 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 21: ...commended practices according to the IEEE Ground Book ANSI Standard C1141 and the National Electric Code Wiring of any industrial equipment should be done with some consideration for future troubleshooting and repair All wiring should be either color coded or tagged with industrial wire tabs All I O wiring must be done with industrial grade insulated wire to withstand the environment of the applic...

Page 22: ...6 132 VAC and be free of voltage transients which exceed this range If it is found that the AC power does not meet these specifications further AC line conditioning may be required Also if there is sensitive electronic equipment digital computer test equipment etc operating on the same AC power line as the Drive additional EMI RFI filtering may be required to reduce the effects of conducted AC lin...

Page 23: ... by means of the 4 terminals located on the bottom plate of the drive The AC line wires should be connected as shown below Insufficient AC line power from wire size and control transformers is a major cause of drive problems Figure 11 Typical 230 VAC Drives The GND terminal is bonded to the chassis and must be connected to earth ground Artisan Technology Group Quality Instrumentation Guaranteed 88...

Page 24: ...ectrical path to earth ground The following example illustrates the ideal grounding arrangement of the AC power Figure 12 Grounding Illustration NOTE These ground wires should not be shared with other equipment Also note that the neutral L2 for the 120 VAC source for the low power positioning drive is grounded Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg ...

Page 25: ...120 VAC low power drives Figure 13 External Disconnect Examples 120 VAC Low Power The following examples are for the 230 VAC models DX 6XXX s DX 8XXX s Figure 14 External Disconnect Examples 230 VAC High Power Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 26: ... Magnetic Coil Noise In the case of DC relays a diode is installed across the coil in a direction that will cause the voltage transient to be dissipated through the diode Figure 15 Magnetic Coil Noise DC Line In the case of AC coils a capacitor and resistor are installed across the coil to supress the unwanted transient Figure 16 Magnetic Coil Noise AC Line The specific values of resistance and ca...

Page 27: ...alignment of the resolver damage to armature bearings cracking of the motor case unbonding or demagnetization of the permanent magnets Any of these would render the motor unserviceable Load Coupling A flexible coupling must be used on the motor shaft to minimize mechanical stress due to radial loads axial loads and or misalignment Radial and axial loading cannot exceed specified values Table VIII ...

Page 28: ...ntinuous output current to the motor In applications where constant acceleration and deceleration occur additional losses occur in the shunt regulator where energy stored in the rotating inertia is commutated to the drives BUS capacitors This energy causes the BUS voltage to increase and once sensed the excess voltage is shorted through a load resistor These losses could easily equal the bridge po...

Page 29: ... 28 DX 202 DX 205 DX 308 Figure 17 Amplifier Mounting Information DX 202 DX 205 DX 308 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 30: ... 29 DX 318 DX 430 DX 450 Figure 18 Amplifier Mounting Information DX 318 DX 430 DX 450 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 31: ... 30 DX 480 DX 780 DX 7120 Figure 19 Amplifier Mounting Information DX 480 DX 780 DX 7120 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 32: ... DX 8XXX DX 6XXX CAUTION These amplifiers cannot be mounted on a combustible surface as a 1000 watt shunt resistor is located in the base of the chassis A metal back panel or no back panel is preferred Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 33: ... 32 AMPLIFER I O LOCATIONS DX 202 DX 205 DX 308 Figure 21 Amplifier I O Locations DX 202 DX 205 DX 308 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 34: ... 33 DX 318 DX 430 DX 450 Figure 22 Amplifier I O Locations DX 318 DX 430 DX 450 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 35: ... 34 DX 480 DX 780 DX 7120 Figure 23 Amplifier I O Locations DX 480 DX 780 DX 7120 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 36: ... 35 DX 6120 DX 6200 DX 6300 DX 8200 DX 8300 DX 8400 Figure 24 Amplifier I O Locations DX 8XXX DX 6XXX Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 37: ... 36 MOTOR MECHANICAL INFORMATION DXM 202 DXM 205 Figure 25 Motor Mechanical Information DXM 202 DXM 205 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 38: ... 37 DXM 308 DXM 318 Figure 26 Motor Mechanical Information DXM 308 DXM 318 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 39: ... 38 DXM 430 DXM 450 DXM 480 Figure 27 Motor Mechanical Information DXM 430 DXM 450 DXM 480 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 40: ... 39 DXE 430 DXE 450 DXE 480 Figure 28 Motor Mechanical Information DXE 430 DXE 450 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 41: ... 40 DXM 780 DXM 7120 Figure 29 Motor Mechanical Information DXM 780 DXM 7120 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 42: ... 41 DXM 6120 DXM 6200 DXM 6300 Figure 30 Motor Mechanical Information DXM 6120 DXM 6200 DXM 6300 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 43: ... 42 DXM 8200 DXM 8300 DXM 8400 Figure 31 Motor Mechanical Information DXM 8200 DXM 8300 DXM 8400 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 44: ...ic motors The diagram below indicates how the motor resolver thermostat and optional brake are wired Figure 32 Motor Wiring DX 308 DX 318 DX 430 DX 450 DX 480 DX 780 DX 7120 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 45: ... 44 MOTOR WIRING DXM 202 DXM 205 Figure 33 Motor Wiring DXM 202 DXM 205 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 46: ... 45 MOTOR WIRING DXM 6120 DXM 6200 DXM 6300 Figure 34 Motor Wiring DXM 6120 DXM 6200 DXM 6300 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 47: ... high current and voltage can now be removed from the three phase L1 L2 L3 and GND terminals thus eliminating the DC BUS supply voltage source for the motor Under these conditions the position feedback from the resolver is in tact yet high power voltage and current sources for R S T are removed Motor power reduces to nothing as the BUS capacitors discharge after AC power is removed from the MAIN A...

Page 48: ... 47 FEEDBACK WIRING DXM 8200 DXM 8300 DXM 8400 Figure 36 Feedback Wiring DX 8XXX s Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 49: ...DX 318 use cable model TDS XX The DX 430 DX 450 DX780 and DX 7120 use model TDL XX WHERE XX DESIGNATES LENGTH XX LENGTH FT 15 15 25 25 50 50 TDT Cable Figure 38 Cable Wiring Diagram TDT The DX 202 and DX 205 use cable model number TDT XX WHERE XX DESIGNATES LENGTH XX LENGTH FT 15 15 25 25 51 50 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 50: ...Connectors Figure 39 Mounting Information Bulkhead Connector TDLB Cable Figure 40 Mounting Information Bulkhead Connector TDTB Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 51: ... below Table X Motion Control Modes MODE CONTROL INTERFACE COMMAND DEVICE Analog Velocity Zero to 10vdc Velocity Controller Torque Zero to 10vdc Torque Controller Pulse Position Increments Pulse Direction 5 to 15V Logic Motion Generator Indexer CNC Position Increments CW CCW Pulses Motion Generator Indexer CNC Indexing Index Home Jog Inputs Outputs 10 to 30vdc Optically Isolated sink or source Rel...

Page 52: ... PULSE FOLLOWER and INDEXING The DIP switches 3 and 4 are used to help configure the operating modes Units are shipped with DIP switches 3 and 4 OFF Figure 41 Dipswitches Mode Selection Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 53: ...ay Sending an SC 1 to the drive would disable analog control and enable serial control with an E being on the display If an A was on the display and an initiate index home or job from the I O occurs then the A will be replaced with an E and the requested motion occurs At the end of motion the display and mode revert to A In either of the two analog modes of operation a 10 VDC signal is equated to ...

Page 54: ...f the motor Figure 43 Command Input Circuit IMPORTANT Voltages on pins 6 or 7 must not exceed 12 VDC with respect to analog ground Figure 44 Command Connector To execute the Analog Mode the mode select switches must be set correctly for either Analog Velocity or Analog Torque control and apply 10 volts DC to the command connector on the amplifier REMINDER Both the hardware and software position tr...

Page 55: ...lses received is converted to the equivalent distance in steps or pulses per revolution and the rate that pulses are received determines velocity The base number system that the drive uses is binary with a resolution of 4096 per revolution When using the pulse modes there is no accumulative error However the positional accuracy is based on the lower of 1 part in 4096 or 1 of the programming resolu...

