manualshive.com logo in svg

JVL MIS23 Series, User Manual

Share
Download
JVL MIS23 Series User Manual Download Page 333

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x

331

16.9

SMC75/85 Ordering Information

SMC75 / SMC85 selection chart (Intelligent controllers)

SMC

85 B

1 Q9

Revision Sep 2010

SMC

Stepmotor controller

75 Version 3ARMS 12-48VDC with 8IOA and optional CANopen/DeviceNet and encoder
85 Version 12-160VDC with 8IOA and optional CANopen/DeviceNet and encoder

A

PCB 3ARMS (default)

B

PCB 6ARMS

C

PCB 9ARMS

1 Hardware version 1. (default)
2 Hardware version 2

All M1 to M7 and Wx are housing version with 1 additional M12 5 pin male connector for the motor output (mounted in side of the box)

AA

No connectorboard and no housing . Only PCB

AC

No connectorboard and no housing . Only PCB . With CAN Open

AD

No connectorboard and no housing . Only PCB . With Devicenet

M1

M12 1pcs. 5pin male. SMD73 pulse/direction driver.

M2

M12 2 pcs. 5 pin male (power). 8 pin female (RS485, 4IOA). SMC75

M3

M12 3 pcs. 5 pin male (power), 8 pin female (RS485, IOA 1-4), 5 pin female (RS485). SMC75

M4

M12 3 pcs. 5 pin male (power), 8 pin female (RS485, IOA 1-4), 8 pin female (5V serial, IOA5-8). SMC75

M5

M12 4 pcs. 5 pin male (power), 8 pin female (RS485, IOA 1-4 ), 5 pin female (RS485), 8 pin female (5V serial, IOA 5-8). SMC75

M6

M12 4 pcs. CANopen: 5 pin male (power), 8 pin female (RS485, IOA 1-4), 8 pin female (5V serial, IOA 5-8), 5 pin male (CAN) SMC75

M7

M12 4 pcs. DeviceNet: 5 pin male (power), 8 pin female (RS485, IOA 1-4), 8 pin female (5V serial, IOA 5-8), 5 pin male (DEVICE) SMC75

M8

M12 4 pcs. SSI + CANopen: 5 pin male (power), 8 pin female (RS485, IOA 1-4), 8 pin male (IOA 5-6), 5 pin male (CANOpen) SMC75

M9

M12 4 pcs. SSI: 5 pin male (power), 8 pin female (RS485, IOA 1-4), 8 pin male SSI (IOA 5-6), 5 pin female RS485. SMC75

MA

M12 3 pcs. 5 pin male (power), 8 pin female (RS485, IOA 1-4), 5 pin male (CAN) SMC75

MB

M12 4 pcs. 5 pin male (power), 8 pin female (RS485, IOA 1-4), 5 pin male (CAN) 5 pin female (CAN) SMC75

MC

M12 3 pcs. 3m power cable PG12, 8 pin female (RS485, IOA 1-4), 5 pin male (CAN) 5 pin female (CAN) SMC75

MD

M12 3 pcs. 3m power cable PG12, 8 pin female (RS485, IOA 1-4), 5 pin male (CAN) 5 pin female (CAN) SMC75

R1

Radial connection. M12 2 pcs. 5 pin male (power). 8 pin female (RS485, 4IOA) on 2 sides. High volume SMC75

R2

Radial connection. M12 2 pcs. 5 pin male (power). 8 pin female (RS485, 4IOA) on 2 sides.- 1-50 pcs SMC75

C1

2 pcs PG12 cable Clands M12x1,5 and no cable mounted (side mounted only MIS231)

C2

2 pcs PG12 cable Clands M12x1,5 and 5m power and IO cable with shield mounted (Side mounted)

C3

2 pcs PG12 cable Clands M12x1,5 and 1m power and IO cable with shield mounted (Side mounted)

C6

C 2 pcs PG12 cable Clands M12x1,5 and 2m power and IO cable with shield mounted (Side mounted)

W0

2 pcs PG12 cable Clands M12x1,5 and no cable mounted (Rear end mounted)

W1

2 pcs PG12 cable Clands M12x1,5 and 1m power and 1m IO cable with shield mounted (Rear end mounted)

W2

2 pcs PG12 cable Clands M12x1,5 and 5m power and 1m IO cable with shield mounted (Rear end mounted)

FP

MIS34x 4 pcs M12. 5 pin male(power), 8pin female (RS485), 12 female (IO), 5 pin male (B) Profibus DP

Q6

MIS34x 4 pcs M12. 5 pin male(power), 8pin female (RS485), 12 female (IO), 5 pin female (A)(CANopen)

Q9

MIS34x 4 pcs M12. 5 pin male(power), 8pin female (RS485), 12 female (IO), 8 pin male (SSI + IO5-6)

Q5

MIS34x 4 pcs M12. 5 pin male(power), 8pin female (RS485), 17 female (IO), 5 pin female (A)(CANopen)

EC

MIS34x 4 pcs M12. 5 pin male(power), 17 female (IO), 2x 4 pin male (D)Ethernet Ethercat

EL

MIS34x 4 pcs M12. 5 pin male(power), 17 female (IO), 2x 4 pin male (D)Ethernet Powerlink

EI

MIS34x 4 pcs M12. 5 pin male(power), 17 female (IO), 2x 4 pin male (D)Ethernet Ethernet IP

EP

MIS34x 4 pcs M12. 5 pin male(power), 17 female (IO), 2x 4 pin male (D)Ethernet Profinet

FB

MIS34x 4 pcs M12. 5 pin male(power), 8pin female (RS485), 12 female (IO), Antenna Wireless Bluetooth

EW

MIS34x 4 pcs M12. 5 pin male(power), 8pin female (RS485), 12 female (IO), Antenna Wireless LAN

AA

No magnetic chip. Only specified if more to follow

H2

Magnetic encoder feedback. 256x4 pulses/rev. Only SMC75, SMC85, MIS23x and MIS34x

H3

Absolute multiturn encoder magnetic feedback. Only SMC85 and MIS34x

None

-A1

5 pin Molex motor connector mounted on same side as other connectors.

-03

Cable lenght in m. Only Wx models. Mounted with 1 pcs WG09xx and 1 pcs WG10xx

SMC

75 A

1 M4

H2

Examples

SMC

85 C

1 Q6

AA

Steppermotor controller only PCB. No housing and No encoder chip

SMC

75 A

1 AC

H1

Steppermotor controller only PCB, CAN Open. No housing and encoder chip

SMC

75 A

1 AA

H2

Stepper motor controller only PCB with magnetic encoder chip type H2 mounted. No housing

SMC

75 A

1 AC

H2

Stepper motor controller only PCB with Fieldbus CANopen and magnetic encoder chip type H2 mounted. No housing

SMC

75 A

1 M7

Stepper motor controller in a box with connector M7 and Devicenet.

SMC

75 A

1 M6

H2

Stepper motor controller in a box with connector M6 and Canopen and H2 magnetic sensor

SMC

75 A

1 AA

AA

A1

Stepper motor controller on ly PCB without Canopn, without enc chi, with special Molex connector

Summary of Contents for MIS23 Series

Page 1: ...22GB Revised 25 th January 2016 JVL Industri Elektronik A S Integrated Step Motors QuickStep MIS231 MIS232 MIS234 MIS340 MIS341 MIS342 MIS430 and MIS432 Including Step Motor Controller SMC75 SMC85 User Manual ...

Page 2: ...nual without prior notice Furthermore JVL Industri Elektronik A S assumes no liability for printing er rors or other omissions or discrepancies in this user manual MacTalk and MotoWare are registered trademarks JVL Industri Elektronik A S Blokken 42 DK 3460 Birkerød Denmark Tlf 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvl jvl dk Internet http www jvl dk The MIS and SMC series of products are used ...

Page 3: ...ators at the MIS34x 54 2 14 LED indicators at the MIS34x 55 3 Hardware Non intelligent products 57 4 Using MacTalk 59 4 1 Using the MacTalk software 60 4 2 How to update MacTalk 68 4 3 How to update the motor firmware 69 4 4 How to update the encoder firmware 70 5 Description of functions 71 5 1 Adjusting the motor current 72 5 2 Auto Correction 73 5 3 Absolute position back up 75 5 4 SSI encoder ...

Page 4: ...r controllers SMCxx 268 12 3 How to connect the motor 273 12 4 How to connect in general 276 12 5 Quick Start SMC75A1MxAA 277 13 Technical Data 278 13 1 MIS23x Technical Data 279 13 2 MIS34x Technical Data 280 13 3 SMC75 Technical Data 281 13 4 Torque Curves 282 13 5 Physical Dimensions 284 13 6 Life time 287 13 7 Trouble shooting guide 288 14 Connection to other Equipment 289 14 1 Connecting SMI3...

Page 5: ...Motors MIS23x 34x 43x 5 16 9 SMC75 85 Ordering Information 333 16 10 MST Motor Ordering Information 334 17 Declarations 336 17 1 CE Declaration of Conformity 337 17 2 Vibrationtest certificate MIS23x 339 17 3 Vibrationtest certificates MIS34x 340 17 4 Index 342 ...

Page 6: ...6 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x ...

Page 7: ...oller PCB with intelligence fully programmable All the quickstep motors are available as a fully programmable product with a wide range of features also covering a simple pulse and direction interface The smaller quickstep motors size MIS23x are also available as a non programmable and more simple version with pulse and direction inputs for applications which are price sensitive Examples of motors...

Page 8: ...sponse When a pulse is sent the motor instantaneously moves 1 step forward For example if the motor has a resolution of 200 steps revolution it will move 1 8 degrees By changing the frequency of the applied pulse signal it is possible to ac celerate the motor By counting the number of pulses the motor s po sition can be determined without any error what soever The direction input is used to determ...

Page 9: ...able M12 5 pin male Description JVL cable WI1000M12 F5TxxN 1 P 18 28VDC Brown 2 Pulse White 3 P Blue 4 Direction Black 5 Signal Ground Grey Colour Code Description Red P 18 28VDC Black P Blue Direction White Pulse Shield Signal ground 2 phase stepper motor Incremental encoder Optional A Stepclock Direction SMD73 or SMD74 Driver Motor Encoder B Encoder Output Step and direction input Power supply c...

Page 10: ...xed 1600 pulses rev Built in 16Bit µprocessor SMC75 and 32Bit µprocessor SMC85 with 8 In Out that can be configured as inputs PNP out puts or analogue inputs 5V serial and RS485 interface for set up and program ming MODBUS interface 9 6 to 1Mb communication Driver technology is improved as com pared to SMD73 and supply voltage is 12 48VDC When used with the QuickStep motor or mounted on any other ...

Page 11: ...N L A A B B CAN R Switchmode Power Supply High speed digital logic array Output source driver CAN Tranciever RS422 Optional 16Bit SMC75 32Bit SMC85 Microprocessor with Integrated Flash Phase A Motor SMC75 or SMC85 Controller MIS23x MIS34x MIS43x Integrated Stepper Motor Phase B Power supply connector User I O connector Serial interface connector Field Bus connector Multifunction I O Interface TT21...

Page 12: ... 4 96 156 0 6 14 mm Inch Shaft Ø 6 35 6 35 10 0 9 53 14 0 14 0 mm Shaft radial play Max 0 02 450g load Max 0 02 450g load mm Shaft axial play Max 0 08 450g load Max 0 08 450g load mm Max radial force 7 5 20mm from flange 22 20mm from flange kg Max axial force 1 5 6 kg Weight 0 9 1 2 1 8 2 7 4 2 5 8 kg Mode Description Passive The motor will be in a completely passive state but communication is act...

Page 13: ... ONLY covers intelligent products which are based on either the SMC75 or SMC85 stepper controller The following pages explains how the I O Power supply Interface etc can be connected and used Please notice that the SMC75 controller PCB is used in all the MIS23x motors and the SMC85 controller PCB is used in all the MIS34x motors ...

Page 14: ...MIS23x motors The Driver section requires a supply voltage in the range 12 48VDC nominal It is strong ly recommended to use a voltage as high as possible since it will give the best torque per formance of the motor at high speeds For optimum performance it is recommended that a capacitance of minimum 1000µF is connected to the power supply It should be mounted as close as possible to the motor Sim...

Page 15: ...ply must be dimensioned according to the actual motor size The size of the pre fuse also depends on the actual model of the MIS motor Use the following table to select the power supply and fuse ratings See also the appendix which shows the standard power supplies that JVL offers 2 1 6 General power supply description The supply voltage can be chosen in the range 12VDC to 48VDC However the maxi mum...

Page 16: ...er current and filter regulation and thereby better performance If there is a tendency for motor resonance a lower supply voltage can be a solution to the problem Only MIS23x TT2220GB MAC140 Motor with MAC00 B1 B2 or B4 MIS23x QuickStep motor or SMC75 Controller P P P P CVI Power Supply Power Supply Control voltage Only MAC50 141 with B2 or B4 Optional O Control Voltage Allways use shielded cables...

Page 17: ... supply must be dimensioned according to the actual motor size The size of the pre fuse also depends on the actual model of the MIS motor Use the following table to select the power supply and fuse ratings Please notice that the specified wattage values are worst case values at maximum torque See also the appendix which shows the standard power supplies that JVL offers 2 1 11 General power supply ...

Page 18: ... overview for the MIS34x page 35 Input output functional diagram 2 2 2 General Input features Inputs are TTL to 28VDC compliant Over current protection and thermal shut down 10 kOhm input resistance No galvanic isolation Zero search input can be selected to any input 1 to 8 Digital filter can be enabled for each input selectable from 0 to 100ms If disabled the response time is 100µs Analogue filte...

Page 19: ...This provides the facility that local sensors can be supplied directly from the controller 2 2 4 Connection of NPN Output If an Input is connected to an NPN output a Pull Up resistor must be connected be tween the Input and the supply See the illustration above The value of the resistance used depends on the supply voltage The following resistances are recommended Supply Voltage Recommended Resist...

Page 20: ... set in the range 1 to100 mS so the filtered input must be sampled to have the same logical value for that number of samples in a row Once an input has changed state after passing the filtering it will again take the same number of samples of the opposite logical level to change it back For example if the filter is set to 5 mS and the start value is 0 zero the input will remain at zero until three...

Page 21: ...oad up to 30V peak and have a built in filter which removes input signal noise See Analogue input filters page 20 Always use shielded cable to connect the source used to control an Analogue Input since the motor etc can easily interfere with the analogue signal and cause instability The Controller is equipped with 8 analogue to digital converters ADC which convert the detected analogue signal leve...

Page 22: ...turned The filter functions supported in the SMC75 firmware always use three different steps Confidence check First the raw input value is compared to two Confidence limits Confidence Min and Confidence Max If the new value is either smaller than the Confidence Min limit or larger then the Confidence Max limit it is simply discarded not used at all and the value in its associated register is uncha...

Page 23: ...put has a status bit that is set if at least half of the new samples during the last second were limited by the Max Slope setting The status bits are updated once per second Example of analogue input filter operation Note that even though the examples use units rather than Volts decimal values are used since the motor uses a much higher resolution internally to store the units Also note that as lo...

Page 24: ...Confidence OK no slope limitation needed result 100 8 64 97 44 56 64 97 76 units The following samples produce the following results ending up with the input value 100 0 98 04 98 28 98 49 98 68 98 85 99 00 99 12 99 23 99 33 99 41 99 48 99 55 99 60 99 65 99 70 99 74 99 77 99 80 99 82 99 84 99 86 99 88 99 90 99 91 99 92 99 93 99 94 99 95 99 95 99 96 99 96 99 97 99 97 99 98 99 98 99 98 99 98 99 99 99...

Page 25: ... Input output functional diagram Outputs are Source PNP outputs and 5 28VDC compliant No galvanic isolation Short circuit to ground protected that shuts down all outputs and sets Error bit in software In Position and Error signal can be selected to be on any outputs 1 to 8 Optional Encoder outputs 75 to 350 mA output current that depends on number of outputs activated and on duty cycle See diagram...

Page 26: ...ivers i e if a given output is activated contact is made be tween the control voltage CVI and the respective output terminal See above illustra tion 2 4 3 Overload of User Outputs All of the outputs are short circuit protected which means that the program and the mo tor is stopped and the output is automatically disconnected in the event of a short circuit The output will first function normally a...

Page 27: ...or up to 32 units in multi axis applications and MODBUS communication Standard CANbus CANopen DS 301 DSP 402 DeviceNet under development CANbus and RS485 can be used at the same time Please notice The number of available IO terminals available may vary de pending at which motor type you are using Please the chapter Connector over view for the MIS23x page 33 or Connector overview for the MIS34x pag...

Page 28: ... Databits 8 Baud rate 19200 Stop bit 1 Parity None Central Controller for example a PC QuickStep motor or SMC75 Controller RS485 network with 1 x QuickStep 1 x MAC140 and 1 x MAC800 mounted with MAC00 B1 B2 or B4 modules MAC50 141 Motor MAC800 Motor Power supply A A A A P P P B B B B P P P RS485 Interface Screen connected to GND in each end Opto isolation The last unit in each end of the line must...

Page 29: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 27 ...

Page 30: ... inactive When the motor is at stand still the output will be active 2 7 3 In Physical Position Output In physical position can be selected as one of the 8 outputs This selection is done in MacTalk or by setting a bit in register 137 bit 8 15 InPos_Mask Section 8 2 73 page 143 This signal is used together with MIS motors with an internal or external encoder for po sitioning This signal can be sele...

Page 31: ... possible to obtain the incremental signal and the index pulse out on the user outputs Please note that the voltage typically is 24VDC PNP Therefore a resistor to ground should be connected A 2 channel encoder with 256 pulses revolution will give a total of1024 pulses revolution If a magnet is mounted on the rear end of the motor shaft and this is placed in close dis tance to the SMC75 PCB a 1023 ...

Page 32: ...able on MIS231A1C1HN075 Cable WG1005 for MIS231A1C2N075 and mounted cable on MIS231a1C1N075 Power Cable Connector J3 Pin no Function Colour 1 IO1 White 2 IO2 Brown 3 IO3 Green 4 IO4 Yellow 5 CVO Red 6 A Grey 7 B Pink 8 GND Black 9 10 Not used Connector J4 Pin no Function Colour 1 IO5 Blue 2 IO6 Violet 3 IO7 Grey Pink 4 IO8 Red Blue 5 10 Not used Connector J5 Pin no Function Colour 1 2 Not used 3 C...

Page 33: ... the cables as short as possible Instead of curling up the cables cut them off at the minimum re quired length 2 9 3 Use separate cables Avoid running digital signals in the same multi wire cables as RS 485 communication sig nals On some models of the MIS motors the same connector contains both RS 485 signals and I O signals typically the I Os 1 4 In many applications far from all inputs and outpu...

Page 34: ...termination resistors high quality cables where each wire is shielded from the other wires in the cable should be used This is typically done using a metal foil wrapped around each wire These types of cables are more expensive but the overall cost and noise immunity requirements may justify the solution instead of splitting cables 2 9 6 Use simple shielding Using cables with only a single shield s...

Page 35: ...ND M12 Pin 5 P GND B RS485 Not used GND CAN_L B Data in M12 Pin 6 A RS485 Not used B Data in M12 Pin 7 IO4 IO8 A Clock M12 Pin 8 CVO Out CVO Out CVO Out M12 connector solder terminals WI1008 M12F5SS1 WI1008 M12M8SS1 WI1008 M12M8SS1 WI1008 M12M5SS1 WI1008 M12F5SS1 WI1008 M12M8SSI M12 cables 5m WI1000 M12F5T05N WI1000 M12M8T05N WI1000 M12M8T05N WI1000 M12M5T05N WI1006 M12F5S05R WI1000 M12M8T05N Only...

Page 36: ...ronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 10 How to connect MIS23x 2 10 2 M12 connectors M12 connectors layout and pin locations Only MIS23x 8 2 3 TT2143GB 4 6 5 7 1 2 3 4 5 1 2 3 4 5 1 2 3 4 6 5 7 1 ...

Page 37: ...O3 IO3 CAN_GND A Clock DGND TX0_N M12 Pin4 CVI 12 28VDC IO3 A0 RS485 GND GND CAN_H GND B RX0_N M12 Pin5 P GND B1 RS422 GND B0 RS485 B0 RS485 CAN_L B Data In SHIELD M12 Pin6 IO4 A0 RS485 A0 RS485 B Data In M12 Pin7 A1 RS422 IO4 IO4 A Clock M12 Pin8 B1 RS422 CVO out CVO out CVO out M12 Pin9 CVO out M12 Pin10 A1 RS422 M12 Pin11 IO5 M12 Pin12 IO6 M12 Pin13 IO7 M12 Pin14 IO8 M12 Pin15 A0 RS485 M12 Pin1...

Page 38: ...WR CN1 Power input M12 5pin male connector Signal name Description Pin no JVL Cable WI1000 M12F5TxxN Isolation group P Main supply 12 80VDC Connect with pin 2 1 Brown 1 P Main supply 12 80VDC Connect with pin 1 2 White 1 P Main supply ground Connect with pin 5 3 Blue 1 CVI Control and user output supply 12 30VDC DO NOT connect 30V to this terminal 4 Black 1 P Main supply ground Connect with pin 3 ...

Page 39: ...Signal name Description Pin no JVL Cable WI1009M12 M17TxxN Isolation group see note IO1 I O channel 1 Can be used as input or output 1 Brown 1 GND Ground intended to be used toghether with the other signals in this connector 2 Blue 1 IO2 I O channel 2 Can be used as input or output 3 White 1 IO3 I O channel 3 Can be used as input or output 4 Green 1 B1 RS422 I O terminal B 5 Pink 1 IO4 I O channel...

Page 40: ...5T05N X Same as above but 20m 787 inch WI1000 M12M5T20N X Cable with M12 male 8 pin connec tor loose wire ends 0 35mm 22AWG and screen WI1000 M12M8T05N X Same as above but 20m 787 inch WI1000 M12M8T20N X Cable with M12 male 17 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch WI1009 M12M17S05N X Same as above but 20m 787 inch WI1009 M12M17S20N X Junction box for splitting th...

Page 41: ...e PWR CN1 Power input M12 5pin male connector Signal name Description Pin no JVL Cable WI1000 M12F5TxxN Isolation group P Main supply 12 80VDC Connect with pin 2 1 Brown 1 P Main supply 12 80VDC Connect with pin 1 2 White 1 P Main supply ground Connect with pin 5 3 Blue 1 CVI Control and user output supply 12 30VDC DO NOT connect 30V to this terminal 4 Black 1 P Main supply ground Connect with pin...

Page 42: ...n connector M12 17pin female connector Signal name Description Pin no JVL Cable WI1009M12 M17TxxN Isolation group see note IO1 I O channel 1 Can be used as input or output 1 Brown 1 GND Ground intended to be used toghether with the other signals in this connector 2 Blue 1 IO2 I O channel 2 Can be used as input or output 3 White 1 IO3 I O channel 3 Can be used as input or output 4 Green 1 B1 RS422 ...

Page 43: ...1000 M12M8T05N X Same as above but 20m 787 inch WI1000 M12M8T20N X Cable with M12 female 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch WI1000 M12F8T05N X Same as above but 20m 787 inch WI1000 M12F8T20N X Cable with M12 male 17 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch WI1009 M12M17S05N X Same as above but 20m 787 inch WI1009 M12M17S20N X ...

Page 44: ...d are easy operate Following scheme gives the relevant information about each connector and the pins wire colours and a short description of the signals available The connector layout Continued next page PWR CN1 Power input M12 5pin male connector Signal name Description Pin no JVL Cable WI1000 M12F5TxxN Isolation group P Main supply 12 80VDC Connect with pin 2 1 Brown 1 P Main supply 12 80VDC Con...

Page 45: ...onnector 2 Blue 1 IO2 I O channel 2 Can be used as input or output 3 White 1 IO3 I O channel 3 Can be used as input or output 4 Green 1 B1 RS422 I O terminal B 5 Pink 1 IO4 I O channel 4 Can be used as input or output 6 Yellow 1 A1 RS422 I O terminal A 7 Black 1 B1 RS422 I O terminal B 8 Grey 1 CVO Supply output Connected internally to the CVI terminal in the PWR connector DO NOT connect 30V to th...

Page 46: ...to RS485 Converter To be used if no RS485 COM port is avail able RS485 USB ATC 820 X X Cable Ø5 5mm with M12 male D coded 4 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch WI1046 M12M4S05R X X Same as above but 15m 590 inch WI1046 M12M4S15R X X Cable Ø5 5mm with M12 male D coded 4 pin connector and RJ45 connector Length 5m 197 inch WI1046 M12M4S05 NRJ45 X Cable with M...

Page 47: ... and are easy operate Following scheme gives the relevant information about each connector and the pins wire colours and a short description of the signals available The connector layout Continued next page PWR CN1 Power input M12 5pin male connector Signal name Description Pin no JVL Cable WI1000 M12F5TxxN Isolation group P Main supply 12 80VDC Connect with pin 2 1 Brown 1 P Main supply 12 80VDC ...

Page 48: ...onnector 2 Blue 1 IO2 I O channel 2 Can be used as input or output 3 White 1 IO3 I O channel 3 Can be used as input or output 4 Green 1 B1 RS422 I O terminal B 5 Pink 1 IO4 I O channel 4 Can be used as input or output 6 Yellow 1 A1 RS422 I O terminal A 7 Black 1 B1 RS422 I O terminal B 8 Grey 1 CVO Supply output Connected internally to the CVI terminal in the PWR connector DO NOT connect 30V to th...

Page 49: ...to RS485 Converter To be used if no RS485 COM port is avail able RS485 USB ATC 820 X X Cable Ø5 5mm with M12 male D coded 4 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch WI1046 M12M4S05R X X Same as above but 15m 590 inch WI1046 M12M4S15R X X Cable Ø5 5mm with M12 male D coded 4 pin connector and RJ45 connector Length 5m 197 inch WI1046 M12M4S05 NRJ45 X Cable with M...

Page 50: ... will only work with a MIS motor where the OUT and IO is supplied from the CN4 connector See also the I O description for the module If a cable is connected to the BYPASS then the Communication pins and GND must be properly connected to valid signals pins 2 15 17 AND COM must not be used In other words use EITHER the BYPASS OR the COM connector Not both 36 0mm 1 42 inch 54 0mm 2 126 inch 0 5 0mm 0...

Page 51: ... 6 Pin 7 Pin 8 Body Funct IO1 IO2 IO3 Ext IO6 IO5 GND CVO GND Backup Funct IO4 IO7 IO8 Ext IO6 IO5 GND CVO GND Backup Func IO4 RS485 A RS485 B GND RS485 B RS485 A IO7 IO8 GND Color White Brown Green Yellow Grey Pink Blue Red Color White Brown Green Yellow Grey Pink Blue Red Notes COM Colors shown are based on the JVL standard cables type connection 8 Pin Male cable BYPASS IO1 IO2 connect 17 Pin Ma...

Page 52: ...50 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 2 11 How to connect MIS34x Diagram of the internal details in the PA0190 Junction Box TT3090 01GB ...

Page 53: ...e used for indicating states and faults LED indicator descriptions default setup LED Text Colour Constant off Constant on Blinking L1 Green Default Only when user configured Only when user configured L2 Green Motor not moving Motor moving L3 Green Motor not in position Motor in position ERR Red No error Error PWR Green Power is not applied Power is applied to both motor and module Only MIS34x TT23...

Page 54: ... setup LED Text Function Colour Constant off Constant on Blinking L1 CANopen run LED Green Please see the DS303 3 standard L2 Motor moving Green Motor not moving Motor moving L3 Motor in position Green Motor not in position Motor in position ERR CANopen error LED Red Please see the DS303 3 standard PWR Power Green Power is not applied Power is applied to both motor and module Only MIS34x TT2345 01...

Page 55: ...ION AL2 NMT_CS _READY _TO_OP ERATE NMT_CS_B ASIC_ ETHERNET L2 Green No valid Ethernet connection Ethernet is connected Activity on line CN2 L3 Green No valid Ethernet connection Ethernet is connected Activity on line CN3 ERR Red No error Error Booting error PWR Green Power is not applied Power is ap plied to both motor and module Power is applied to module but no communi cation with motor Notes Bl...

Page 56: ...54 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x ...

Page 57: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 55 3 Hardware Non intelligent products ...

Page 58: ...56 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x Please contact your JVL distributor for further information ...

Page 59: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 57 4 Using MacTalk ...

Page 60: ...s System control Use these buttons to save data permanently reset the motor etc Error Handling Use these fields to define error limits for the position range etc Motor status This field shows the actual motor load position and speed etc Run status Shows what the status of the motor is The Bus voltage for the motor and the tempe rature of the driver is also shown Errors If a fatal error occurs info...

Page 61: ...at if an error is still present the motor will remain in the actual error state Reset motor Reset the motor Same as performing a power off on operation Filter Setup For specifying the filter setup of the analogue inputs STOP motor Stops the motor immediately using a controlled deceleration ramp and puts the motor into passive mode If a program is present this is stopped as well This button shall b...

Page 62: ...ts the motor from the PC application and all data can be edited without any interruption in the motor The complete motor setup can be saved to disc or opened from disc and transferred to the motor The setup files can be saved anywhere on the hard disc or a floppy disc Saving and opening a file over a net work is also possible The setup files use the extension MAC By default the setup files are sav...

Page 63: ...or simply press the Go Online button and if any data has been changed a warning box appears enabling the user to save current data before re establishing communication with the motor as this will overwrite existing data in MacTalk If data is changed in MacTalk the user is warned that current data in MacTalk may be overwritten and needs to be saved The following warning box is presented Choosing No...

Page 64: ...current is ARMS and the internal unit is 5 87mA 300ARMS cor respond to 511 units Not all registers have different internal and user unit Speed for example is alway specified in RPM TT2182GB Active level can be chosen to high or low on inputs Selection if it shall be Inputs or Outputs Dedicated Outputs Selection for outputs In position In Physical Position Error output It can also be selected if th...