Page 56: ...ieved until motion in the initiated direction has been stopped as a result of stopping the pulses Attempts to defeat this may cause erroneous and unpredictable operation In a pulse train application the pulse trains are fed into the CW and CCW inputs on the command connector The inputs are optically isolated and can be used for sinking or sourcing current this requires two connections per input In...

Page 57: ...ield connection is connected internally to chassis ground of the drive To execute one of the two Pulse Modes simply select the desired mode of operation on the mode select dip switches and put pulses into the command connector on the amplifier Even though the Pulse Mode of operation is being used the Indexing Operation Mode functions are active This means the user could feed pulses into the amplif...

Page 58: ...ed by a single character axis identifier and followed by data if required In most cases PCX is used to set up and program a Positioning Drive or PCM controller from a personal computer After programming the PC is disconnected and the user program remains in the Positioning Drive s non volatile memory PCX provides descriptive question and answer formatting to assist the user This allows minimum key...

Page 59: ...r versions of PCX are compatible with the least version the following procedure should be followed 1 Using the old PCX download the file to the positioning drive 2 Using the new PCX upload a file from the positioning drive The PCX program referred to in this manual is revision 4 10 Revisions with less than 4 10 may not allow for full operation Contact the factory to obtain the most recent version ...

Page 60: ...ata files are stored in binary files and should only be edited by PCX 2 List File A list file contains the values found in the PCX setup screens in an ASCII character text file It is created from a data file with Make in the disk file operations A list file can be used for printing word processing troubleshooting or as documentation List files are always saved with the file extension of LST so it ...

Page 61: ... file for a single axis without being hooked to the unit Necessary values can be saved to a floppy disk for download at a latter time The serial communications option may be used to manually establish communications with the drive This option may be helpful at start up time if communications are not established with the On line Operations On line Operations When serial communications have been est...

Page 62: ...Diagnostics When this option is selected PCX will monitor and display the status of the drive This mode is useful when troubleshooting a system Shell A DOS shell provides the user with a way to enter DOS commands without exiting PCX In order for shell to work properly the COMMAND COM file must be accessible by PCX This may be accomplished by using the DOS PATH or COPY command Terminal Mode In this...

Page 63: ...e On line Options This procedure will not be called again unless communications are disrupted at a later time The following checklist should be addressed before attempting serial communications 1 The serial cable must be connected to the personal computer serial port and the drive serial A port 2 On a multi axis system the serial cables must be connected as shown below Figure 51 Serial Cable Setup...

Page 64: ...l and any optional PCM module for the file that is to be created Once this has been done the file may be edited and saved under a user file name for later use Make A List From A Data File PCX will attempt to list all files that have the extension of PCX from the current directory The user may select a data file necessary to produce a list file PCX will use the same file name but will append the ex...

Page 65: ... on the screen Figure 53 Drive Setup From the Drive Setup Menu there are two areas that need to be setup The Define Motion menu item is where motion related items are setup Data entry screens for Jog Home Index and programs are programmed here The second option Drive Configuration is where all other drive items are located The drive setup Input and Output Functions Parameters and Limits are all pr...

Page 66: ... screens are used for assigning the input and output lines to a function Line numbers correspond to those on the top of the drive and PCM modules A function with a line number of zero designates that it is unused Multiple functions can be assigned to a single line it is common to assign all output faults to one output line The left window allows the user to quickly determine what functions are ass...

Page 67: ...e the input or input filtering is always subject to a delay of 0005 to 0025 seconds The 0005 delay caused by propagation delay of the hardware and 0025 is the sum of the propagation delay plus the service time The PCX program will only allow for this time to be entered in increments of 002 as this is the minimum service rate When ESC is pressed PCX will return to the input setup screen Parameters ...

Page 68: ...then division by 60 would yield either 10 000 or 10 00 Once these decisions are made the numeric value decimal point and velocity units can be programmed Velocity units would be either IPM INCHES PER MINUTE or IPS INCHES PER SECOND Any 3 ASCII characters are accepted Distance Decimal Point Location User Steps Per Revolution The user may also set up a distance conversion because he is working in in...

Page 69: ... ramps for acceleration or deceleration The difference is shown below Figure 57 Mod Sine Ramps Linear Ramps Torque Output The torque output controls the amount of available torque 200 is the drives peak rating 100 would be the amplifiers continuous rating Peak torque is only available for short periods Consult the MFR Specs for the amplifier in use LIMITS The Limits screen allows the user to set t...

Page 70: ...uring absolute positioning applications The limit positions are given with reference to the home position Because of this a home cycle must be executed before these travel limits are enabled Travel Limits Fault Deceleration Rate Used to set the deceleration rate after any fault occurs or a travel limit hardware or software is tripped Stop Deceleration Rate Used as the deceleration rate for a stop ...

Page 71: ...ifficult but is available for the user who wishes to program without the help of the PCX software The INDEXING OPERATION MODE is the most commonly used mode and is accessible by having the mode select DIP switches set for either the PULSE PULSE or PULSE DIRECTION settings Both the PULSE FOLLOWER and INDEXING OPERATION MODES are operational The numeric display on the Positioning Drive will indicate...

Page 72: ...s shown below INDEX TYPES Incremental Index Relative distance and direction from start Figure 59 Velocity Vs Time Profiles for 520 Figure 60 Screen Menu Index Incremental Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 73: ...ition is absolute coordinate regardless of start Figure 61 Velocity Vs Time Profiles Absolute Index Figure 62 Screen Menu Index Absolute Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 74: ...ither of these occurs the parameters of the index are run If the limit distance assignable output is programmed it will com ON when the limit occurs Figure 63 Index Registration Figure 64 Registration Index Graph Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 75: ...sensor velocity until either the sensor input or limit distance is achieved If the limit distance assignable output is programmed it will also com ON Figure 65 Index Feed Sensor Figure 66 Velocity Vs Time Profiles Index Feed Sensor Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 76: ...can be programmed to have either a CW and CCW control or a JOG and a direction select The default inputs provide for the CW and CCW inputs and JOG is assumed since the FAST SLOW input isn t assigned In programming JOG three velocities can be programmed SERIAL VELOCITY JOG FAST and JOG SLOW The acceleration time and deceleration times are also programmable but are used for all velocities programmed...

Page 77: ... is what determines any specific HOME cycle Any of the HOME cycles may be set up as you program the HOME function with PCX An example of a HOME cycle could be demonstrated with a ball screw or rack and pinion drive that converts rotary motion output into linear motion Figure 68 Example of Home Cycle This particular application would utilize most of the programming features in the HOME setup In thi...

Page 78: ...PM to find the sensor OFF The C motion is the 30 RPM to move to the once per revolution offset Note that the last two questions in programming are 1 MARK OFFSET 2 HOME POSITION The offset is the amount of user steps within one revolution The HOME position is the position for reference in programming that you want to assign to HOME These two values are frequently zero The 6 home types are explained...

Page 79: ...PE 0 OFFSET HOME TO MARK OFFSET Figure 71 Home To Mark Figure 72 HOME OFFSET A is the 30 RPM velocity to find the offset Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 80: ...73 Home To Sensor Graph Figure 74 Home to Sensor Feed On A is the 50 RPM velocity to find the sensor NOTE THERE IS NO DECEL TIME ONCE THE SENSOR IS REACHED Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 81: ... THEN OFFSET Figure 75 Feed On Offset Graph Figure 76 Home Feed On Offset A is the 1500 RPM velocity to find the sensor B is the 30 RPM to find the offset Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 82: ... Feed On Off Figure 78 Home Feed On Off A is the 1500 RPM velocity to find the sensor B is the 120 RPM velocity to move off the sensor NOTE THERE IS NO DECEL AT THE FINAL OFF POSITION Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 83: ...t Figure 80 Home Feed On Off Offset A is the 1500 RPM velocity to find the sensor B is the 120 RPM velocity to turn the sensor OFF C is the 30 RPM velocity to find the offset NOTE THERE IS NO DECEL AT THE FINAL POSITION Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 84: ...e 82 Home Feed On Off On A is the 1500 RPM velocity to find the sensor C is the 120 RPM velocity to turn the sensor OFF C is the 30 RPM velocity to turn the sensor on again NOTE THERE IS NO DECEL AT THE FINAL POSITION Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 85: ...splay indicates an E This control mode is accessible via the serial connector A on the drive and the protocol is based on ASCII characters To enter the Serial Control Mode the digital drive must receive an SC 1 string preceded by an axis I D character if the appropriate DIP switches are set The serial interface is always accessible via serial ASCII commands The difference as far as the display is ...