Page 65: ... with FastMac commands For example the motor can run to position P2 using velocity V2 acceleration deceleration A2 running current T2 using only a one byte command These values are not updated automatically To update place the cursor at the specific register value to the left of the box for new values and click Otherwise they only update at motor reset or power up ...

Page 66: ... be adjusted If it is desired to run the motor in the opposite direction it can be done by marking Invert motor direction When this field is marked the motor runs to the AP Actual position from the encoder position when the motor goes from passive to position mode Remove the mark in this field and the motor will start the program at start up Here it is possible to select different ways of running ...

Page 67: ...e function is an excellent and necessary function for testing a new application or finding errors in an existing system The Setup has to be selected to set up the Scope function correctly before use Most reg isters in SMC75 can be selected for viewing different trigger functions can be selected saving and loading scope pictures is possible etc ...

Page 68: ...pdate MacTalk Updates Step 2 MacTalk will now check if newer version exist on the JVL server If a newer version exist it will automatically be downloaded and the release notes can be seen in the window Step 3 Press the button to download the selected latest MacTalk The progress counter will now rise from 0 to 100 Download Install Step 4 When the download process is finished the status shows Press ...

Page 69: ...ll erase the existing user setup of the motor Use the Save button to save the existing setup before updating the motor Then choose the in the menu Update Firmware Updates Step 2 The first list shown is only the newest firmwares related to the actual motor connected It may also contains encoder and or Ethernet firmware if these features are present To see all files also older versions enable the ch...

Page 70: ...is only the newest encoder firmwares related to the actual motor connected It may also contains main and or Ethernet firmware if these features are present To see all files also older versions enable the checkbox Show all files Select the desired firmware SMC encoder firmware Start Press to download the selected firmware The progress status counter will now rise from 0 to 100 Step 3 When the downl...

Page 71: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 69 5 Description of functions ...

Page 72: ...upplied with more power to drive its load during acceleration and constant operation than when it is sta tionary Note that the maximum Standby Current normally will be set to 50 or lower of the maximum current for the actual driver type The only overriding consideration that must be made in the adjustment of motor phase currents is that the thermal output of the mo tor must not exceed the maximum ...

Page 73: ...x number of retries has been exhausted Also note that if the motor is used to control other motors by sending out the pulse and direction signals on digital outputs any extra movements caused by AutoCorrection will send out additional steps to the other motors Registers affected Register 33 IN_POSITION_WINDOW specifies how many steps from the target position the encoder must report before AutoCorr...

Page 74: ...USBITS register and InPhysical Position bit 2 in the STATUSBITS register The 8 lowest bits will select the mask for InPosition and the 8 highest bits will select the mask for InPhysicalPosition Any combination of bits can be set to have zero one or more outputs reflect each of the two InPosition bits The MacTalk program only supports setting a single output for each bit however since this is the n...

Page 75: ...1 to IO8 using the filtered values for noise immunity 12 for the 12 48V 12 80V MIS34x power supply P and finally 13 for a special input developed for this feature alone from HW rev 1 7 and up Any other value will disable the flash backup system When running the motor from 30 Volts or less it can be convenient to connect the bus voltage with the control voltage CV supply and use the value 12 in reg...

Page 76: ...rror was set P2 Last timestamp in Run Seconds the Output Driver Error was set P3 Last timestamp in Run Seconds the Position Limits Exceeded Error was set P4 Last timestamp in Run Seconds the Low Bus Voltage Error was set P5 Last timestamp in Run Seconds the Over Voltage Error was set P6 Last timestamp in Run Seconds the Temperature Too High Error was set P7 Last timestamp in Run Seconds the Intern...

Page 77: ...of total run time in seconds called Run Seconds Counting of the number of times A new PLC program has been saved The motor parameters have been saved 5 3 3 The Flash backup feature support in MacTalk All setup values are accessible from MacTalk The QuickStep series offers many ways of position control using encoders From firm ware V 2 6 SSI standard encoder is supported and linear absolute positio...

Page 78: ...B1 receives the data stream from the SSI device 5 4 2 Setup and operation of the SSI function when using MacTalk When using the MacTalk Windows program supplied by JVL the following descriptions must be used There are a few differences between the different members of the MIS family MIS23x SMC75 No special setup is required A read command will simply take care of reading data from the SSI device i...

Page 79: ...uency Selects the maximum clock speed in units of 10 kHz The valid range is 0 to 59 corre sponding to 10 kHz to 600 kHz Set this value according to the actual SSI device connected Please consult the data sheet for the actual SSI device concerning which value to be used Field Prepare time Clk to Data Selects the prepare time in micro seconds at the start of an SSI transfer corresponding to time t1 ...

Page 80: ...SSI device concerning which value to be used Field Prepare time Clk to Data A typical SSI device needs a so called prepare time to sample the position data before transfer This field is dedicated to type in the prepare time in micro seconds at the start of an SSI transfer The valid range is 1 to 255 corresponding to 1 to 255 micro seconds Set this value according to the actual SSI device connected...

Page 81: ...mit Number of samples determines how many samples one measurement contains If the measurement fails a retry is attempted if number of retries has not exceeded the Read Retries value Sample x Sample x 1 Max_sample_deviation OK Sample x Sample x 1 Max_sample_deviation ERROR If the number of retries has exceeded the Read Retries value and the measurement still reports an error the reading will be dis...

Page 82: ...ock frequency 10kHz 10000Hz Number of data bits 25 0 0001 1 10000 25 1 0 0027 sec 2 7ms Note only for MIS34x MIS43x and SMC85 If noise have affected the signal the time before valid data is presented will be longer Depending on the specific setting for the data validation function The position data from the encoder is presented in register 47 as shown below A few differences exist between the prod...

Page 83: ...30 30 29 29 28 28 27 27 26 26 25 25 24 24 23 23 22 22 Clock frequency x 10kHz Max sample deviation 1 8191 Not used reserved Read retries 2 n Number of databits Prepare time 1µS n TT2483 01GB Number of samples Gray to Bin converter Activator Set to 1 for Gray to bin Set to for no conversion 0 21 21 20 20 19 19 18 18 17 17 16 16 15 15 14 14 13 13 12 12 11 11 10 10 9 9 8 8 7 7 6 6 5 5 4 4 3 3 2 2 1 1...

Page 84: ...ows the SSI protocol principle The clock line is normally high When a reading is requested the clock goes low for t1 micro seconds see illu above to allow the encoder to sample and prepare a value On the first rising edge of the clock 1 no sampling is done but on the second rising edge of the clock 2 the first data bit is read from the data line Shortly after reading the bit value the MISxxx SMCxx...

Page 85: ... the advan tage to keep track of the position without power applied The magnet principle is also much more tolerant to mechanical stress such as shock and extreme temperatures The absolute multi turn option offers the following main features Encoder Resolution 409 600 counts per revolution displayed internal 1024 cpr Accuracy 0 1 of full scale Repeatability 0 1 of full scale Position range 5245 to...

Page 86: ...o in the following manner 1 Set the motor in a known position 2 Insert the corresponding position value as shown below 3 Press the Set position button to preset the new position value 4 The encoder position and all other relevant position registers are now preset with the new value No further action is needed The motor will remember this change also during power off Only MISxxx H3 TT2339 01GB Firs...

Page 87: ...aken If the difference is larger than the value in the In position window the motor will try to correct the position by doing a new motor movement The Max number of retries is the number of times the motor will try to correct the position and the Settling time be tween retries is the time the motor will wait between each retry Only MISxxx H3 TT2338 01GB When selected the in position flag will real...

Page 88: ...ng the encoder position The encoder position is read from the register 46 AbsEncPos The value is scaled to match the motor resolution which means 409600 counts per motor revolution Presetting a new encoder position Write the new encoder value to register 144 P_NEW and afterward write 316 into the register 24 Command reg Notice that this value must match the motor resolution which means 409600 coun...

Page 89: ...powered down low temperature The absolute multi turn encoder s current consumption from the battery when the mo tor is not externally powered is max 1 5µA The curves below shows what is considered as a worst case scenario for the retention time The curves are based on 40 and 85 degree celsius 108 185F without any exter nal power applied to the motor meaning that the internal battery have to supply...

Page 90: ...pdate the motor firmware page 67 Updating the encoder firmware 1 Select the latest version of SMC85 MIS34x encoder firmware 2 Press Start to begin loading the new firmware 3 When done press Exit and wait for the motor to restart After motor restart 4 Since the encoder position is not valid after a firmware update please follow the chapter How to Preset the encoder position page 84 5 Finally press ...

Page 91: ... or via register NL_Mask page 141 or PL_Mask page 142 Positive limit PL Activation of the Positive limit PL Input will halt motor operation if the motor is moving in a positive direction The motor can however operate in a negative direction even if the PL Input is activated Negative limit NL Activation of the Negative limit NL Input will halt motor operation if the motor is mov ing in a negative d...

Page 92: ...o be cleared and a mode have to be re entered in order to move the motor in the opposite direction away from the limit point The motor will stop No error is reported and the motor can immidately be moved in the opposite direction without further action Negative Limit switch activated here when motor moves in negative direction Velocity unsigned Position Relation between limit switch inputs and the...

Page 93: ...ve direction in position mode or gear mode the mo tor will stop at Position Limit Max In velocity mode the speed will internally be set to 0 when passing Position Limit Max causing the motor to decelerate and stop Negative Position Limit NLS When the motor is moving in a negative direction in position mode or gear mode the motor will stop at Position Limit Min In velocity mode the speed will inter...

Page 94: ...er to move the motor in the opposite direction away from the limit point The motor will stop No error is reported and the motor can immidately be moved in the opposite direction without further action Position Limit minimum Velocity Mode Position and Gear mode Velocity unsigned Position Relation between software limits and the motor behaviour 1 1 2 2 2 Function when the motor is in The motor will ...

Page 95: ... motor is forced into passive mode and further movements are impossible To reset the error press the Clear Errors button in MacTalk Clearing errors automatically also clears warnings too 5 6 5 Limit handling optional only for MIS34x 43x The MIS34x and MIS43x motors can be configured to stop and stay in the current mode when reaching a limit This can be done by setting the DisableErrorOnTravelLimit...

Page 96: ...d as Home input for the zero search function A zero search occurs when the Controller receives the seek zero search command by changing Mode_Reg Section 8 2 3 page 122 The Home Input can be set from MacTalk or via register Home_Mask Section 8 2 68 page 142 It is possible to see when a zero search is finished by reading a bit in Status bits Sec tion 8 2 21 page 128 ...

Page 97: ...led using MacTalk software or by setting register 5 V_SOLL using serial or program commands Position The motor position can be controlled using MacTalk software or by setting register 3 P_SOLL using serial or program commands Gear The motor position and velocity can be controlled by pulse and direction or encoder signals at IN1 and IN2 The gear ratio can be set to a large ratio using register 14 G...

Page 98: ...ntroller will start up in passive mode This means that it is possible to communicate and read write to from registers but no current is supplied to the mo tor It should thus be possible to turn the motor shaft as no voltage is connected to the motor If there is encoder feed back the encoder counter will always register the cor rect position ...

Page 99: ... 97 6 2 Velocity Mode 6 2 1 Velocity Mode In this mode the QuickStep motor controls the motor velocity via the Max Velocity set ting This mode is typically used for simple tasks or for applications in which an overall unit such as a PC board or PLC controls velocity and positioning ...

Page 100: ... motor via commands sent over the se rial interface Various operating parameters can be changed continuously while the mo tor is running This mode of operation is used primarily in systems where the Controller is permanently connected to a PC PLC via the interface This mode is also well suited for setting up and testing systems The mode is also used when programming is done ...

Page 101: ... must be set to 2000 and the Output to1600 If the motor must run 5 revolutions because there is a gear with a reduction of 5 1 the output must be set to 5x1600 8000 instead Only MIS23x SMC75 Start velocity is not used in this mode and the digital input filter is not used in this mode at input 1 and 2 Main parameters used in Gear Mode Insert the resolution for the pulse source in this field Make su...

Page 102: ...motor moves 2 Quadrature control When selecting this format 2 square wave signals channel A and B 90 degree phase shifted is applied to 2 inputs Each transition count at the A or B channel will cause the motor to move with a certain ratio length according to the gear registers input and output described at the previous page see Section 6 4 1 page 99 The formats can be selected in MacTalk at the I ...

Page 103: ...external encoder signals are only available as single ended and with voltage levels up to CVO typical 24V it is possible to use IO2 3 as inputs To make this change a small RxP program is required in addition to the settings in Section 6 4 2 page 100 Signal formats supported Continued next page MIS23x motor family Quadrature format I O terminal Pulse direction format I O terminal Channel A IO1 Puls...

Page 104: ...ng It is strongly recommended that shielded cable is always used when connecting the ex ternal pulse source to the pulse input to ensure that no noise from the surroundings af fect the quality of the signal and worst case cause the motor movement to get affected Also a good solid ground wire between the motor and the source is recommended since any differences in the potential between the pulse so...

Page 105: ...gnalsource MIS23x or SMC75 Screen Step clock IO1 Direction IO2 Pulse and direction format Timing and how to connect Min 5µS Min 2 5µS Min 2 5µS The Direction signal must stay stable and well defined in the indicated period while the clock has a rising edge Step occurs on the leading flank Motor moves CW when direction is high 1 and CCW when low 0 Min 5µS IO2 IO1 GND 1 1 0 0 Step clock Output PLC o...

Page 106: ... to connect Min 400nS Min 200nS Min 200nS The Direction signal must stay stable and well defined in the indicated period while the clock has a rising edge Step occurs on the leading flank Motor moves CW when direction is high 1 and CCW when low 0 Min 400nS A1 A1 GND 1 1 0 0 Incremental encoder or similar RS422 outputs balanced RS422 inputs balanced E E Level definitions Logic 0 Diff 200mV Logic 1 ...

Page 107: ...elocity and acceleration set to low values TT2468 01GB Motor steps counts In total 80 steps moved Motor Direction Motor Velocity Slave Input position Master Motor position Slave Input clock In total 80 steps received Time Position Target 1 step All clocks received at a fixed rate No acc speed or decel control is included The input clock demand a prompt high speed but the motor has to respect the s...

Page 108: ...t clock In total 80 steps received Time Position Target 1 step Minimum position error The master that produce the input clock to the motor takes care of producing acceleration Since the acceleration register in the motor is set to a high value it will not limit the demanded acceleration 0 0 CW CCW Velocity Relation between input and the motor behaviour when setting the velocity and acceleration re...

Page 109: ...ction in order to decode the input signal The pulse signal is con nected to the 2 pulse input terminals See also How to connect the pulse source page 101 The MAC motor is replacing a step motor system with 400 steps per revolution which means that when the pulse source produce 400 pulses it expects the MIS motor to rotate one revolution The MIS motor itself has 1600cpr MIS23x or 409600 cpr MIS34x ...

Page 110: ...movement is reversed and the point at which the sensor is disabled is defined as zero The following sections explain in detail the functionality of the 2 fundamental Zero search modes 6 5 2 Starting a Zero search If the Zero search mode is set to Disabled no Zero search is done at any time unless writ ten in a program If one of the 2 modes Power up Sensor type 1 or Sensor type 2 is selected the re...