Page 86: ... assigned to any of the input output lines This is accomplished through either serial interface commands or by using the PCX software provided with the drive Inputs may be programmed as normally off or normally on In addition more than one function may be assigned to the same input line Each Drive comes from the factory with the inputs and outputs predefined for frequently used I O configurations ...

Page 87: ...ted with each input and output The input and output indicators are on if current is flowing in the associated line Figure 85 I O Nomenclature Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 88: ...X X X 3 END OF INDEX X X X 4 END OF HOME X X X 5 END OF INDEX COUNT X X X 6 HARDWARE FAULT X X X 7 TRAVEL LIMIT FAULT X X X 8 FOLLOWING ERROR FAULT X X X 9 HOME COMPLETED X X X 10 SENSOR LIMIT HIT X X X 11 END OF SEQUENCE X 12 PROGRAMMABLE OUTPUTS X 13 END OF PROGRAM X 14 END OR PROGRAM COUNT X 15 IN SUSPEND X Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg ...

Page 89: ...X 12 INHIBIT DRIVE X X X 13 BRAKE OVERRIDE X X X 14 INDEX SELECT X X X 15 HOME SENSOR X X X 16 FEED SENSOR X X X 17 CLEAR END OF INDEX X X X 18 CLEAR END OF HOME X X X 19 CLEAR END OF INDEX COUNT X X X 20 CLEAR SENSOR LIMIT X X X 21 CLEAR FAULT X X X 22 ZERO POSITION X X 23 ZERO DISPLAY X X 24 REMEMBER POSITION X 25 RETURN TO POSITION X 26 CLEAR END OF SEQUENCE X 27 CLEAR PROGRAM OUTPUTS X 28 EXTE...

Page 90: ...I O Connections NOTE 18 to 24 gauge wire must be used for I O wiring The use of larger gauge wire will cause the I O terminals to prematurely fatigue Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 91: ...the switch is pressed and resumes index or home motion when the switch is released 4 JOG Starts and stops a jog in the direction specified by the JOG DIRECTION input functions Defaults to the programmed jog fast velocity 5 JOG CW Starts and stops a clockwise jog motor rotation is defined while facing the shaft end of the motor Defaults to the programmed jog fast velocity 6 JOG CCW Starts and stops...

Page 92: ...s all motion by disabling the drive s bridge transistors and engaging the fail safe brake 13 BRAKE OVERRIDE Releases the fail safe brake when INHIBIT is active This allows the motor to be rotated by hand 14 INDEX SELECT Sets the starting input line number for a given number of index select lines If for example you require 4 index select lines and want them assigned to input lines 5 6 7 and 8 You w...

Page 93: ...HIT Clears the SENSOR LIMIT HIT output The sensor limit distance is programmed by PCX or serial commands 21 CLEAR FAULT Duplicates the function of the reset switch on the front of the digital drive It will clear non fatal drive faults 22 ZERO POSITION Sets the current position of the motor to zero All absolute positions will be referenced to this set zero position 23 ZERO DISPLAY This zeroes all p...

Page 94: ...nput line number for a given number of program select lines Then the number of program select lines is programmed through PCX or serial commands 31 SUSPEND PROGRAM Stops the execution of a program until the input line assigned with RESUME is activated Also see I O Suspend Resume Feature Section in the PCM 1 Section 32 RESUME PROGRAM Resumes the execution of a suspended program Also see I O Suspend...

Page 95: ...OGRAM output will automatically clear when further motion is initiated 35 CLEAR END OF PROGRAM COUNT Clears the END OF PROGRAM output If not assigned the END OF PROGRAM output will automatically clear when the next motion occurs Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 96: ...ot zero 3 END OF INDEX This output comes ON after the completion of executed index If this INDEX COUNT is greater than 1 this output will come ON after each index execution It is turned OFF automatically with the next motion or when the CLEAR END OF INDEX is used 4 END OF HOME This output comes ON after the completion of a HOME cycle It is turned OFF automatically with the next motion or when the ...

Page 97: ...ly unless absolute position is lost 10 SENSOR LIMIT DISTANCE HIT This output comes ON during a feed sensor index if the SENSOR LIMIT DISTANCE is exceeded before a sensor signal is received The only way to turn this output OFF is with the CLEAR SENSOR LIMIT input function 11 END OF SEQUENCE This output comes ON after the completion of a motion sequence A motion sequence is completed when a HOME IND...

Page 98: ...output comes ON only after a program is executed the number of times specified by the PROGRAM COUNT It is turned OFF automatically with the next motion or when the CLEAR END OF PROGRAM COUNT is used 15 IN SUSPEND This output is ON when the SUSPEND PROGRAM input function is active Also see I O Suspend Resume Feature Selection Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Page 99: ...ee the Serial Interface Section under Run Time Command section Figure 87 Diagnostic Display Status Indicator Codes Following is a list of different status diagnostic indicators Decimal point When the decimal point LED is on this indicates the drive is in Serial Mode In the Serial Mode the parallel I O lines that can initiate motion will not function All other I O lines will function Ρ INDEXING Whe...

Page 100: ...locity Modes an A will appear C CALIBRATE MODE When the Drive is in a simulated Calibrate Mode the C will appear on the display U UNINITILIAZED MEMORY FAULT This occurs when the non volatile memory of the Drive changes and no longer matches the stored checksum of the non volatile memory The major reason for this U fault occurring is due to the fluctuating line voltage out of the range of 96 132 VA...

Page 101: ...g at higher speeds 4 Read AC line voltage If the AC line drops to the drive during acceleration then voltage for the motor isn t available and a fault will occur Typical causes for this are wrong size AC wiring and insufficient KVA ratings for external transformers used to power the drive electronics Example The wire sizing for a DX 780 amplifier is 10 gauge and 40 amps The amplifier operates on 1...

Page 102: ...ent is greater than the continuous current rating of the drive for more than 1 5 to 5 seconds see chart below the drive will shut down and display a 1 fault on the diagnostic display on the drive If you are producing 1 faults you must determine what the excess load is and correct it Excess load can be caused by friction inertia or cycle times or a combination of all of these Continuous resetting o...

Page 103: ...signals are lost the drive will display a 3 on the diagnostics display POSSIBLE CAUSES OF THE FAULT 1 MOTOR CABLE IS NOT PLUGGED INTO THE MOTOR 2 MOTOR CABLE IS SHORTED OR DAMAGED 3 RESOLVER ON THE REAR OF THE MOTOR HAS FAILED 4 Logic Supply Fault The drive monitors its logic supply to insure that it is at minimum operating level If any power supply voltage drops below the minimum operating level ...

Page 104: ...INE VOLTAGE IF BOTH FUSES ARE STILL GOOD AND THE DRIVE IS A 120 VAC SINGLE PHASE MODEL 7 Amplifier Bridge Temperature Fault The drive has a thermal switch mounted on its heat sink If the heat sink temperature becomes excessive the thermal switch will open The drive will shut down and display a 7 fault on the diagnostic display POSSIBLE CAUSES OF THE FAULT 1 THE AMBIENT TEMPERATURE INSIDE THE ENCLO...

Page 105: ...DC Bus Shunt Regulator During deceleration of a motor the load energy is transferred from the load back to the drives DC BUS The result of this energy transfer is that the DC BUS can charge to voltage levels beyond its normal operating range Excess voltages are internally sensed and once detected enable a shunt regulator This shunt regulator dissipates the unwanted energy in an internal shunt load...

Page 106: ... sufficiently alter the regeneration to an acceptable level 3 Changing velocity by gear ratios could relieve the problem H Excess Ambient As an early indicator that the enclosure ambient temperature is too high this indicator comes on as a diagnostic indicator Possible cause of the fault 1 Improved ventilation 2 Increased enclosure size 3 Air conditioning Artisan Technology Group Quality Instrumen...