Page 111: ...as zero position use a position limit as reference position In this case the zero search position must be be different from 0 or the motor enters passive mode ignore the reference switch input and use the actual position or index pulse as zero position before using the zero search position Zero search input setup Negative limit input setup Positive limit input setup Make sure to set the selected i...

Page 112: ...ro search velocity is an optional offset See description in other chapter defines the velocity used during Zero search The sign of the specified velocity defines the zero search direction Sensor status Select the mechanical zero search mode using this field Select the mechanical Zero search format in this menu TT2187 03GB When the zero search sensor is activated the motor decelerates and starts to...

Page 113: ...ower up or initiated by a command from the serial interface 2 The basic Zero search is completed and the position counter is set to the value spec ified in the Zero search position field 3 If the zero search position value is different from position the motor will now move to position 0 4 The zero search is now complete and the motor will switch to normal operation i e the mode selected in the Sta...

Page 114: ...t the program automatically after reset Then select Save in Flash Go to the Test tab and press Start Zero Search The motor now rotates at the zero search velocity towards the sensor and when this has been found the motor continues to the index pulse The circle at the Test tab indicates the location of the index pulse according to the sensor The index pulse must be in the green area If the index pu...

Page 115: ...ysical limit switches but implemented in software Default is 0 meaning that the feature is disabled If one parameter is different from 0 both values are activated Error acceleration If a fatal error occurs it can be convenient to use a controlled deceleration instead of a sudden stop If the inertia in the system is high and the mechanical parts are weak a sud den stop can cause damage and unintend...

Page 116: ...114 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x ...

Page 117: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 115 8 Registers ...

Page 118: ... reasons for this such as protecting the serial number from being changed or indicating that the value in regis ters such as analogue Inputs will never be read by the motor but always overwritten us ing the latest sampled values In the following sections and examples position velocity and acceleration values are based on a 200 step motor running with 1 8 steps having 1600 increments per revolution...

Page 119: ... ms Standby Time 9 STANDBY_ CURRENT 16bit R W 0 511 128 5 87 mA Standby Current 10 P_IST 32bit R W 231 231 1 Steps Actual Position 12 V_IST 16bit R 0 1023 RPM Actual Velocity 13 V_START 16bit R W 1 1023 100 RPM Start Velocity 14 GEAR1 16bit R W 215 215 1 1600 Steps Output 15 GEAR2 16bit R W 215 215 1 2000 Counts Input 16 ENCODER_POS 32bit R W 231 231 1 Steps Encoder position 18 INPUTS 16bit R Spec...

Page 120: ...ocity n Vn 73 76 An 16bit R W 1 65535 131 9 54 RPM s Acceleration n An 77 80 Tn 16bit R W 0 511 511 5 87 mA Current n Tn 81 88 Analogue Filtered 16bit R 0 1023 0 4 888mV N A 89 96 Analogue Input 16bit R 0 1023 4 888 mV N A 97 BUSVOL 16bit R 0 1023 109 mV Bus Voltage 98 MIN_BUSVOL 16bit R W 0 1023 15 109 mV Min Bus Voltage 99 ENCODER_TYPE 16bit R 0 10 Tooltip on motor 100 AFZUP_WriteBits 16bit R W ...

Page 121: ...TABLE_ MODE 16bit R W 0 Special Turn Table Mode 127 TURNTABLE_ SIZE 32bit R W 0 Steps Turn Table Size 129 NL_MASK 16bit R W 0 IO Mask Dedicated Inputs Negative Limit In put 130 PL_MASK 16bit R W 0 IO Mask Dedicated Inputs Positive Limit Input 131 Reserved 16bit R W 0 132 HOME_MASK 16bit R W 0 IO Mask Dedicated inputs Home Input 133 134 Reserved 135 INPUT_FILTER_ MASK 16bit R W 0 IO Mask IOx digita...

Page 122: ...170 EXT_ENCODER 32bit R W 231 231 1 Counts External Encoder 172 EXT_ENCODER_ VEL 16bit R 215 215 1 Counts 16ms External Encoder Velocity The following parameters are only available when the CanOpen option is installed and only used for DSP 402 Reg Name Size Access Range Default Unit Description 180 Control Word 16bit R W 0 65535 0 Object 6040 subindex 0 181 Status Word 16bit R 0 65535 0 Object 604...

Page 123: ... 30 29 28 27 26 25 24 23 22 Firmware Major version 2 05 Example Complete version showed in for example MacTalk Major version Minor version Motor major type PROG_VER register register 1 bit 0 to 15 31 explanation Reserved value may change Firmware Beta bit optional Set if firmware is not an official release Firmware Minor version 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 23 0 0 0 0 0 ...

Page 124: ...T during a movement but the changes will first take effect after the motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A_SOLL and V_START will be activated Position mode 2 When the motor is in position mode the controller will always try to move until P_IST P_SOLL The movement will follow the profile specified by V_SOLL A_SOLL and V_S...

Page 125: ...tails Safe mode 15 This mode is similar to passive mode but also allows the save in flash and reset com mands Safe mode cannot be entered exited directly this must be done using the serial commands ENTER EXIT SAFEMODE Example Writing MODE_REG 2 will set the motor in position mode When P_SOLL is changed the motor will move to this position with the specified max velocity V_SOLL and accel eration A_...

Page 126: ... stops until the specified standby time has elapsed See Standby_Time page 124 When the RUN_CURRENT is changed the new motor current will be set instantly Example RUN_CURRENT 100 will set the running current to 0 59A RMS 8 2 8 Standby_Time Description This register sets the standby time This time is the time from the last step has been performed until the current changes from running to standby Whe...

Page 127: ...l P_IST P_SOLL When P_IST reaches 231 1 it will wrap around to 231 Please note that the turntable function changes the behaviour of P_IST See Turntable_Mode page 141 Example P_IST 1000 P_SOLL 1000 P_IST is set to 500 The motor will move 500 steps for ward and P_IST will again be 1000 8 2 11 V_IST Description This register shows the actual velocity of the motor The velocity is positive when run nin...

Page 128: ...is multiplied by GEAR1 and divided by GEAR2 Example GEAR1 1600 GEAR2 2000 If 2000 steps are applied to the input the motor will turn 1 revolution If one step is applied the motor will not move but the remainder will be 0 8 If another step is applied the motor will move 1 step and the remainder will be 0 6 If another step is applied the motor will move 1 step and the remainder will be 0 4 And so on...

Page 129: ...t using IOSETUP See IOsetup page 140 Please note that the output driver for each output also has to be enabled This is also done using IOSETUP The register can be changed in order to change the status of the outputs 8 2 18 Flwerr Description When the encoder option is installed this register shows the encoder deviation from the calculated position P_IST 8 2 19 Flwerrmax Description The maximum all...

Page 130: ...Reserved Actual run status bits for the motor 8 2 22 Temp Description Temperature measured inside the motor electronics The approximate temperature in degrees Celsius is calculated from the value in this reg ister using the formula Tc 2 27 Value 8 2 23 Min_P_IST Description Position limit for movement in the negative direction The motor can be configured to stop automatically when it reaches this ...

Page 131: ... Limit error Bit 4 Low bus voltage error Bit 5 Over voltage error Bit 6 Temperature too high 90 C Bit 7 Internal error Self diagnostics failed If any of these bits are set the motor is in a state of error and will not move until all the errors have been cleared Some of the errors can be cleared by writing zero to this reg ister Other errors will require hardware fixes or intervention such as allow...

Page 132: ... limit stops also after the motor may have left the end position mechanically 8 2 28 Start mode Description The motor will switch to this mode after power up This is also the mode that is used when a zero search has been completed See Mode_Reg page 122 for a list of possible modes 8 2 29 P_Home Description The zero point found is offset with this value 8 2 30 V_Home Description The velocity used d...

Page 133: ... This value is typically gray coded The firmware offers the possibility to do the Gray conversion but requires that some RxP programming is done as this feature is only available as a RxP program command Example An SSI encoder is chosen using 25 bit data We want to sample and convert the SSI data value from register 47 and put the convert ed value into Register 61 P2 To get the actual value from t...

Page 134: ...on registers are referred to as A1 A4 and can be used to change the acceleration in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands 8 2 37 Tn Description These four general purpose Torque registers are referred to as T1 T4 and can be used to change the velocity in several different ways either from the user program or via t...

Page 135: ...IO 1 to IO 8 Their values are updated approximately every 182 micro seconds To use the filtered values of the inputs for better noise immunity use registers 81 88 in stead Analogue Filtered page 133 An input voltage of 5 00 Volts corresponds to a register value of 1023 8 2 40 Busvol Description The supply voltage inside the motor is continually measured and stored in this register This value is th...

Page 136: ...ter parameters for one analogue input at a time To select a new input write a value of 1 to 8 to this register and wait for bit 15 to be set high When bit 15 has been set by the firmware the registers 102 106 have been loaded with the filter parameters currently used by that analogue input 8 2 45 Afzup_ConfMin Description The minimum confidence limits for analogue inputs are set and read back usin...

Page 137: ...ription The final filtering of new samples on the analogue inputs can be selected using this regis ter in combination with the read and write command registers 100 and 101 The final filtered value results from taking Filter 64 of the new sample plus 64 Filter 64 of the old value and storing the result in registers 81 88 A value of 64 effectively disables this filtering so the new sample simply rep...

Page 138: ...al outputs and used to control other step per motors The value in this register selects one of three operating modes Mode 0 in which the pulse direction signals are used only internally to control the motor attached directly to the SMC75 board Mode 1 in which the signals are not used internally but output to the digital outputs selected in register 109 Mode 2 where the signals are used both intern...

Page 139: ...ostic purposes These registers define which registers are sampled All of the registers 1 255 can be sampled A value of zero in any of these four registers will cause the corresponding sam ple buffer to contain zeroes See registers 116 119 for more information on the sampling system Most users will use MacTalk to handle sampling 8 2 56 Rec_Cnt Description This value specifies the number of samples ...

Page 140: ...ription This read only register contains the maximum length of the sample buffers used to sam ple the registers selected in registers 112 115 Register 116 should never be set to a val ue higher than the value in this register 8 2 60 Index_Offset Description This register can be selected to receive the absolute value of the internal encoder where the Zero search home position was found during Zero ...

Page 141: ...gnetic encoder and not be available for normal digital I O operation Bit 8 EncoderBout If set to 1 the I O 7 pin will output the quadrature B signal from the internal magnetic encoder and not be available for normal digital I O operation Bit 9 EncoderIout If set to 1 the I O 8 pin will output the Index signal from the internal magnetic encoder and not be available for normal digital I O operation ...

Page 142: ...artup which is a requirement for some Beckhoff PLCs including the TwinCat softPLC Bit 15 Reserved unused at this time 8 2 63 IOsetup Description This register controls the eight IO s IO 1 to OI 8 These pins can be used either in input mode as combined digital and analogue inputs or used in output mode as digital out puts The lowest eight bits in this register can be used to individually invert the...

Page 143: ...he new position Note that the motor will not move at all if the new position in register P_SOLL is either negative or larger than the value of register 127 Turntable_Size 8 2 65 Turntable_Size Description If turntable mode is selected in register 126 the number of steps needed for a full revo lution of the turntable is set in this register Note that the register P_SOLL must always have a value bet...

Page 144: ...electable 32 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not working with DSP402 Example Register133 10 will transfer register 10 P_IST actual position 32bit value in PDO22 or PDO4 8 2 70 CAN_Setup2 Description Register 134 holds the user selectable 16 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not...

Page 145: ... Description Selects which one of the eight IO pins to use for the dedicated function of In Position Output Exactly one bit must be set and the IO pin must be configured in register 125 as an output The In Position output will then be set after a movement has completed Example If output 1 is to be used for the In Position Output write 20 1 to this register 8 2 74 Error_Mask Description Selects whi...

Page 146: ...heory so 48V 441 6 approximately due to component tolerances etc Please observe that CVI measurements are only available from HW Rev 1 7 and up The HW rev can be observed in the tooltip over the motor displayed in MacTalk 8 2 76 Acceptance count Description Acceptance Count selects the number of times the Acceptance Voltage must be meas ured after power up before the flash erase operation is start...

Page 147: ... the filtered values for noise immunity 12 for the bus voltage used for motor supply and finally 13 for CVI measurement from HW rev 1 7 and up Any other value will disable the flash backup system When running the motor from 30 Volts or less it can be convenient to connect the bus voltage with the control voltage CV supply and use the value 12 in register 142 to mon itor the control voltage When ru...

Page 148: ...e a minimum delay after they have sent a command to the motor before they are able to receive the response 8 2 82 Group_Id Description The group ID of the motor The motor will accept data from a group write command only if the group ID number in the command matches this number The idea is that several motors can have the same group ID so they can be updated with new register values in parallel to ...

Page 149: ...6bit R W 0 254 Motor Address Reg Name Size Access Range Default Unit MacTalk name 151 MOTORTYPE 16bit R 64 xx Status Bar Motor type Technology Decimal value Hex value MAC50 Brushless AC servo 1 0x0001 MAC95 Brushless AC servo 2 0x0002 MAC140 Brushless AC servo 3 0x0003 MAC141 Brushless AC servo 4 0x0004 MAC400 Brushless AC servo 12 0x000C MAC400B Brushless AC servo 13 0x000D MAC800 Brushless AC se...

Page 150: ...e is read only and is programmed into the motor during firmware update 8 2 88 Hardware_Rev Description The revision of the hardware This value is read only and is programmed into the motor during manufacturing Reg Name Size Access Range Default Unit MacTalk name 152 SERIAL NUMBER 32bit R Status Bar Reg Name Size Access Range Default Unit MacTalk name 154 CHECKSUM 32bit R 0 65535 Reg Name Size Acce...

Page 151: ...available on the connector This value is read only and is programmed into the motor during manufacturing Service personnel may ask for this value to identify the type of connector board mounted on the motor The values are not documented here 8 2 91 Bootloader_Ver Description The version of the boot loader This value is read only and is programmed into the motor during manufacturing 8 2 92 Not save...

Page 152: ...fieldbus interface 0 1000 kbit s 1 800 kbit s unsupported 2 500 kbit s 3 250 kbit s 4 125 kbit s 5 100 kbit s 6 50 kbit s 7 20 kbit s 8 10 kbit s 8 2 96 Ext_Encoder Description This register counts the encoder input on IN1 IN2 The type of input is selected using SETUP_BITS bit 2 3 Reg Name Size Access Range Default Unit MacTalk name 165 OPTION_BITS 16bit R 0 65535 Tooltip on motor Reg Name Size Ac...

Page 153: ...MIS23x Registers 8 2 97 Ext_Encoder_Vel Description This register is updated with the velocity of the external encoder input The velocity is measured every 16ms Reg Name Size Access Range Default Unit MacTalk name 172 EXT_ENCODER _VEL 16bit R 215 215 1 Counts 16ms External Encoder Velocity ...