Page 107: ...ur present capability to correct If this is determined then using PCX and the dumb terminal mode of operation other values for loop and auto gain could be tested In the dumb terminal mode EG is loop gain and VG3 is used by the auto gain algorithm If an axis identifier is used it must precede the command A question mark after the command allows for interrogation of the value and an equal sign after...

Page 108: ...sitioning Drive This is the only electrical connections required between the two units Once plugged in the top and bottom handles snap into position to secure the module to the drive Figure 24 I O Connections IOM 1 The IOM 1 module includes a parallel interface connector The most common use of this connector is thumbwheel interfacing numeric display or parallel programming The input and output con...

Page 109: ... lines is increased from 4 to 8 These inputs and outputs allow for proper timing and coordination between the drive s motion and other machine control functions The inputs and outputs typically are connected to the machine s programmable logic controller PLC or relay logic system These inputs and outputs are also connected to limit switches and or switches and indicators on an operator s control p...

Page 110: ... with each input and output The input and output indicators are on if current is flowing in the associated lines Figure 25 I O Nomenclature IOM 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 111: ...ITH IOM 1 0 READY X X 1 EXTERNAL MODE X X 2 IN MOTION X X 3 END OF INDEX X X 4 END OF HOME X X 5 END OF INDEX COUNT X X 6 HARDWARE FAULT X X 7 TRAVEL LIMIT FAULT X X 8 FOLLOWING ERROR FAULT X X 9 HOME COMPLETED X X 10 SENSOR LIMIT HIT X X Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 112: ... X X 3 HOLD INDEX HOME MOTION X X 4 JOG X X 5 JOG CW X X 6 JOG CCW X X 7 JOG DIRECTION X X 8 SLOW JOG X X 9 CW TRAVEL LIMIT X X 10 CCW TRAVEL LIMIT X X 11 STOP MOTION X X 12 INHIBIT DRIVE X X 13 BRAKE OVERRIDE X X 14 INDEX SELECT X X 15 HOME SENSOR X X 16 FEED SENSOR X X 17 CLEAR END OF INDEX X X 18 CLEAR END OF HOME X X 19 CLEAR END OF INDEX COUNT X X 20 CLEAR SENSOR LIMIT X X 21 CLEAR FAULT X X ...

Page 113: ...xamples of I O Connections IOM 1 NOTE 18 to 24 gauge wire must be used for I O wiring The use of larger gauge wire will cause the I O terminals to prematurely fatigue Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 114: ...bsolute positions will be referenced to this set zero position 23 ZERO DISPLAY This zeroes all position query commands FP and CP they become zero and are referenced to this point Absolute position is unaffected Output Function With the addition of the IOM 1 there are no additional outputs Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 115: ...anon D type female connector for interfacing of customer provided thumbwheels EMC provided thumbwheels T 16 numeric displays and a parallel programming interface Figure 27 Parallel Interface with IOM 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 116: ...nes dedicated to transfer data and 10 lines dedicated to selection of data pairs Since 8 lines of data are provided and each BCD digit requires 4 lines thumbwheel digits are read two at a time The 10 select lines allow the use of up to 10 pairs of digits 20 thumbwheel digits Once the thumbwheel data is set activating the EXECUTE input transfers the new data to its respective function and it become...

Page 117: ...uld be used for the thumbwheel supply voltage This connection is made by connecting pins 33 and 34 on the 37 pin connector P2 2 The cable used to connect the thumbwheel assembly to the 37 pin connector P2 must not exceed 50 ft in length Also this cable must be shielded with one end of the shield connected to pin 37 of P2 The other end of the shield must not be connected Typical wire gauges used in...

Page 118: ... 117 Figure 30 Thumbwheel Wiring Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 119: ...The mechanics of these assemblies provides for up to 10 characters of thumbwheel data This data is read into the digital drive character buffer Since the character buffer can handle 20 characters the thumbwheels have been designed with jumpers that can be switched at the rear of the thumbwheel assembly Figure 32 Thumbwheel Jumpers Artisan Technology Group Quality Instrumentation Guaranteed 888 88 ...

Page 120: ...us data input caused by changing data each thumbwheel assembly is equipped with an input for a data enter push button This input must be made for thumbwheel data to transfer to the digital drive The momentary push button switch must be provided by the customer The mating Molex connector and pins are provided with the thumbwheel assembly The connections are made at the rear of the assembly Figure 3...

Page 121: ... Cable Connections The connectors on the back of the TW XXX and T 16 are connected in parallel so the cabling is insensitive to position The cables themselves can be obtained in different lengths DPC 003 3 FT DPC 006 6 FT DPC 015 15 FT DPC 025 25 FT DPC 050 50 FT Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 122: ...andard configurations Figure 36 Thumbwheel Configurations The buttons above and below the data windows can be pushed to increment and decrement data Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 123: ...racter drive character buffer is accomplished with serial commands and PCX The red LED indicator on the TW XXX is provided as a means to tell that data is out of range For example if the 4 digits of a TW 004 were programmed as velocity and the data on the thumbwheel is greater than 3000 RPM when the ENTER button is pushed then the LED will light The LED will go out when valid data is entered Artis...

Page 124: ...nes are ready for transferring to the character buffer Once the 32 character buffer data content is programmed another input EXECUTE is provided to transfer and start using any new data contained in the entire buffer One of the outputs ACKNOWLEDGE is provided as a means for the digital drive to tell the external device that it has received the proper input This output comes ON to acknowledge eithe...

Page 125: ...d ground signals are in the connector SIGNAL PIN NUMBER 5 25 26 27 28 15 34 GRD 29 30 31 32 BUS 33 SHIELD 37 These signals are provided for level interface only and cannot be used for any other purpose Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 126: ...has a pull up resistor R1 associated with it This pull up resistor is connected to the 37 pin connector pin 33 BUS This pin can be connected to pin 25 5 for a 5 volt interface It can be connected to pin 34 15 for a 15 volt interface or it can be connected to the positive source of the external device which is the preferred method The ground connection 29 30 31 32 must be connected to the ground su...

Page 127: ...CKNOWLEDGE OUTPUT 3 4 MSD INPUTS 23 ERROR OUTPUT 4 8 MSB 24 EXECUTE INPUT 5 1 LSB 25 6 2 BCD RIGHT DIGIT 26 7 4 LSD INPUTS 27 5 8 8 MSB 28 9 29 10 30 11 31 GROUND LOGIC COMMON 12 DO NOT APPLY TO PARALLEL PROGRAMMING INTERFACE 32 13 33 BUS 15 34 15 16 35 DO NOT APPLY PARALLEL INTERFACE 17 1 LSB 36 18 2 BINARY PAIR 37 19 4 SELECTION INPUTS 20 8 MSB Artisan Technology Group Quality Instrumentation Gu...

Page 128: ... DATA LEFT RIGHT LSB MSB LSB MSB 1 2 3 4 5 6 7 8 à PIN OPEN OPEN OPEN OPEN OPEN OPEN OPEN OPEN 1 1 GRD OPEN OPEN OPEN GRD OPEN OPEN OPEN 2 2 OPEN GRD OPEN OPEN OPEN GRD OPEN OPEN 3 3 GRD GRD OPEN OPNE GRD GRD OPEN OPEN 4 4 OPEN OPEN GRD OPEN OPEN OPEN GRD OPEN 5 5 GRD OPEN GRD OPEN GRD OPEN GRD OPEN 6 6 OPEN GRD GRD OPEN OPEN GRD GRD OPEN 7 7 GRD GRD GRD OPEN GRD GRD GRD OPEN 8 8 OPEN OPEN OPEN GR...

Page 129: ...ables GRD means ON or Logic 1 and OPEN means OFF or Logic Both inputs PAIR ENTER and EXECUTE are activated and turned on by connecting them to ground Both outputs ACKNOWLEDGE and ERROR are the equivalent of open collector NPN transistors whose emitters are connected to ground The load for these outputs can be connected from the BUS pin DC voltage source to the output pin When the output is ON curr...