Page 154: ... 32bit R W 1 65535 500 ms Standby Time 9 STANDBY_ CURRENT 32bit R W 0 1533 128 5 87 mA Standby Current 10 P_IST 32bit R W 231 231 1 Counts Actual Position 12 V_IST 32bit R 3 000 00 to 3 000 00 0 01 RPM Actual Velocity 13 V_START 32bit R W 1 3000 1 00 0 01 RPM Start Velocity 14 GEAR1 32bit R W 215 215 1 1600 Steps Output 15 GEAR2 32bit R W 215 215 1 2000 Counts Input 16 ENCODER_POS 32bit R W 231 23...

Page 155: ...NCODER 32bit R 231 231 1 0 Absolute Encoder Position 47 EXTENCODER 32bit R 231 231 1 0 SSI Encoder Value 48 Reserved 49 64 Pn 32bit R W 231 231 1 0 Steps Position n Pn 65 72 Vn 32bit R W 0 1023 250 RPM Velocity n Vn 73 76 An 32bit R W 1 65535 131 9 54 RPM s Acceleration n An 77 80 Tn 32bit R W 0 511 511 5 87 mA Current n Tn 81 88 Analog Filtered 32bit R 0 1023 0 4 888mV N A 89 96 Analog Input 32bi...

Page 156: ... always uses 8 bits per byte D5 0 1 stop bit 1 2 stop bits Select the number of stop bits Select the same format as the Modbus client PLC HMI or PC uses D31 D6 Unused reserved for future purposes 122 HOME_BITS 32bit R W 0 Special Advanced Zero Search 123 Reserved 32bit R W N A 124 SETUP_BITS 32bit R W 0 Special Don t start program after power up Invert motor direc tion External Encoder Enable DSP ...

Page 157: ... FBUS_NODE ID 32bit R W 0 255 5 Fieldbus Node ID 167 FBUS_BAUD 32bit R W 0 8 2 Fieldbus Baud Rate 168 Reserved 32bit 169 Reserved 32bit 170 EXT_ENCODER 32bit R W 231 231 1 Counts External Encoder 172 EXT_ENCODER_ VEL 32bit R 215 215 1 Counts 16ms External Encoder Velocity The following parameters are only available when the CanOpen option is installed and only used for DSP 402 Reg Name Size Access...

Page 158: ...0 29 28 27 26 25 24 23 22 Firmware Major version 2 05 Example Complete version showed in for example MacTalk Major version Minor version Motor major type PROG_VER register register 1 bit 0 to 15 31 explanation Reserved value may change Firmware Beta bit optional Set if firmware is not an official release Firmware Minor version 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 23 0 0 0 0 0 0 ...

Page 159: ...START during a movement but the changes will first take effect after the motor has stopped Please note that if the motor needs to change direction it will decelerate and stop and the new A_SOLL and V_START will be activated Position mode 2 When the motor is in position mode the controller will always try to move until P_IST P_SOLL The movement will follow the profile specified by V_SOLL A_SOLL and...

Page 160: ... details Safe mode 15 This mode is similar to passive mode but also allows the save in flash and reset com mands Safe mode cannot be entered exited directly this must be done using the serial commands ENTER EXIT SAFEMODE Example Writing MODE_REG 2 will set the motor in position mode When P_SOLL is changed the motor will move to this position with the specified max velocity V_SOLL and accel eration...

Page 161: ...until the specified standby time has elapsed See Standby_Time page 124 When the RUN_CURRENT is changed the new motor current will be set instantly Example RUN_CURRENT 100 will set the running current to 0 59A RMS 8 3 8 Standby_Time Description This register sets the standby time This time is the time from the last step has been performed until the current changes from running to standby When a new...

Page 162: ...When P_IST reaches 231 1 it will wrap around to 231 Please note that the turntable function changes the behaviour of P_IST See Turntable_Mode page 141 Example P_IST 1000 P_SOLL 1000 P_IST is set to 500 The motor will move 500 steps for ward and P_IST will again be 1000 8 3 11 V_IST Description This register shows the actual velocity of the motor The velocity is positive when run ning in a positive...

Page 163: ...der is multiplied by GEAR1 and divided by GEAR2 Example GEAR1 1600 GEAR2 2000 If 2000 steps are applied to the input the motor will turn 1 revolution If one step is applied the motor will not move but the remainder will be 0 8 If another step is applied the motor will move 1 step and the remainder will be 0 6 If another step is applied the motor will move 1 step and the remainder will be 0 4 And s...

Page 164: ... set using IOSETUP See IOsetup page 140 Please note that the output driver for each output also has to be enabled This is also done using IOSETUP The register can be changed in order to change the status of the outputs 8 3 18 Flwerr Description When the encoder option is installed this register shows the encoder deviation from the calculated position P_IST 8 3 19 Flwerrmax Description The maximum ...

Page 165: ... Same as register 35 bit 0 Bit 13 15 Reserved Actual run status bits for the motor 8 3 22 Temp Description Temperature measured inside the motor electronics The approximate temperature in degrees Celsius is calculated from the value in this reg ister using the formula Tc 2 27 Value 8 3 23 Min_P_IST Description Position limit for movement in the negative direction The motor can be configured to sto...

Page 166: ...Self diagnostics failed Bit 8 Encoder Lost Position only valid for the Absolute Multi turn Encoder option Bit 9 Encoder Reed Error only valid for the Absolute Multi turn Encoder option Bit 10 Encoder Communication Error only valid for the Absolute Multi turn Encoder option If any of these bits are set the motor is in a state of error and will not move until all the errors have been cleared Some of...

Page 167: ...tops also after the motor may have left the end position mechanically 8 3 28 Start mode Description The motor will switch to this mode after power up This is also the mode that is used when a zero search has been completed See Mode_Reg page 122 for a list of possible modes 8 3 29 P_Home Description The zero point found is offset with this value 8 3 30 V_Home Description The velocity used during ze...

Page 168: ...possibility to do the Gray code to binary conversion before updating the EXTENCODER register with the actual position Example An SSI encoder outputs the position in binary We want to sample and update the EXTENCODER register 47 without any conversion This can be done by use command 321 If the SSI encoder outputs the position in Gray code the value can be converted to binary before updating the EXT...

Page 169: ...ers are referred to as A1 A4 and can be used to change the acceleration in several different ways either from the user program or via the serial interfaces See also the sections on FastMac commands 8 3 37 Tn Description These four general purpose Torque registers are referred to as T1 T4 and can be used to change the velocity in several different ways either from the user program or via the serial...

Page 170: ... Os IO 1 to IO 8 Their values are updated approximately every 182 micro seconds To use the filtered values of the inputs for better noise immunity use registers 81 88 in stead Analogue Filtered page 133 An input voltage of 5 00 Volts corresponds to a register value of 1023 8 3 40 Busvol Description The supply voltage inside the motor is continually measured and stored in this register This value i...

Page 171: ... filter parameters for one analogue input at a time To select a new input write a value of 1 to 8 to this register and wait for bit 15 to be set high When bit 15 has been set by the firmware the registers 102 106 have been loaded with the filter parameters currently used by that analogue in put 8 3 45 Afzup_ConfMin Description The minimum confidence limits for analogue inputs are set and read back...

Page 172: ...Description The final filtering of new samples on the analogue inputs can be selected using this regis ter in combination with the read and write command registers 100 and 101 The final filtered value results from taking Filter 64 of the new sample plus 64 Filter 64 of the old value and storing the result in registers 81 88 A value of 64 effectively disables this filtering so the new sample simply...

Page 173: ...e SMC85 board can also be optionally output to digital outputs and used to control other step per motors The value in this register selects one of three operating modes Mode 0 in which the pulse direction signals are used only internally to control the motor attached directly to the SMC75 board Mode 1 in which the signals are not used internally but output to the digital outputs selected in regist...

Page 174: ...iagnostic purposes These registers define which registers are sampled All of the registers 1 255 can be sampled A value of zero in any of these four registers will cause the corresponding sample buffer to contain zeroes See registers 116 119 for more information on the sampling system Most users will use MacTalk to handle sampling 8 3 56 Rec_Cnt Description This value specifies the number of sampl...

Page 175: ...his register 8 3 60 Index_Offset Description This register can be selected to receive the absolute value of the internal encoder where the Zero search home position was found during Zero Search This is selected by bit 0 Use Index in register 122 It requires that the internal encoder option is installed 8 3 61 Home_Bits Description Bit 0 Search for index Bit 1 Change direction on limit Bit 2 Search...

Page 176: ...ternal encoder count on startup Bit 13 KeepSSIValue Do not zero the SSI data register on startup Bit 14 useBeckhoff use the Beckhoff variant of CAN Bit 15 Reserved for future use Bit 16 ExtEncoderDirection Bit 17 DisableErrorOnTravelLimit Bit 31 18 Do not use Reserved for future use These individual bits are used to control various functions in the firmware Bits marked in grey are not fully availa...

Page 177: ...ch the new position Note that the motor will not move at all if the new position in register P_SOLL is either negative or larger than the value of register 127 Turntable_Size 8 3 65 Turntable_Size Description If turntable mode is selected in register 126 the number of steps needed for a full revo lution of the turntable is set in this register Note that the register P_SOLL must always have a value...

Page 178: ...r selectable 32 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is not working with DSP402 Example Register133 10 will transfer register 10 P_IST actual position 32bit value in PDO22 or PDO4 8 3 70 CAN_Setup2 Description Register 134 holds the user selectable 32 bit register number that is transferred in PDO22 or PDO4 Beckhoff Please observe that this is ...

Page 179: ...ask Description Selects which one of the eight IO pins to use for the dedicated function of In Position Output Exactly one bit must be set and the IO pin must be configured in register 125 as an output The In Position output will then be set after a movement has completed Example If output 1 is to be used for the In Position Output write 20 1 to this register 8 3 74 Error_Mask Description Selects ...

Page 180: ...in theory so 48V 441 6 approximately due to component tolerances etc Please observe that CVI measurements are only available from HW Rev 1 7 and up The HW rev can be observed in the tooltip over the motor displayed in MacTalk 8 3 76 Acceptance count Description Acceptance Count selects the number of times the Acceptance Voltage must be meas ured after power up before the flash erase operation is s...

Page 181: ...using the filtered values for noise immunity 12 for the bus voltage used for motor supply and finally 13 for CVI measurement from HW rev 1 7 and up Any other value will disable the flash backup system When running the motor from 30 Volts or less it can be convenient to connect the bus voltage with the control voltage CV supply and use the value 12 in register 142 to mon itor the control voltage Wh...

Page 182: ...quire a minimum delay after they have sent a command to the motor before they are able to receive the response 8 3 82 Group_Id Description The group ID of the motor The motor will accept data from a group write command only if the group ID number in the command matches this number The idea is that several motors can have the same group ID so they can be updated with new register values in parallel...

Page 183: ...0 MY_ADDR 32bit R W 0 254 Motor Address Reg Name Size Access Range Default Unit MacTalk name 151 MOTORTYPE 32bit R 64 xx Status Bar Motor type Technology Decimal value Hex value MAC50 Brushless AC servo 1 0x0001 MAC95 Brushless AC servo 2 0x0002 MAC140 Brushless AC servo 3 0x0003 MAC141 Brushless AC servo 4 0x0004 MAC400 Brushless AC servo 12 0x000C MAC400B Brushless AC servo 13 0x000D MAC800 Brus...

Page 184: ...alue is read only and is programmed into the motor during firmware update 8 3 88 Hardware_Rev Description The revision of the hardware This value is read only and is programmed into the motor during manufacturing Reg Name Size Access Range Default Unit MacTalk name 152 SERIAL NUMBER 32bit R Status Bar Reg Name Size Access Range Default Unit MacTalk name 154 CHECKSUM 32bit R 0 65535 Reg Name Size A...

Page 185: ...re available on the connector This value is read only and is programmed into the motor during manufacturing Service personnel may ask for this value to identify the type of connector board mounted on the motor The values are not documented here 8 3 91 Bootloader_Ver Description The version of the boot loader This value is read only and is programmed into the motor during manufacturing 8 3 92 Not s...

Page 186: ...the fieldbus interface 0 1000 kbit s 1 800 kbit s unsupported 2 500 kbit s 3 250 kbit s 4 125 kbit s 5 100 kbit s 6 50 kbit s 7 20 kbit s 8 10 kbit s 8 3 96 Ext_Encoder Description This register counts the encoder input on IN1 IN2 The type of input is selected using SETUP_BITS bit 2 3 Reg Name Size Access Range Default Unit MacTalk name 165 OPTION_BITS 32bit R 0 65535 Tooltip on motor Reg Name Siz...

Page 187: ...34x MIS43x Registers 8 3 97 Ext_Encoder_Vel Description This register is updated with the velocity of the external encoder input The velocity is measured every 16ms Reg Name Size Access Range Default Unit MacTalk name 172 EXT_ENCODER _VEL 32bit R 215 215 1 Counts 16ms External Encoder Velocity ...

Page 188: ...186 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x ...

Page 189: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 187 9 Building Sequential Programs ...

Page 190: ...en using the SMC75 almost any kind of program can be created using a set of user friendly icons Make the required choice on the Programming tab After making one of these 2 choices the program window will be opened TT2188GB Choose here to make a new program Optionally uploads the actual program previously stored in the module ...

Page 191: ...ram must be paused By paused means that actual program line executed is temporary paused When paused the single step feature can be used to debug the program Stop Use this botton if the program must be stopped Programming menu Main menu for creating a new program Verifying program size and other basic details for the SMC75 Controller SMC75 Status texts The message means that there is a difference ...

Page 192: ...emarks Checksum Lines Mode Shows the checksum of the complete program downloaded into the module The checksum is unique and can be used to verify whether the program in the module matches the original program or not The number of program lines used in the source program MacTalk Specify the program type actually used Skip initialization advanced Bypasses internal initialization routines after power...

Page 193: ...e started Press the button at line 1 and a tool box will pop up TT0983GB Press the first button to create the first program line The box will pop up Select command Choose the desired command In this example it is desired to wait for an input to be activated before further program execution Choose to wait until input 5 is high and press OK 1 2 3 Continued The command is inserted at the previous sel...

Page 194: ...the second program line Choose the movement type needed Relative Move x counts forward with reference to the actual position Absolute Move to the x position with reference to the zero search position 5 6 The relative move command just entered is converted into a program line 7 Now the program is finished Press the button Now the program will be transfered and stored permanently in the module The p...

Page 195: ...aused it is possible to single step through each program line which can be a useful feature to debug the program since the action in each line can be closely observed When the program is finished it can be saved on the harddisc or floppy disc Please be aware that when saving the program it is the complete program including the overall setup of the motor such as servofilter I O setup etc Everything...

Page 196: ...ll be executed each time the motor is switched on 2 Before beginning to program ensure that the basic parameters for controlling accel eration torque safety limits etc are set to proper values When saving the program on the hard disk or to floppy disc all of these basic parameter settings will be saved together with the program as a complete motor setup package 3 A program line can be edited by do...

Page 197: ...ery powerful programming tool since 95 of a typical program can be built using the simple command icons while the remaining 5 is typically achieved by accessing the basic motor registers directly The following gives a short description of all 14 command icons TT1003GB Nm Oz Inch 1000 5 0 708 4 0 566 3 0 424 2 0 283 1 0 142 0 2000 3000 4000 5000 Peak Torque Shaded area short term only Average Torqu...

Page 198: ...review or work on the code or if the program is only worked on infrequently Icon Dialogue Function Sets the operating mode of the motor When the program encounters a program line with this command the motor s operating mode will be set to the specified mode This allows you to use different operating modes in different parts of the program For a detailed description of the individual operating mode...

Page 199: ...et position commands Note that if you specify a velocity motor register no 5 V_SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be overwritten with the acceleration value specified Register no 49 P1 is always overwritten by this command If the Wait for in position option is checked the program will wait until the motor has finish...

Page 200: ...ctly or taken from three memory registers in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that motor register no 5 V_SOLL will always be overwritten with the value specified in the New velocity field Also if you specify an acceleration motor register no 6 A_SOLL will be overwritten with the accelera...

Page 201: ... be taken from one of three memory registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be overwritten with the accele...

Page 202: ...ns on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be overwritten with the acceleration value specified If the Wait for in position option is checked the program will wait until the motor has finished the movement before proc...

Page 203: ...ces are measured in encoder counts and can either be entered directly or taken from three memory registers in the user memory area For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be overwritten with this velocity value Also if you specify an acceleration ...

Page 204: ...nce 9 7 9 Set outputs Icon Dialogue Function Sets one or more outputs When setting a single output you can set it to high low or you can specify the length in milliseconds of a pulse to send out on that output When setting multiple outputs you can specify whether to set each output high low or leave it in its current state ...

Page 205: ...o the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program When Input type is set to Single the command can test a single input for one of four possible conditions the input is low the input is high the input has transitioned to low Falling Edge or the input has tran...

Page 206: ...n is not met the program proceeds to execute the next line in the program When Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need match its test setting Inputs that are set to Do...

Page 207: ... pause that can be specified is 0 milliseconds Note that this command overwrites Timer 1 in the RxP module s memory Icon Dialogue Function Waits for a specified input condition to occur The next line in the program will not be executed until the input condition has been met If Input type is set to Single the command will wait for one of four things to happen on the specified input that the input t...

Page 208: ...line in the program will not be executed until the input condition has been met If Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need match its test setting Inputs that are set t...

Page 209: ...egister in the motor against a specified value before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program The value can either be entered as native motor units or it can be entered as generic engineer...

Page 210: ...ered as generic engineering units The dialogue above provides an example register no 10 P_IST or Actual position depending on your preference must be less than 0 revolutions before the program will continue The position that the register is tested against can be specified as an integer number of encoder counts or can be specified as a non integer number of revolutions Icon Dialogue Function Saves ...

Page 211: ...the current position stored in register no 10 P_IST to one of three position values stored in the user memory area This is the reverse of the Save position command Icon Dialogue Function Initiates a zero search The program waits until the zero search has completed before proceeding to the next command For a detailed description of how to set up a zero search refer to Zero search modes page 108 ...

Page 212: ...lexMAC commands are described in detail in section 4 5 7 of the MAC user manual JVL publication no LB0047 20GB However a brief summary is in order If Mode is set to Passive Velocity or Position the motor will switch to that mode Also one of the passive motor registers will be activated in the sense that its value will be written to the corresponding active motor register which actually controls mo...

Page 213: ...e using a single command it is possible to activate four different sets of registers each controlling position velocity acceleration torque load factor and in position window For further details refer to section 4 5 7 of the MAC user manual Icon Dialogue Function MacTalk SMC75 programs are sent to the motor in a compact binary format which is then interpreted by the SMC75 s firmware The existing s...

Page 214: ... that they are specified Operands arguments can be either integer constants or registers The caption of the dialogue box shows the resulting expression in traditional infix format It is continuously updated as you type in the expression Note that if you write a value to a register using this command that value is always measured in native motor units Conversion from generic engineering units is on...

Page 215: ...aming provides an alternative method of entering data into the dialogue by selecting Simple list with short firmware names Instead of selecting for example 3 Requested position to access register no 3 you can simply type P_SOLL If you wish to enter a constant you simply enter the digits the dialogue will not mistake the constant for a register number If you are in doubt about a register name look ...

Page 216: ...oceeds to execute the next line in the program Any two registers can be compared with each other but the command does not do anything beyond comparing the registers numerical values measured in native motor units To ensure that comparisons are meaningful it is preferable to compare registers that hold the same type of information in the same binary format In the example above two position register...

Page 217: ...section 10 2 1 to section 10 2 6 Using CANopenExplorer See section 10 3 1 to section 10 3 3 Survey of Communication specific objects and manufacturer specific objects in the DS301standard Communication objects consist of the general information about the settings in the module while the Manufacturer specific objects consist of the settings of input output and the motor parameters This section also...

Page 218: ...miza ble so that the user can select single bits to monitor by a TxPDO Read more about this in the section Flexible Register setup page 246 10 1 2 CiA membership CiA CAN in Automation is a non profit society The object of the society is to promote CAN Controller Area Network and to provide a path for future developments of the CAN protocol CiA specifications cover physical layer definitions as wel...

Page 219: ...the ISO11898 stand ard The major performance features and characteristic of the CANopen protocol are described below Message oriented protocol The CANopen protocol does not exchange data by addressing the recipient of the mes sage but rather marks each transmitted message with a message identifier All nodes in the network check the identifier when they receive a message to see whether it is rele v...

Page 220: ...me In other random bus access routines this causes the destruction of suppressed messages In order to solve such a bus access conflict a repeated occupation of the bus is required using an appropriate triggering strategy The CANopen protocol therefore deploys a routine to ensure that the message with the highest priority at any given time is sent without any destruction of message con tents Short ...

Page 221: ... ID 7 bits in size 0 127 The function code classifies the communications objects and controls the transmission priorities Objects with a small function code are transmitted with high priority For ex ample in the case of simultaneous bus access an object with the function code 1 is sent before an object with the function code 3 Node address Every device is configured before network operation with a...

Page 222: ... wire cross section of 0 25 to 0 34 mm would be an appropriate choice in many cases For bus lengths greater than 1 km a bridge or repeater device is recommended Galvanic isolation between the bus nodes is optional 10 2 2 Necessary accessories for MIS23x SMC75 The EDS file for the MIS23x SMC75 is available for download at JVL s web site http www jvl dk under the downloads menu Field bus Interface S...

Page 223: ...special dongle for communication with the PC For further information about the dongle see An overall method for communication test page 224 The PC must be provided with a CANopen communications module 10 2 3 EDS Electronic data Sheet In order to give the user of CANopen more support the device description is available in a standardised way and gives the opportunity to create standardised tools for...

Page 224: ...nector but the PIN configuration is also shown in the table below The figure below shows the 9 pin D sub and 5 pin style connectors Signal Description MIS23x SMC75 D sub Reserved Pin 1 CAN_L CAN_L bus line Low Pin 5 Pin 2 CAN_GND CAN Ground Pin 3 Pin 3 Reserved Pin 4 CAN_SHLD Optional CAN Shield Pin 1 Pin 5 GND Optional CAN Ground Pin 6 CAN_H CAN_H bus line High Pin 4 Pin 7 Reserved error line Pin...

Page 225: ...terface internally con nected to the motor housing 1 2 CAN_V Reserved for future purpose do not connect 2 2 CAN_GND CAN interface ground 3 2 CAN_H CAN interface Positive signal line 4 2 CAN_L CAN interface Negative signal line 5 2 BUS2 CANopen interface M12 5 pin female connector Signal name Description Pin no Cable user supplied Isolation group CAN_SHLD Shield for the CAN interface internally con...

Page 226: ... details of the node ID and the Baud rate see section 10 2 4 The power sup ply must be connected to the motor as shown in section 10 2 6 PC PC with a CAN adaptor and software that can communicate with this module or if the CANopenExplorer software is used the PCAN USB Dongle from Peak system that is connected to a USB port on the PC The Peak systems web site address is http www peak system com Thi...

Page 227: ...l Integrated Stepper Motors MIS23x 34x 43x 225 10 3 Using CANopenExplorer 4 Select here on the the manufacturer specific register 5 Select thereafter the object 0x2012 Object 0x2012 contains the motor parameters TT1100GB 1 3 2 TT1101GB 4 5 ...

Page 228: ...following screen appears 7 Type 02 in the window and press OK 8 Click on the sub register 0x05 which is the register to choose the velocity the motor will use Press W on the keyboard type 100 in the window and press OK The value 100 is in RPM 9 Click on the sub register 0x03 which is the register to choose the distance the motor will run Press W on the keyboard type 20000 in the window and type OK...

Page 229: ... object in the EDS view pane and press either R for read or W for write Pressing R should read the value successful if no error pops up Pressing W for write will pop up a small window in which the present value is displayed in both decimal and hex It is then possible to write a new value either in decimal or hex using a 0x prefix such as 0x185 to enable the first TPDO on node 5 by clearing the hig...

Page 230: ...s useful for automated testing Entries can be deleted from the user SDO list by selecting them with the mouse and pressing the delete key The sync Time field top right sets the time in milliseconds for the SYNC messages to be sent out SYNCs can be started and stopped using the buttons Enable Sync and the Stop button to the right The Guard Time field below the Sync Time field works like SYNC just f...

Page 231: ...te at top of next page Mandatory Error Register 1001 UNSIGNED8 X This is the mapping error register and it is part of the emergency ob ject If any of the sub indices are high an error has occurred See also section 10 4 2 Mandatory 0 Generic error Mandatory 1 Current 2 Voltage 3 Temperature 4 Communication Overrun 5 Device profile specific 6 Reserved 7 Manufactor specific Reservation register 1004 ...

Page 232: ... PDO25 Use Transmit PDO25 in asynchronous mode to read the status of the error In the MIS23x SMC75 no error control is enabled when the modules are started up because if there is any fault in the system it is impossible to get in contact with the mod ule After the module has started up and there is communication between the master and the slave turn on the required error control mechanism in the c...

Page 233: ...e will be treated as signed 10 4 4 Enable and Disable PDOs In the CANopen profile it is only possible to have four transmit and four receive PDOs enabled at the same time In the MIS23x SMC75 all PDOs are disabled when the mod ule is booted up The user must choose which PDOs the application will use and enable these To enable or disable a PDO it is necessary to write to the MSB bit 31 in the PDO CO...

Page 234: ...ple Dynamic Mapping in CANopenExplorer CANopenExplorer shows that TxPDO1 is mapped to transmit object 0x2012 sub 0x02 32 bit If the user wants to map to another object following procedure must be followed De activate the PDO by writing 1 to MSB of the COB ID 0x80000185 see 1 at the illustration below Write 0 in Number of Entries Remap to another object by writing to PDO Mapping Entry 1 0x20140510 ...

Page 235: ...16 bit of the V_SOLL register 0x05 0x2710 10000 100 RPM see 3 at the illustration below 10 4 6 Receive PDOs The PDO 1 20 are reserved for use with DSP 402 The following receive PDOs are available Receive PDO 21 This PDO can be used to update the position velocity and acceleration The data in the PDO is written directly to the position register and if the motor is in position mode it will start mov...

Page 236: ... ID Nodeid 0x80000180 r w 22 1 Receive COB ID Nodeid 0x80000300 r w 1 Transmit COB ID Nodeid 0x80000280 r w 23 1 Receive COB ID Nodeid 0x80000400 r w 1 Transmit COB ID Nodeid 0x80000380 r w 24 1 Receive COB ID Nodeid 0x80000500 r w 1 Transmit COB ID Nodeid 0x80000480 r w 25 1 Transmit COB ID Nodeid 0x80000480 r w Byte 0 1 2 3 4 5 6 7 Data P_SOLL V_SOLL A_SOLL Object 2012h sub 3 2014h sub 5 2014h s...

Page 237: ...ctual position can be read Transmit PDO 22 With this PDO the actual velocity can be read Transmit PDO 23 With this PDO the value of the analogue inputs 1 4 can be read Byte 0 1 2 3 4 5 6 7 Data P_IST V_IST Motor error Object 2012h sub 10 2014h sub 12 2014h sub 35 Byte 0 1 2 3 4 5 6 7 Data V_IST Reserved Reserved Reserved Res Res Res Object 2014h sub 12 User selectable 16 bit register exc STATUSBIT...

Page 238: ...from startup and are configured as PDO 1 4 COB_ID 0x800000xxx NOT ENABLED COB_ID 0x000000xxx ENABLED 10 4 9 PDO setup in Beckhoff mode Normally each selected PDO needs to be enabled after power up and initialization but in Beckhoff mode PDO 1 4 is automatically enabled at power up The 2 dynamic registers are put into PDO4 Default the 16 bit register is set to 35 motor error and the 32 bit register...

Page 239: ...e COB ID Nodeid 0x00000200 r w 1 Transmit COB ID Nodeid 0x00000180 r w 2 1 Receive COB ID Nodeid 0x00000300 r w 1 Transmit COB ID Nodeid 0x00000280 r w 3 1 Receive COB ID Nodeid 0x00000400 r w 1 Transmit COB ID Nodeid 0x00000380 r w 4 1 Receive COB ID Nodeid 0x00000500 r w 1 Transmit COB ID Nodeid 0x00000480 r w Byte 0 1 2 3 4 5 6 7 Data P_SOLL V_SOLL A_SOLL Object 2012h sub 3 2014h sub 5 2014h su...

Page 240: ...this PDO the actual velocity can be read Byte 0 1 2 3 4 5 6 7 Data P_IST V_IST Motor error Object 2012h sub 10 2014h sub 12 2014h sub 35 Byte 0 1 2 3 4 5 6 7 Data ANALOGUE1 ANALOGUE2 ANALOGUE3 ANALOGUE4 Object 2014h sub 89 2014h sub 90 2014h sub 91 2014h sub 92 Byte 0 1 2 3 4 5 6 7 Data ANALOGUE5 ANALOGUE6 ANALOGUE7 ANALOGUE8 Object 2014h sub 93 2014h sub 94 2014h sub 95 2014h sub 96 Byte 0 1 2 3 ...

Page 241: ...to change future firmware versions to conform to new versions of the standard Not all of the functionality described in DSP 402 is supported but all mandatory func tions are supported The following operation modes are supported Profile position mode Velocity mode Zero Search mode Preconditions The start mode of the motor must be set to passive No power up zero searches must be selected When using ...

Page 242: ..._address 6505 0 VISIBLE_STRING X www jvl dk Digital I O Digital_inputs 60FD 0 UNSIGNED32 X Digital_outputs 60FE 0 UNSIGNED8 X Digital_outputs_Physical_outputs 60FE 1 UNSIGNED32 Digital_outputs_Bit_mask 60FE 2 UNSIGNED32 Device Control Abort_connection_option_code 6007 0 INTEGER16 Error_code 603F 0 UNSIGNED16 Control word 6040 0 UNSIGNED16 Status word 6041 0 UNSIGNED16 X Quick_stop_option_code 605A...