Page 130: ...displayed Figure 41 Parallel Interface Options THUMBWHEEL AND PARALLEL PROGRAMMING INTERFACE For either of these options to work they must be enabled Neither the thumbwheels or the numeric display can be used if the parallel interface is enabled DATA FIELD NUMBER There are eight 0 7 unique groupings of digits that may be set up Each group or field has a corresponding packet of data associated with...

Page 131: ... any of the following positioning drive functions Index Accel Index Decel Index Velocity Index Dist Pos Index Dist Pos Index Dwell Index Count Fast Jog Velocity Slow Job Velocity Sensor Accel Sensor Decel Sensor Velocity Field Functions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 132: ...e field data consists of DATA FIELD MULTIPLIER This packet item may be used to add zero s to the right of the data entered This may be useful if digits need to be conserved and the data resolution is not critical For example Accel times may be entered from 0 to 65 535 seconds If it is only necessary to make steps of 1 second or more use only 2 digits Number of Digits with a multiplier of 1000 APPL...

Page 133: ...d function and index number See the parallel programming example for more detail THUMBWHEEL EXAMPLE In this typical application an Emerson thumbwheel is being used to set up index velocity and distance Two data fields are needed field 0 and 1 Figure 42 Thumbwheel Example Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 134: ...sent to the positioning drive Signed distances are used when a sign digit is available on the thumbwheel When the above data is entered the following values will be sent to indexes 0 1 2 3 4 and 5 Index Velocity 1210 Index Distance 123456 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 135: ...allel interface character buffer is being used to set up indexes Three data fields will be used Figure 45 Parallel Programming Example Figure 46 Field Function Thumbwheel Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 136: ... Data Field 2 In Data Field 1 digits 2 4 represent the index number that the data in Field 2 is also to use Data Field 2 is the general purpose field that is used in conjunction with the other data fields When the above data is entered as shown the index velocity Field Function 2 of index number 55 will be changed to 1200 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE ww...

Page 137: ...thumbwheels or the numeric displays can be used if the parallel interface is enabled DISPLAY FUNCTION The numeric display may be setup to display any of the following positioning drive functions command position command velocity index count index dwell time motor current DISPLAY DECIMAL POINT LOCATION The user may place a decimal point at a fixed location on the numeric display This option can be ...

Page 138: ... values before they are displayed This option can be used to make the display show meaningful information command position or command velocity DISPLAY Value Subtractor Multiplier Divisor These items may be any value from 32768 to 32767 A value of 0 disables any item without error REFRESH DISPLAY RATE This option determines the approximate interval at which the numeric display updates The actual ra...

Page 139: ...is the only electrical connection required between the two units Once plugged in the top and bottom handles snap into position to secure the module to the drive Figure 50 I O Locations PCM 1 The PCM 1 module includes a parallel interface connector The most common use of this connector is for thumbwheel interfacing and numeric display The input and output connections are split between two terminal ...

Page 140: ...e drives motion and other machine control functions The inputs and outputs can be connected to the machine s programmable logic controller PLC or relay logic system These inputs and outputs can also be connected to limit switches or switches and indicators on an operator s control panel A large number of input output control functions are provided The functions needed can be assigned to any of the...

Page 141: ...ted with each input and output The input and output indicators are on if current is flowing in the associated line Figure 51 PCM 1 Connections Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 142: ...OTION X X 3 END OF INDEX X X 4 END OF HOME X X 5 END OF INDEX COUNT X X 6 HARDWARE FAULT X X 7 TRAVEL LIMIT FAULT X X 8 FOLLOWING ERROR FAULT X X 9 HOME COMPLETED X X 10 SENSOR LIMIT HIT X X 11 END OF SEQUENCE X 12 PROGRAMMABLE OUTPUTS X 13 END OF PROGRAM X 14 END PROGRAM COUNT X 15 IN SUSPEND X Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 143: ...RAKE OVERRIDE X X 14 INDEX SELECT X X 15 HOME SENSOR X X 16 FEED SENSOR X X 17 CLEAR END OF INDEX X X 18 CLEAR END OF HOME X X 19 CLEAR END OF INDEX COUNT X X 20 CLEAR SENSOR LIMIT X X 21 CLEAR FAULT X X 22 ZERO POSITION X 23 ZERO DISPLAY X 24 REMEMBER POSITION X 25 RETURN TO POSITION X 26 CLEAR END OF SEQUENCE X 27 CLEAR PROGRAM OUTPUTS X 28 EXTERNAL INPUT X 29 PROGRAM INITIATE X 30 PROGRAM SELEC...

Page 144: ...amples Of Connections To PCM 1 NOTE 18 to 24 gauge wire must be used for I O wiring The use of larger gauge wire will cause the I O terminals to prematurely fatigue Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 145: ...s to the position defined by REMEMBER POSITION 26 CLEAR END OF SEQUENCE OUTPUT Clears the END OF SEQUENCE output If not assigned the END OF SEQUENCE output will automatically clear when the next motion occurs 27 CLEAR PROGRAMMABLE OUTPUT Clears a PROGRAMMABLE OUTPUT Each assigned PROGRAMMABLE OUTPUT will require a separate CLEAR PROGRAMMABLE OUTPUT 28 EXTERNAL INPUT Used with the WAIT FOR INPUT pr...

Page 146: ...e Section in the PCM 1 Section 33 CLEAR SUSPEND Clears the IN SUSPEND output and returns the drive from a suspend cycle to normal operation without the need to RESUME and completion of the suspended program Also see I O Suspend Resume Feature Section in the PCM 1 Section 34 CLEAR END OF PROGRAM OUTPUT Clears the END OR PROGRAM output If not assigned the END OF PROGRAM output will automatically cle...

Page 147: ...th the UPDATE OUTPUTS programming function 13 END OF PROGRAM This output comes ON after each completion of a PROGRAM It turns OFF automatically with the next motion or when the CLEAR END OF PROGRAM is used 14 END OF PROGRAM COUNT This output comes ON only after a program is executed the number of times specified by the PROGRAM COUNT It is turned OFF automatically with the next motion or when the C...

Page 148: ...up program sequence involves taking the individual indexes that have been programmed and combining them into a complete motion program sequence Besides allowing the sequencing of indexes the PCM 1 also provides a programming feature known as Compound Indexing Compound Indexing allows the user to combine indexes of different velocities without stopping motion Examples of this feature are shown belo...

Page 149: ...bilities the user can do the following Execute a home cycle Wait for input line to be changed Dwell for a chosen period of time Execute a program within a program Update output lines Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 150: ... change the status of one or all of the 8 output lines This function is also called programmable outputs and can be executed after a HOME cycle after an INDEX after a PROGRAM after a WAIT FOR INPUT and after a DWELL EXECUTE INDEX The EXECUTE INDEX function is used to initiate the execution of an index When this function is used the index number must also be given EXECUTE PROGRAM The EXECUTE PROGRA...

Page 151: ...creating a program with PCX software The following is a list of these codes FUNCTION DESCRIPTION FUNCTION CODE GO HOME H WAIT FOR INPUT W DWELL TIME D UPDATE OUPUTS O EXECUTE INDEX I EXECUTE PROGRAM P EXECUTE COMPOUND INDEX C END E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 152: ... displayed after each function description Figure 55 illustrates an example of the programming concepts Figure 55 Sample Program The selection of program and index numbers is arbitrary within the constraint of the memory capacity The home cycles and indexes are preprogrammed prior to creating the desired program The selection of inputs and outputs is preprogrammed Programs provide the means of con...

Page 153: ...ual to 65535 the program will be executed indefinitely For this example the program will be executed 10 times Everything within Program 1 will repeat 10 times including Program 2 Figure 56 Programming Program 2 is called from within Program 1 from step 3 of Program 1 Figure 57 Programming NOTE COMMANDS T S and R are not valid with a PCM 1 The program sequence is stored in non volatile memory under...

Page 154: ... to be updated the data field would appear as follows DATA X X X SET OUPUTS 9 10 11 9 10 11 Each X would be a 1 or a 0 depending on how the outputs are set up 1 ON and 0 OFF Like the UPDATE OUTPUTS function the WAIT FOR INPUT function must have the input function EXTERNAL INPUT 28 assigned to an input line before WAIT FOR INPUT can be used as a program step Also it should be noted that an index th...

Page 155: ...tly related to each other The memory is set up such that should the user require 64 programs maximum they can have an average of 15 program steps The following table will illustrate this concept more clearly Table XV Number of Required User Program NUMBER OF REQUIRED USER PROGRAMS AVERAGE NUMBER OF AVAILABLE STEPS PER PROGRAM 1 1000 2 500 3 333 4 250 5 200 62 16 63 15 64 15 WHERE AVERAGE NUMBER OF...

Page 156: ...ted when the SUSPEND was received If a DWELL cycle was executing the remaining dwell time will begin to count down If a HOME or ASBSOLUTE INDEX was executing the home or index will be restarted from the beginning If an INCREMENTAL INDEX was executing the distance that was left to run in the index will now be completed For the end point of the incremental index to match what would have been the ori...

Page 157: ... appears just below the Programs option Figure 58 Suspend Resume Programming Upon selection of the Suspend option the Suspend data entry screen is displayed Figure 59 Suspend Option Run Program On Suspend This feature allows another program to be automatically initiated when a suspend is accepted After stopping the program specified by the Program Number will be executed without the need for a pro...

Page 158: ...ount the motor will return to the position where the suspend occurred and then will continue with the original program Return Index Number This value determines which index is to be initiated when a resume is accepted and the Automatically Return After Program feature is used When a suspend input is accepted the current position will be saved to this index All other index information should be set...

Page 159: ...connectors Figure 60 shows where the 48 pin connectors mates on the Positioning Drive This is the only electrical connection required between the two units Once plugged in the top and bottom handles snap into position to secure the module to the drive Figure 60 PCM 5 Installation Connections The input and output connections are split between two terminal strips one strip on the PCM module 13 24 an...

Page 160: ...ble see Figure 61 Figure 61 MSC XXX Cable The MSC XXX cable is provided in different lengths MSC 015 15 FT MSC 025 25 FT MSC 050 50 FT For some applications it may be an advantage to not have an external encoder as the source of synchronization Instead another digital drive could be the source This is the purpose of the second connector on the PCM 5 Figure 62 2nd Axis Application PCM 5 Artisan Tec...

Page 161: ...is is an SSC XXX cable and is available in different lengths SSC 003 3 FT SSC 006 6 FT SSC 010 10 FT The SSC XXX cable is basically a symmetrical cable and its ends can be interchanged Figure 63 SSC XXX Multi Drop Sync Cable Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 162: ... 161 SCS 2 SYNC ENCODER MECHANICAL AND ELECTRICAL Figure 64 SCS 2 Encoder Mech Ele Info Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 163: ...mber may be difficult to work with because of units the drive electronics allow for a conversion of this to any number from 200 to 25 000 with the default being 4000 This is provided as a means to achieve meaningful units When a follower axis is receiving its synchronization source from a digital drive lead axis then the count source becomes the binary 4096 counts per turn There are mathematical l...

Page 164: ...n at the same surface velocity Conveyor 1 is driven with a simple variable speed drive Solution Mount the SCS 2 sync encoder on conveyor 1 and use the drive with the PCM 5 for conveyor 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 165: ...econd drive to a first drive both the lead and follower axis would be equipped with a PCM 5 Figure 66 PCM 5 Application Second Drive Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 166: ...atioed to a lead encoder then all axes would be equipped with a PCM 5 The lead encoder signals would effectively be in parallel Figure 67 PCM 5 Application Multiple Axes Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 167: ...f counts before starting again R Wait for counter WT CNT When programming the R code you must program the desired number of counts in the data field and counting is determined by CW rotation of the sync encoder as viewed from the shaft end of the sync encoder and CCW counting is the opposite The count is based from the last start external counter S or wait for counter R code A specific application...

Page 168: ... INTERNAL 1 4 I INDEX BACK TO HOME XX COUNT 5 R WAIT FOR EXTERNAL COUNT XXXXXXX INFINITY 6 E END This same example provides the best description of the added output functions at SYNC and SYNC FAULT The at SYNC output would come on at the end of acceleration of the first index in program 1 and could be used as an initiation source for external control The SYNC FAULT would come on if the WAIT FOR EX...

Page 169: ... rotation of the lead axis causes CW rotation of the follower drive motor and CCW rotation causes CCW motor motion The ratio between the two is programmable by the value of the sync ratio in the drive parameter setup with PCX The range is 125 to 20 turns of the follower axis to 1 turn of the lead axis The lead axis can be either an external encoder or digital drive Artisan Technology Group Quality...

Page 170: ...r proper timing and coordination between the drive s motion and other machine control functions The inputs and outputs typically are connected to the machine s programmable logic controller PLC or relay logic system These inputs and outputs are also connected to limit switches and or switches and indicators on an operator s control panel A large number of input output control functions are provide...

Page 171: ... with each input and output The input and output indicators are on if current is flowing in the associated line Figure 69 I O Nomenclature PCM 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 172: ...DEX X X 4 END OF HOME X X 5 END OF INDEX COUNT X X 6 HARDWARE FAULT X X 7 TRAVEL LIMIT FAULT X X 8 FOLLOWING ERROR FAULT X X 9 HOME COMPLETED X X 10 SENSOR LIMIT HIT X X 11 END OF SEQUENCE X 12 PROGRAMMABLE OUTPUTS X 13 END OR PROGRAM X 14 END PROGRAM COUNT X 15 IN SUSPEND X 16 RESERVED 17 AT SYNC X 18 SYNC FAULT X Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artis...

Page 173: ...TION X X 12 INHIBIT DRIVE X X 13 BRAKE OVERRIDE X X 14 INDEX SELECT X X 15 HOME SENSOR X X 16 FEED SENSOR X X 17 CLEAR END OF INDEX X X 18 CLEAR END OF HOME X X 19 CLEAR END OF INDEX COUNT X X 20 CLEAR SENSOR LIMIT X X 21 CLEAR FAULT X X 22 ZERO POSITION X 23 ZERO DISPLAY X 24 REMEMBER POSITION X 25 RETURN TO POSITION X 26 CLEAR END OF SEQUENCE X 27 CLEAR PROGRAM OUTPUTS X 28 EXTERNAL INPUT X 29 P...

Page 174: ...0 Examples Of I O To PCM 5 NOTE 18 to 24 gauge wire must be used for I O wiring The use of larger gauge wire will cause the I O terminals to prematurely fatigue Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 175: ...an absolute index 25 RETURN TO POSITION Returns to the position defined by REMEMBER POSITION 26 CLEAR END OF SEQUENCE OUTPUT Clears the END OF SEQUENCE output If not assigned the END OF SEQUENCE output will automatically clear when the next motion occurs 27 CLEAR PROGRAMMABLE OUTPUT Clears a PROGRAMMABLE OUTPUT Each assigned PROGRAMMABLE OUTPUT will require a separate CLEAR PROGRAMMABLE OUTPUT 28 ...

Page 176: ...tion 33 CLEAR SUSPEND Clears the IN SUSPEND output and returns the drive from a suspend cycle to normal operation without the need to RESUME and completion of the suspended program Also see I O Suspend Resume Feature Section in the PCM 1 Section 34 CLEAR END OF PROGRAM OUTPUT Clears the END OR PROGRAM output If not assigned the END OF PROGRAM output will automatically clear when further motion is ...

Page 177: ... CLEAR END OF PROGRAM is used 14 END OF PROGRAM COUNT This output comes ON only after a program is executed the number of times specified by the PROGRAM COUNT It is turned OFF automatically with the next motion or when the CLEAR END OF PROGRAM COUNT is used 15 IN SUSPEND This output is ON when the SUSPEND PROGRAM input function is active See I O Suspend Resume Feature Section 17 AT SYNC This outpu...

Page 178: ...tal system counting is based on bits with no way to resolve numbers between these bits infinite resolution is not possible PCX will convert if required your entry to the closest possible ratio Since the standard SCS 2 encoder produces 4000 counts per revolution and a digital drive is based on 12 bits binary 4096 then 4000 or 4096 become constants in the calculation The digital drive through serial...