Page 243: ...GNED32 Homing_speeds_Speed_ during_search_for_zero 6099 2 UNSIGNED32 Homing_acceleration 609A 0 UNSIGNED32 Factors Position_notation_index 6089 0 INTEGER8 Position_dimension_index 608A 0 UNSIGNED8 Velocity_notation_index 608B 0 INTEGER8 Velocity_dimension_index 608C 0 UNSIGNED8 Acceleration_notation_index 608D 0 INTEGER8 Acceleration_dimension_index 608E 0 UNSIGNED8 Position_encoder_resolution 608...

Page 244: ...ers should be set as follows Name Index hex Sub Index Type Read only Default Feed_constant_Feed 6092 1 UNSIGNED32 Feed_constant_Shaft_revolutions 6092 2 UNSIGNED32 Position_factor 6093 0 UNSIGNED8 X 2 Position_factor_Numerator 6093 1 UNSIGNED32 Position_factor_Feed_constant 6093 2 UNSIGNED32 Velocity_encoder_factor 6094 0 UNSIGNED8 X 2 Velocity_encoder_factor_Numerator 6094 1 UNSIGNED32 Velocity_e...

Page 245: ... of velocity to be in mm s The parameters should be set as follows Acceleration factor This factor is used to convert the user unit into the internal unit 9 54 RPM s The factor is adjusted with the object 6097h Example 1 We have an MIS232 with 1600 counts revolution We want the user unit of acceleration to be in RPM s The parameters should be set as follows Object Name Value 6094h subindex 1 Veloc...

Page 246: ...bit 6 absolute relative in the status word It is also possible to select different movement modes This is done with bit 5 change set immediately in the status word When this bit is 0 and a move is in progress the new set point is accepted but the new set point and profile are not activated until the previous movement is finished When this bit is 1 the new set point is activated instantly and the m...

Page 247: ... 6040h 607Ah Control word Target position Controls the state machine and the target position pp 4 6040h 60FFh Control word Target velocity pv Controls the state machine and the target velocity pv 7 6040h 60FEh Control word Digital outputs Controls the state machine and the digital outputs PDO no Mapping object index Mapping object name Event driven 1 6041h Status word Yes 2 6041h 6061h Status word...

Page 248: ...tup FlexRegister bit 0 and 1 this way And the rest setup registers follow the same pattern up to 263 which represents FlexRegister bit 14 and 15 The setup can be done manually with SDO access or directly in MacRegIO Please note The function will only be activated if register 256 FlexRegister bit 0 and 1 is set TT2496 01GB 31 30 29 28 27 26 25 24 23 22 Object 2012 sub index 48 Object 2014 sub index...

Page 249: ...s with the lowest byte first Every object is described and classified in the object dictionary or index and is accessible via the network Objects are addressed using a 16 bit index so that the object dictionary may contain a maximum of 65536 entries Index 0001 001F Static data types contain type definitions for standard data types like boolean integer floating point etc These entries are included ...

Page 250: ...nsigned8 Boolean Integer32 the value of the sub index is always zero For complex object dictionary entries such as arrays or records with multiple data fields the sub index refers to fields within a data structure pointed to by the main index Index counting starts with one The DS 301standard constitutes the application and the communications profile for a CANopen bus and is the interface between t...

Page 251: ...n agreement between the sender and receiver regarding which object is located at which position in the PDO This means that the sender knows at which position in the PDO it should write data and the receiver knows where it should transfer the data to that is received The PDOs correspond to entries in the Device Object Dictionary and provide the inter face to the application objects Data type and ma...

Page 252: ...pping all PDOs are mapped in accordance with some fixed non modifiable setting in the relevant PDO In dynamic PDO mapping the setting of a PDO can be modified It is also allowable to have a flexible combination of different process data during operation The MIS23x SMC75 uses only static mapping 10 7 4 SDO Service Data Objects SDO can access all entries in the object directory but they are normally...

Page 253: ...a set size is not indicat ed 1 data set size is indicated Multiplexer It repre sents the index sub index of the data to be transfer by the SDO Upload 2 Initiate upload request 2 Initiate upload response Only valid if e 1 and s 1 otherwise 0 If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain data Transfer type 0 normal transfer 1 expedited transfer Si...

Page 254: ...not used always 0 Reserved for further use always 0 Upload e 0 s 0 d is reserved for further use e 0 s 1 d contains the number of bytes to be uploaded Byte 4 contains the lsb and byte 7 contains the msb e 1 s 1 d contains the data of length 4 n to be uploaded the encoding depends on the type of the data ref erenced by index and sub index not used always 0 Reserved for further use always 0 Abort co...

Page 255: ...ameter incompatibility reason 0606 0000h Access failed due to a hardware error 0607 0010h Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too low 0609 0011h Sub index does not exist 0609 0030h Value range of parameter exceeded only for write a...

Page 256: ...t Remote Node can be initiated by the local ap plication A general NMT protocol Where CS is the NMT command specified The Node ID of the NMT slave is assigned by the NMT master in the Node Connect protocol or 0 If 0 the protocol addresses all NMT slaves Start Remote Node This is an instruction for transition from the Pre Operational to Operational communi cations state The drive can only send and ...

Page 257: ... exist for performing Error Control Node Guarding Life Guarding Heartbeat Node Guarding Life Guarding With Node Guarding the CANopen master sends each slave an RTR telegram Remote Transmit request with the COB ID 1792 700h node ID Using the same COB ID the slave responds with its communications state i e either Pre Operational Operational or stopped The CANopen slave also monitors the incoming RTR...

Page 258: ...s if it was not received Heartbeat With the Heartbeat protocol a Heartbeat Producer cyclically sends its communications state to the CAN bus One or more Heartbeat Consumers receive the indication The relationship between producer and consumer is configurable via the object dictionary The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Consumer time If the Heartbeat is...

Page 259: ...is case the Bootup Message is regarded as the first heartbeat message If the Heartbeat producer time is not 0 the heartbeat pro tocol is used In the MIS23x SMC75 none of the error control mechanisms is enabled when the mod ules are started up because if there is any fault in the system it is impossible to contact the module After the module has started up and there is communication between the mas...

Page 260: ...258 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x ...

Page 261: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 259 11 Modbus interface ...

Page 262: ... 4 or max imum 8 at a time Whenever possible split long commands into smaller commands Also only write the absolutely necessary values to the motor All registers in the SMC85 are 32 bits To comply with the clean 16 bit Modbus standard a 32 bit register must be read or written as two consecutive 16 bit registers The register address mapping follows the normal documented register numbers but the add...

Page 263: ...NN MM NN and MM are the CRC 16 bytes Write Multiple Register operation Request adr 0x10 RegHi RegLo CountHi CountLo NBytes Val0Hi Val0Lo CRC1 CRC2 Offset 0 1 2 3 4 5 6 7 8 Reply adr 0x10 RegHi RegLo CountHi CountLo CRC1 CRC2 Example to write P_SOLL register 3 to motor with address 254 values in decimal 254 16 0 6 0 2 4 bb aa dd cc NN MM NN and MM are the CRC 16 bytes Bits Values Description 0 0 Di...

Page 264: ...Word Low byte 15 Low Word 16848 Low Word High byte 65 Low Word Low byte 208 Address 40000 2 3 40006 High byte 156 Low byte 70 Note that some implementations of the Modbus requires an offset added to the address eg to write to P_SOLL register 3 use the address 2 3 1 7 or 40000 2 3 1 40007 This refers only to the master It should generate the same command as be low The word order for 32 bit values i...

Page 265: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 263 12 Stand alone electronics ...

Page 266: ... of the applied pulse signal it is possible to ac celerate the motor By counting the number of pulses the motor s po sition can be determined without any error what soever The direction input is used to determine the motor s direction of rotation JVL s QuickStep motors with pulse direction interface offer the fol lowing advantages Very simple technology that is easy to under stand and apply High s...

Page 267: ...male Description JVL cable WI1000M12 F5TxxN 1 P SMD73 18 28VDC P SMD74 18 48VDC Brown 2 Pulse White 3 P Blue 4 Direction Black 5 Signal Ground Grey Colour Code Description Red P SMD73 18 28VDC or SMD74 18 48VDC Black P Blue Direction White Pulse Shield Signal ground 2 phase stepper motor Incremental encoder Optional A Stepclock Direction SMD73 or SMD74 Driver Motor Encoder B Encoder Output Step an...

Page 268: ...or easy PLC PC setup and communication Power supply 12 48VDC Fixed 1600 pulses rev Built in µprocessor with 8 In Out that can be configured as inputs PNP outputs or analogue inputs 5V serial and RS485 inter face for set up and programming MODBUS interface 9 6 to 1Mb communication Driver technology is improved as com pared to SMD73 and supply voltage is 12 48VDC Control voltage 12 28VDC When used w...

Page 269: ...nd IO1 CVO IO8 A Tx Rx B IN1 Analog 1 IN8 Analog 8 Digital 8 Digital 1 CAN L A A B B CAN R Switchmode Power Supply 1 8 step Driver 1600 step rev High speed digital logic array Output source driver CAN Tranciever RS422 Optional Optional RS485 driver 16Bit SMC75 32Bit SMC85 Microprocessor with Integrated Flash Phase A Motor SMC75 or SMC85 Controller Encoder Phase B Power supply connector User I O co...

Page 270: ...hat is insensitive to mechanical vibration and electrical noise The advantage of using a ministep driver instead of a conventional full step or half step driver is that mechanical resonance problems are significantly minimised Resonance most often occurs at slow motor speeds and results either in loss of motor torque or the appearance of significant harmonics The principle of the ministep techniqu...

Page 271: ...B 1 1 2 3 4 5 6 J5 J2 SMC75 Circuitboard CAN_H J1 connector Generation 2 CAN_L V GND P Main power P Main ground CVI Control voltage input Recommended connector Housing Molex 09 91 0300 Nylon UL94V 0 Crimp terminals Molex 08 50 106 Pitch 3 96mm Recommended connectors Molex CViLux or equivalent from CViLux Crimp contact 50079 8000 x 10 Housing 10 pin 51021 1000 x 1 or Crimp contact CI44T011PEO x 10 ...

Page 272: ...IO1 13 5V out max 50mA I O channel 2 IO2 15 RX RS232 receive 3 3V I O channel 3 IO3 17 TX RS232 transmit 3 3V I O channel 4 IO4 19 CAN_H optional I O channel 5 IO5 21 CAN_L optional I O channel 6 IO6 23 RS485 A RS485 setup interface I O channel 7 IO7 25 RS485 B RS485 setup interface I O channel 8 IO8 27 A1 RS422 Do not connect 29 A1 RS422 EA H2 enc output optional 31 B1 RS422 EB H2 enc output opti...

Page 273: ...ded Important To minimise spurious noise emission from the motor cables and to fulfil CE require ments shielded cable must be used If shielded cable is not used other electronic equipment in the vicinity may be adversely affected The removable connector must never be removed while a voltage is connected as this will significantly reduce the lifetime of the connector Note also that the connector s ...

Page 274: ... exceed the manufacturer s specified rated current for the motor 4 phase Motors 8 wires This type of motor can be connected to the Driver in one of the following two ways 1 Serial connection of phases 2 Parallel connection of phases Selection of serial or parallel connection of the motor phases is typically determined by the speed requirements of the actual system If slow speeds are required typic...

Page 275: ...to serially connected phases but requires ap proximately twice the current This can influence the choice of Controller since it is nec essary to select a Controller that can supply twice the current used for serial phase connection See illustration on previous page When the phases of a 4 phase motor are connected in parallel the specified rated cur rent of the motor must be multiplied by a factor ...

Page 276: ...er connections Colour code for standard cables 5 pole connector 8 pole connector Pin no Colour Pin no Colour 1 Brown 1 White 2 White 2 Brown 3 Blue 3 Green 4 Black 4 Yellow 5 Grey 5 Grey 6 Pink 7 Blue 8 Red 8 2 3 TT2143GB 4 6 5 7 1 2 3 4 5 1 2 3 4 5 1 2 3 4 6 5 7 1 TT2205GB PWR PWR RS485 I O1 4 I O5 8 5 pin male 5 pin female 8 pin female 8pin female I O5 8 I O1 4 RS485 RS485 2 3 4 5 1 ...

Page 277: ... connection has been established key in values of running current and standby current under Driver Parameters Remember to press Enter after each parameter is keyed in Actual motor values can be seen to the left of the input field 5 Set Startup mode to select Position to enable the motor driver There should now be current in the motor phases Depending on the standby current the motor shaft will be ...

Page 278: ...276 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 13 Technical Data ...

Page 279: ... to 350 mA per Channel See Chart section 2 4 Protection Over Temp Short Circuit Transient Over Voltage Inductive Clamp Input Filter 0 1 or 1 to 100 ms Communication Type Standard RS485 Type Optional RS422 Baud Rate 9 6 to 921 6 kbps Type Optional CANopen DSP402 V2 0 DS301 VS3 0 2 0B Active Isolation None Features Node Guarding heartbeat SDOs PDOs Static mapping Motion Open Loop Configuration Numbe...

Page 280: ...vel compatible Output Source Current Up to 350 mA per Channel See Chart section 2 4 Protection Over Temp Short Circuit Transient Over Voltage Inductive Clamp Input Filter 0 1 or 1 to 100 ms Communication Type Standard RS485 Type Optional RS422 Baud Rate 9 6 to 921 6 kbps Type Optional CANopen DSP402 V2 0 DS301 VS3 0 2 0B Active Isolation None Features Node Guarding heartbeat SDOs PDOs Static mappi...

Page 281: ...mpedance 10 kOhm Voltage applied to any input 0 5 22 V Analogue input nominal 0 5 0 V Logic 0 0 0 9 V Logic 1 1 9 22 V RS232 5V Tx output low level 0 45 1 V Tx output high level 4 4 55 V Tx output source current 1 mA Tx output sink current 1 mA Rx input low level 0 5 0 9 V Rx input high level 1 9 48 V RS422 Input VB1 VB1 0 2 6 V Input leakage current 0 7 1 mA Output VA1 VA1 50 ohm 1 1 2 2 5 0 V Ou...

Page 282: ...3 3 5 0 200 400 600 800 1000 Torque Nm Speed RPM MIS231 232 234 motor torque versus speed and supply voltage MIS234 48V MIS234 24V MIS232 48V MIS232 24V MIS231 48V MIS231 24V Power supply PSU24 240 24V 240W regulated PSU Power supply PSU48 240 48V 240W regulated PSU Room temperature 20 C Torque oz in T T 2223 03GB 0 1 2 3 4 5 6 7 8 9 10 0 500 1000 1500 2000 2500 Torque Nm Speed RPM MIS340 341 342 ...

Page 283: ...d PSU Power supply PSU80 4 80V 400W unregulated PSU Room temperature 25 C T Torque oz in Power supply PSU24 240 24V 240W regulated PSU Power supply PSU80 4 80V 400W unregulated PSU Room temperature 20 C Power supply PSU24 240 24V 240W regulated PSU Power supply PSU48 1500 48V 1500W regulated PSU Power supply PSU80 4 80V 400W unregulated PSU Room temperature 25 C T 0 500 1000 1500 2000 2500 3000 35...