Page 179: ...t possible ratio based on an SR1 of 1333 and an encoder of 4000 SYNC VELOCITY SCALE FACTOR AND SYNC VELOCITY DECIMAL POINT These setups are provided for programming velocities which are used for synchronization When using the sync feature the motor s speed is a ratio of the lead axis speed The default values are 1000 for sync scale factor with 3 as the decimal point This produces a sync velocity o...

Page 180: ...at the programmed sync ratio if the bi polar sync input is programmed and active INDEX HOME With a PCM 5 one additional question of TIME BASE INT EXT can be answered Figure 72 Index PCM 5 Figure 73 Home PCM 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 181: ...g you want sync then you would program based on the sync scale factor This becomes a more useful item when using INDEXes and HOMEs in programs The program screens will show the chosen scale factors based on INT or EXT PROGRAMS Several added features are shown on the program screen Figure 74 Program PCM 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 182: ...u would immediately be returned to the internal TIME BASE NORMAL because of STEP 3 TIME BASE INT S START COUNTER ST CT R WAIT FOR COUNT WTCNT For repetitive synchronization of indexes based on a fixed number of counts from the external encoder these two codes are provided TABLE XVIII PCM 5 Function S START COUNTER ST CT STEP CODE FUNCTION DATA 1 S START COUNTER EXT 2 T TIME BASE XX 3 I INDEX SCALE...

Page 183: ...and can be connected using a simple three wire hook up transmitter receiver and signal ground Transmission is accomplished using standard printable ASCII characters This means that the Drive can communicate over the serial interface with a dumb terminal The connection to this serial interface is made through the 9 pin Canon D connector designated as SERIAL A All programming is done through this co...

Page 184: ... SERIAL MULTI DROP CONNECTION Figure 76 Multi Drop Connection SERIAL SIGNAL FLOW DIAGRAMS Figure 77 Serial Signal Flow Diagrams Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 185: ...witch numbers and their corresponding functions are shown on the following page and a description of each function will be given here LOCATIONS OF SWITCHES Figure 78 Dipswitches Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 186: ...most cases Full Duplex is the preferred mode of operation Auto Line Feed Switch 2 is used to determine if a line feed character should be echoed back to the programming device when a carriage return is received This will alter the line spacing on the programming monitor NOTE Switches 3 and 4 have been discussed previously in the Optional Operating Modes section Framing Information When using seria...

Page 187: ...ABLE 25 FEET LONG TIX 25 T 21 OR DRIVE TO IBM XT SERIAL CABLE 25 FEET LONG IBM END CONNECTOR IS FEMALE 25 PIN DB TIA 25 T 21 OR DRIVE TO IBM AT SERIAL CABLE 25 FEET LONG IBM END CONNECTOR IS FEMALE 9 PIN DB DD 6 DRIVE TO DRIVE SERIAL CABLE 6 FEED LONG MULTI DROP CABLE Wiring Diagrams From Computer to Drive Figure 79 Serial Cable Wiring Diagrams Artisan Technology Group Quality Instrumentation Guar...

Page 188: ...g Diagram for DD XXX Multi Drop Cable Figure 81 Wiring Diagram Multi Drop Cable NOTE The cable may be plugged in either direction and it will function properly Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 189: ...he positioning Drive s RS423 serial interface provides a direct connection to these PLC modules for programming and control In addition the capability of this serial interface to be multi dropped to as many as 31 axes of drives plus the use of the optically isolated inputs and outputs on each drive provides an easy method to accomplish multiple axis positioning control Artisan Technology Group Qua...

Page 190: ...t follow a format that can be recognized by the drive The format used for all serial commands is given below If a command is not recognized or cannot be carried out the drive will respond with a as an error indication ID COMMAND MODIFIER INFO CR LF NULL ID AXIS IDENTIFIER An axis identifier is only needed when more than one drive is on the serial line otherwise the axis identifier should not be tr...

Page 191: ...current value of NP is will have no affect SP EXECUTION SET UP QUERY SUSPEND RESUME PCM only As an execution command will toggle the current suspend resume state of a program If a program is running and a suspend state is not active the program will enter the suspend state If the suspend state is active the original program that was suspended will be resumed CL EXECUTION ONLY CLEAR SUSPEND PCM onl...

Page 192: ...TION ONLY EXECUTE SELECTED INDEX Starts index execution The specified index will run with the programmed parameters for the number of times set in the index count parameter IN SET UP QUERY NO SELECT LINE INDEX Set the default index number that will be executed when an initiate input is received if no index select lines are assigned The default is index number 0 IT SET UP QUERY INDEX TYPE Selects t...

Page 193: ...remental Distance Index Figure 83 1 Linear Absolute Position Index Figure 84 2 Feed To Sensor Index Figure 85 3 Registration Index Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 194: ...ffecting the index ramp slopes All drives have a maximum system velocity of 3000 rpm and unless this is reprogrammed by the user all acceleration and deceleration rates will be calculated from zero to 3000 rpm Example The user would like to reach an index velocity of 1500 rpm in 0 5 seconds Since the acceleration rate is based on the maximum system velocity of 3000 rpm the following ratio can be s...

Page 195: ...NDEXES PCM only Sets the number of indexes available For basic drives the number of indexes is fixed at 32 and cannot be changed For PCM modules the default is the maximum of 256 indexes Reducing the number of indexes will increase the program space available If the number is changed all index and program information will be initialized to default values If the setup command does not change the cu...

Page 196: ...OP21 03 will cause the low order two programmable output lines to be turned on and the high order two lines to be turned off The pattern is a hexadecimal number OT SET UP QUERY PROGRAMMABLE OUTPUT PULSE WIDTH Sets the pulse width of active programmable outputs which are put out by the index The pulse width is in milliseconds A pulse width of 0 the default indicates that the pattern has infinite pu...

Page 197: ... the following list 0 Home to resolver offset 1 Home to sensor 2 Home to sensor then resolver offset 3 Home to sensor then off sensor 4 Home to sensor then off sensor then resolver offset 5 Home to sensor then off sensor then on sensor Figure 86 0 Home to Resolver Offset Figure 87 1 Home to Sensor Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 198: ...igure 89 3 Home to Sensor then Off Sensor Figure 90 4 Home to Sensor then off Sensor then Resolver Offset Figure 91 5 Home to Sensor then Off Sensor then 0n Sensor Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 199: ...te position index types 1 4 and 5 will be referenced from this position Any software travel limits are also referenced from this position HP is a signed quantity RO SET UP QUERY RESOLVER OFFSET Sets the resolver offset in user units from the resolver zero position RO is an unsigned quantity and must be less than the number of user units of distance per revolution See the SR command Since the resol...

Page 200: ...ise motion will be assumed As setup commands JF sets the fast Jog velocity and JS set the slow Jog velocity in unsigned rpm If the velocity is changed while executing the appropriate Jog the drive will ramp to the new velocity JA JD SET UP QUERY JOG ACCEL DECEL RAMPS Sets the acceleration deceleration ramp slopes to be used for Jog motion The ramps are programmed in milliseconds to maximum system ...

Page 201: ...y attempt to program an index distance or position that is outside the specified range will generate an error VL SET UP QUERY PROGRAMMABLE VELOCITY LIMITS Sets the maximum allowable velocity which may be programmed in unsigned user velocity units Any attempt to program a velocity of greater magnitude than this velocity limit will generate an error AL DL SET UP QUERY PROGRAMMABLE ACCEL DECEL RAMP L...

Page 202: ...nly 5 initialize gain information only 6 initialize limit information only PF SET UP QUERY POWER UP FLAGS Sets a bit flag pattern used on power up Default 0 HEX bit 0 set to 1 to power up under serial control 1 set to 0 for mode to be follow dip switches set to 1 for mode to be set to EM2 parameter on power up and for mode to be controlled through serial 2 set to for PCM 5 or PCM 6 pulses to come ...

Page 203: ...SET UP QUERY OPERATING MODE 0 Sets queries the current mode Note the setup command will not be accepted if mode is set from dip switches 1 Sets the mode to be entered when the alternate mode input is active example EM1 4 2 Sets the power up mode if not from dip switches See PF command Valid modes are 0 pulse pulse 1 pulse dir 2 analog velocity 3 analog torque 4 encoder following ratio 5 analog vel...

Page 204: ...iling indexing H Drive is in a Home cycle J Drive is Jogging F Drive is faulted L Power up Home Lock is active C Drive is in Calibrate Mode FE QUERY ONLY FOLLOWING ERROR Returns the current following error of the drive in signed user units Following error is equal to command position minus feedback position CV QUERY ONLY CURRENT VELOCITY Return the current velocity of the drive in signed user velo...

Page 205: ...the automatic fault reporting feature of the drive If enabled the drive will issue the single character F when any fault condition occurs AP SET UP QUERY AUTO END OF INDEX COUNT REPORTING Enables AP 1 or disables AP 0 the automatic end of index count feature of the drive If enabled the drive will issue the single character P when an index has completely finished all counts are complete This may be...

Page 206: ...ECUTION ONLY ZERO RELATIVE POSITION Zeroes the relative position causing position distance information returned through CP and FP commands to be referenced from this point without affecting the actual absolute position of the system Any absolute moves executed will still be referenced from the last home position Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisant...

Page 207: ...me effect as using the push button reset LR SET UP QUERY LINEAR RAMPS Selects the linear LR 1 or nonlinear LR 0 method of ramping The nonlinear method uses a haversine ramp function when changing velocity This results in slightly smoother ramp endings but requires more current during the middle stages of acceleration deceleration CKX QUERY ONLY CHECKSUMS Returns a hexadecimal checksum of the desir...

Page 208: ... OFF default where XX input function number IPXX 1 normally ON default where XX input function number For example to assign a Stop function to input line number 4 Using the ASCII serial device type IF11 4 where 11 Stop function and 4 input line 4 The following notes are important to remember while the I O lines are being assigned 1 If the clear index clear home outputs are not assigned the outputs...

Page 209: ...ines 3 programmable output reset lines The number of lines should be between 0 and 8 The following table shows how many select lines should be set Table XIX Set Up Select Lines MAX TO SELECT NUMBER OF SELECT LINES NEEDED 1 0 use index 0 2 1 3 4 2 5 8 3 9 16 4 17 32 5 DD SET UP QUERY MINIMUM INPUT SIGNAL WIDTH This command sets the minimum pulse width of an input signal that will be recognized as v...

Page 210: ...24 bit I O port high 8 bits 5 Dip switch status 16 bits 6 Resolver 16 bit 7 External encoder 16 bits Any outputs set should be unassigned from any output function User I O must be killed KI 1 used for factory testing only Parallel port must be killed KI1 1 used for testing only KI SET UP QUERY KILL INPUT OUTPUT This command kills inhibits access to user I O from the system to do direct user I O Th...

Page 211: ...LL CFX QS ANALOG CHANNEL FULL SCALE HEX CG QS CURRENT GAIN HEX NOTE A MODIFIER 0 1 2 MAY BE PRESENT WITH THE NV EG VG DG LG CG COMMANDS IF NO MODIFIER IS PRESENT THE CURRENT SETTING IS SELECTED EXAMPLE VG1 QUERY ONLY 0 MINIMUM VALUE FOR DRIVE MODEL 1 MAXIMUM VALUE FOR DRIVE MODEL 2 DEFAULT VALUE FOR DRIVE MODEL CMD EQS DESCRIPTION CHX Q ANALOG CHANNEL READING 0 5 HEX CI Q CURRENT INDEX CKX Q CHECK...

Page 212: ...L MS EG QS LOOP GAIN HEX 100H 1 TO 1 EMX QS EXTERNAL OPERATION MODE 5 ET QS PARALLEL INTERFACE ENABLE NOT ENABLED 1 THUMBWHEELS 2 NUMERIC DISPLAY 3 THUMBWHEELS AND NUMERIC DISPLAY 4 PARALLEL PROGRAMMING INTERFACE FAX QS FEED SENSOR ACCEL RAMP MS TO MAX RPM FDX QS FEED SENSOR DECEL RAMP MS TO MAX RPM FE Q FOLLOWING ERROR FG QS INDEX TIME BASE HEX FH Q HARDWARE FAULT STATUS 0 9 FH Q HARDWARE FAULT S...

Page 213: ...RKER 3 HOME TO OFF HOME SENSOR 4 HOME TO OFF HOME SENSOR THEN MARKER 5 HOME TO OFF TO HOME SENSOR ID Q DRIVE IDENTIFIER IFX QS INPUT FUNCTION LINE NUMBER WHERE X INPUT FUNCTION NUMBER EXAMPLE IFO 7 ASSIGNS INPUT FUNCTION 0 TO INPUT LINE 7 IMX E SET DEFAULT MEMORY PARAMETERS IN QS SETS INDEX TO EXECUTE ON INIT IF NO SELECT LINES ASSIGNED IN QS NO SELECT LINE INDEX INX E EXECUTE SELECTED INDEX X IPX...

Page 214: ...CCW JOG AT JOG SLOW VELOCITY LD QS FEED SENSOR LIMIT DISTANCE UNSIGNED LG QS LEAD GAIN HEX LP QS POSITION LOOP ON 1 OFF 0 LR QS RAMPS 0 MOD SINE RAMPS 1 LINEAR RAMPS MA Q MINIMUM ACCEL TIME MD Q MINIMUM DECEL TIME ME QS MAXIMUM ALLOWABLE FOLLOWING ERROR MV QS MAXIMUM VELOCITY DEFAULT 3000 RPM NDX QS NUMERIC DISPLAY PARAMETERS DISPLAY FUNCTION COMMAND POSITION 1 COMMAND VELOCITY 1 DECIMAL POINT POS...

Page 215: ...OME TO MARKER RPX QS ROTARY ABSOLUTE POSITION LIMITS 0 MIN CCW 1 MAX CW RS E RESET DRIVE S SETUP COMMAND XX SC QS SERIAL CONTROL SC 0 NORMAL EXTERNAL OPERATION PULSE SC 1 PUT UNIT UNDER SERIAL CONTROL FOR MOTION SD QS STOP HOLD DECEL RAMP MS TO MAX RPM SG QS SUSPEND FLAGS HEX DEFAULT 0 SJ E STOP JOG ALONG JOG DECEL SLOPE SLX QS NUMBER OF SELECT LINES 131 SP EQS SUSPEND RESUME E SUSPEND PROGRAM NO ...

Page 216: ...FEEDBACK SCALING HEX XP QS EXTERNAL DRIVE INPUT POLARITY HEX XT QS EXTERNAL DRIVE VELOCITY CURRENT OPERATING MODE HEX XV QS EXTERNAL DRIVE TACH SCALE FACTOR HEX ZA E ZERO ABSOLUTE POSITION ZR E ZERO RELATIVE POSITION DISPLAY Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 217: ...r Reduce Oil 28 Grounding Considerations 25 HIGH INERTIA LOADS 108 HOME 78 HOW TO CREATE A PROGRAM 153 How To Start 60 I O Connections to PCM 1 145 I O Connections to PCM 5 175 I O CONNECTIONS TO THE IOM 1 114 I O Functions Description 92 Incremental Index 73 INDEXING OPERATION MODE 72 INPUT VOLTAGE 14 Input Output Connections 91 Input Output Interface 87 INPUT OUTPUT INTERFACE PCM 1 141 Installat...

Page 218: ...ety Considerations 23 SCS 2 SYNC ENCODER 163 Selecting An Enclosure 29 SERIAL CABLES 188 SERIAL INTERFACE 184 SPECIFICATIONS 14 Status Indicator Codes 100 SUMMARY OF SERIAL COMMANDS 212 SUSPEND RESUME FUNCTIONS 157 SWITCHING FREQUENCY 14 SYNCHRONIZATION CABLE 161 System Troubleshooting 29 T 16 Numeric Display 12 T 16 SETUP AND OPERATION 138 T 21 Data Entry Terminal 12 THERMAL SHUT DOWN 14 THUMBWHE...

Page 219: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

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