Page 284: ...S23x 20 6 0 5 Ø38 1 0 025 Shaft dia 1 6 5 0 54 5 47 0 2 56 4 47 0 2 56 4 4 x Ø5 0 Ø66 67 MIS231 MIS232 MIS234 96 0 3 78 118 5 4 67 154 0 6 06 140 5 51 162 5 6 40 198 7 80 Motor Type Length Length including 2 0 0 0787 Connectors Shaft dia 0 0 013mm 0 000512 6 35 0 25 6 35 0 25 10 0 0 3937 60 0 66 0 All dimensions in mm unless other is noted TT2321 02GB 44 L D Inches L D ...

Page 285: ... M IS 340 341 S h a f t f o r M I S 3 4 2 9 0 0 354 Shaft for MIS 340 341 ø 9 5 3 0 3 7 5 Shaft for MIS 342 ø 1 4 0 0 5 1 1 5 0 2 0 0 03 0 0 001 0 0 0 1 3 0 0 0 0 1 0 0 0 1 3 0 0 0 0 1 0 15 0 006 3 0 118 0 1 0 0 004 0 0 0 013 0 0 00051 9 0 0 354 0 15 0 006 32 6 1 283 1 0 039 30 0 1 181 0 25 0 01 22 0 0 866 Ø 73 025 Ø 2 875 0 025 0 001 35 1 1 38 1 0 0 04 20 0 787 0 2 0 008 0 5 0 02 1 0 0 04 9 0 0 3...

Page 286: ...284 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 13 5 Physical Dimensions 13 5 3 Physical dimensions MIS432 Only MIS43x TT2327 02GB ...

Page 287: ...peed is lowered the lifetime will increase inversly proportional Example A motor is having a radial load of 200N placed with center 15 mm from the flange According to the curve the lifetime will be 15 050 hours at 3000 RPM If the speed is lowered to 300 RPM 10 times lower than the curve is specified at the lifetime will increase 10 times giving a total of 150 500 hours of operation Only MIS34x TT2...

Page 288: ...286 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 13 7 Trouble shooting guide ...

Page 289: ...i Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 287 14 Connection to other Equipment The SMC75 can be connected to other JVL products These connections are described in the following chapter ...

Page 290: ...o set PR 1600 The SMI3x has inputs from ex ternal drivers for alarm and in Position signals If these are not connected set CB15 0 and CB16 0 The SMC75 must also be configured correctly The mode must be set to Gear Mode Reg 2 3 If gear factor input 1 and gear factor output 1 then the motor will run at 100 rpm if velocity 100 in the SMI3x SMC35B The connection between the SMI3x Indexer or SMC35B Con...

Page 291: ...an be used to generate pulse direction for up to 4 drivers This can be used for accurate synchronization of two or more motors based on the same source sig nal Use MacTalk I O Setup to set up the outputs to pulse direction signals SMC75 SMD73 with PNP inputs O1 pulse IN1 Motor 1 O2 direction IN2 O3 pulse IN1 Motor 2 O4 direction IN2 O5 pulse IN1 Motor 3 O6 direction IN2 O7 pulse IN1 Motor 4 O8 dir...

Page 292: ... MIS23x 34x 43x 14 3 Connecting MISxx SMC75 to SMD41 The MISxx SMC75 can control an external driver with pulse and direction signals for pre cise positioning and speed control MISxx or SMC75 SMD41xx or SMD42xx O1 Pulse I8 Direction O2 Direction I9 Step clock GND I10 GND ...

Page 293: ...5 to MAC00 Bx The stepper motor MIS23x and Controller SMC75 can also be connected with the MAC00 B1 MAC00 B2 and MAC00B4 Expansion Modules See the MAC motor manual chapter 4 2 10 for further information TT2243GB O1 MIS23x or SMC75 2 7kOhm 2 7kOhm O2 NC NC A A B Dipswitch 1 off 2 on 3 off 4 on B MAC00 Bx GND GND ...

Page 294: ...292 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 14 5 Connection to PLC PC Boards ...

Page 295: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 293 15 Accessories The following accessories are available for the MIS motor series ...

Page 296: ...294 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 15 1 Cables ...

Page 297: ...put power at 48VDC The power supply is UL and CSA approved It is protected against overvoltage overtem perature and short circuit or overload of the output The power supply can either be mounted on a DIN rail or wall mounted See also the data sheet LD0047 which can be downloaded from www jvl dk 15 2 3 Other power supplies JVL offers a wide range of power supplies in the power range 45W to 1 5kW wi...

Page 298: ...d MIS232 motors MIS234 has a 10 mm out put shaft and the MAB23 can therefore not be mounted The MAB23x 01 offers a 10mm output shaft and MAB23x 02 offers a 6 35mm output shaft Both types can be mounted directly on all the MIS231 and MIS232 motors and require 24VDC applied to release the motor See also the data sheet LD0055 xx which can be downloaded from www jvl dk ...

Page 299: ...t 1 2 Step 1 Make sure that the shaft collar is oriented correctly in order to assure that the right tension around the motor shaft is possible Hint Tighten the shaft collar gently just to keep it in the right position Step 2 Mount the gear or brake at the motor but make sure to fasten the 4 shaft bolt first before fastening the shaft collar Its recommended to use Locktite 278 in the threats to ma...

Page 300: ... type to be mounted Brakes Product type to be mounted HTRG05 MAB23x HTRG05 MAB23x HTRG06 MAB34x HTRG06 HTRG08 HTRG08 HTRG08 HTRG10 MAC050 to MAC141 Ø6 35 shaft MAC050 to MAC141 Ø6 35 shaft MIS230 233 Ø6 35 shaft MIS230 233 Ø6 35 shaft MAC050 to MAC141 Ø6 35 shaft MAC400 402 Ø14 shaft MIS340 341 Ø9 53 shaft MIS340 341 Ø9 53 shaft MIS342 Ø14 shaft MAC800 Ø19 shaft MAC800 Ø19 shaft Series Series Used...

Page 301: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 299 16 Appendix ...

Page 302: ...nge Default Unit Description MacTalk name 5 V_SOLL 16bit R W 1023 1023 250 RPM The maxium allowed velocity When in velocity mode the motor will run constantly at this velocity Specify a negativ velocity to invert the direction This value can be changed at any time Max velocity 6 A_SOLL 16bit R W 1 65535 131 9 54 RPM s2 The acceleration decelleraion ramp to use If this value is changed during at mo...

Page 303: ...w encoder deviation from the calculated position P_IST Follow error 22 FLWERRMAX 32bit R W 231 231 1 0 Steps The maximun allowed value in FLWERR before an error is triggered If FLWERRMAX 0 the error is disabled Follow error max TT2443 01GB Reg Name Size Access Range Default Unit Description MacTalk name 24 COMMAND 16bit R W FastMac commands 0 127 Other 256 0 Used to issue commands to the motor 0 1...

Page 304: ...r position must be to P_SOLL to set the InPhysicalPosition status bit and prevent furtherAutoCorrection 34 IN_POSITION _COUNT 16bit R W 0 65535 0 Counts The number of times to attempt AutoCorrection A value of zero disables AutoCorrection TT2445 01GB Reg Name Size Access Range Default Unit Description MacTalk name 35 ERR_BITS 16bit R W 0 Special Error bits In general the motor will be set in passi...

Page 305: ...oder using the RS422 interface SSI Encoder Value 49 64 Pn 32bit R W 231 231 1 0 Steps 8 Position registers Position n Pn TT2447 01GB Reg Name Size Access Range Default Unit Description MacTalk name 65 72 Vn 16bit R W 0 1023 250 RPM 8 Velocity registers Velocity n Vn 73 76 An 16bit R W 1 65535 131 9 54 RPM s 4 Acceleration registers Acceleration n An 77 80 Tn 16bit R W 0 511 511 5 87 mA 4 Run curre...

Page 306: ...106 FilterStatus 16bit R 0 65535 0 Individual status bits for 50 of samples outside confidencxe limits high 8 bits and 50 of samples violated the slope limit low 8 bits N A shown graphically TT2449 01GB Reg Name Size Access Range Default Unit Description MacTalk name 107 SSI_Setup1 16bit R W bitmask Bits 4 0 bitcount bits 14 8 clockfrq Bit 15 disable interrupt Selects SSI frame length clock freque...

Page 307: ...sed Tests 121 Modbus Setup 16bit R W bitfields 0 Selects configuration of the Modbus protocol that can be used instead of the MacTalk protocol TT2451 01GB Reg Name Size Access Range Default Unit Description MacTalk name 122 HOME_BITS 16bit R W 0 Special Bits to control homing Bit 0 Search for index Bit 1 Change direction on limit Bit 2 Search for opposite side of sensor Bit 3 Use Limit switch as s...

Page 308: ...gister access through PDO21 135 INPUT_ FILTER_ MASK 16bit R W 0 IO Mask Input mask for the digital inputs with input filter Bits set use the input filter time in register 136 bits clear use a fixed update time of 100 us IOx digital input filter enabled TT2453 01GB Reg Name Size Access Range Default Unit Description MacTalk name 136 INPUT_ FILTER_ CNT 16bit R W 5 ms The number of milliseconds the f...

Page 309: ...255 The last received group write sequence N A 150 MY_ADDR 16bit R W 0 254 The motor address Motor address TT2455 01GB Reg Name Size Access Range Default Unit Description MacTalk name 151 MOTORTYPE 16bit R 64 xx The motor type 64 SMC75 65 MIS231 66 MIS232 67 MIS234 Status bar 152 SERIAL NUMBER 32bit R The serial number of the motor Status bar 154 CHECKSUM 32bit R 0 65535 Firmware checksum 156 HARD...

Page 310: ... CanOpen fieldbus interface 0 1000 kbit s 1 800 kbit s unsupported 2 500 kbit s 3 250 kbit s 4 125 kbit s 5 100 kbit s 6 50 kbit s 7 20 kbit s 8 10 kbit s Fieldbus Baud rate TT2457 01GB Reg Name Size Access Range Default Unit Description MacTalk name 168 CAN_Error Counters 16bit R 0 65535 0 Counts Two separate counters for the numbers of errors detected on the CAN line durig reception and receptio...

Page 311: ...0 Object 606C subindex 0 192 DigitalOutputs 32bit R W 0 65535 0 Object 60FE subindex 1 Low 16bit 194 DigitalInput 32bit R 0 65535 0 Object 60FD subindex 1 Low 16bit end of CANopen DSP402 section TT2459 01GB Reg Name Size Access Range Default Unit Description MacTalk name 196 InternalCV 32bit Diagnostics data for the internal stepper pulse generation 198 DecSteps 32bit Diagnostics data for the inte...

Page 312: ...ss Range Default Unit Description MacTalk name 6 A_SOLL 32bit R W 1 500 000 1000 RPM s2 The acceleration decelleraion ramp to use If this value is changed during at movement it will first be active when the motor stops or changes direction Acceleration 7 RUN_ CURRENT 32bit R W 0 1533 511 C 5 87 mA B 3 91 mA A 1 96 mA Current to use when the motor is running The unit depends on the driver C 9 A B 6...

Page 313: ... commands 0 127 Other 256 0 Used to issue commands to the motor 0 128 is the normal FastMac commands where only a subset is implemented in SMC85 NOTE that not all supported commands are listed here since some are only for factory use Continued next page TT2403 01GB Reg Name Size Access Range Default Unit Description MacTalk name User Commands 256 Activates new Baudrate 257 Synkronize position with...

Page 314: ...ernal encoder position must be to P_SOLL to set the InPhysical Position status bit and prevent furtherAutoCorrection 34 IN_POSITION_ COUNT 32bit R W 0 100 0 Counts The number of times to attempt AutoCorrection A value of zero disables AutoCorrection TT2405 01GB Reg Name Size Access Range Default Unit Description MacTalk name 35 ERR_BITS 32bit R W 0 Special Error bits Bit 0 General error always set...

Page 315: ... from an external encoder eg SSI SSI Encoder value 48 FlexRegister 16bit R 0 A mix of 16 bits from different registers The user can set this up 49 64 Pn 32bit R W 231 231 1 0 Steps 8 Position registers Position n Pn TT2407 01GB Reg Name Size Access Range Default Unit Description MacTalk name 65 72 Vn 32bit R W 0 3000 00 0 01 RPM 8 Velocity registers Velocity n Vn 73 76 An 32bit R W 1 500 000 RPM s...

Page 316: ...ated the slope limit low 8 bits N A shown graphically 107 SSI_Setup1 32bit R W Special SSI setup bits Bit 0 4 No of data bits Bit 5 7 No of samples Bit 8 15 SSI clk frequency Bit 16 28 Max sample deviation Bit 29 31 Read retries SSI Encoder setup TT2409 01GB Reg Name Size Access Range Default Unit Description MacTalk name 108 PulseDirMask 32bit R W 0 65535 0 Bitmask Bits 0 7 Outputs for Pulse out ...

Page 317: ...t Bit 2 Search for opposite side of sensor Bit 3 Not available at MIS34x Bit 4 Ignore switch Used for searching only for index Bit 5 Disable the 60 s Zero Search time out Advanced Zero search 123 ERR_ACTION 32bit R W Reserved N A TT2411 01GB Reg Name Size Access Range Default Unit Description MacTalk name 124 SETUP_BITS 32bit R W 0 Special Bit 0 Invert direction Bit 1 Don t start program after pow...

Page 318: ... home sensor input s each bit set select which I O 1 8 to use Dedicated inputs Home input 133 134 Reserved TT2413 01GB Reg Name Size Access Range Default Unit Description MacTalk name 135 INPUT_FILTER _MASK 32bit R W 0 IO Mask Input mask for the digital inputs with input filter Bits set use the input filter time in register 136 bits clear use a fixed update time of 100 us IOx digital input filter ...

Page 319: ...ddress TT2415 01GB Reg Name Size Access Range Default Unit Description MacTalk name 151 MOTORTYPE 32bit R 80 83 The motor type 80 SMC85 81 MIS340 82 MIS341 83 MIS342 Status bar 152 SERIAL NUMBER 32bit R The serial number of the motor Status bar 153 Reserved 154 CHECKSUM 32bit R 0 65535 Firmware checksum 155 Reserved 156 HARDWARE_ REV 32bit R 0 65535 Major 16 Minor The revision of the hardware Tool...

Page 320: ...Node Id 167 FBUS_BAUD 32bit R W 0 8 2 The baudrate used on the CANopen fieldbus interface 0 1000 kbit s 1 800 kbit s unsupported 2 500 kbit s 3 250 kbit s 4 125 kbit s 5 100 kbit s 6 50 kbit s 7 20 kbit s 8 10 kbit s Fieldbus Baud rate TT2417 01GB Reg Name Size Access Range Default Unit Description MacTalk name 168 ModuleType 32bit R 0 0 Tells which type of module is connected to the 1Mbit s Modbu...

Page 321: ... subindex 0 191 Reserved 192 Digital Outputs 32bit R W 0 65535 0 Object 60FE subindex 1 Low 16bit 193 Reserved 194 DigitalInput 32bit R 0 65535 0 Object 60FD subindex 1 Low 16bit TT2419 01GB Reg Name Size Access Range Default Unit Description MacTalk name 195 201 Reserved Other registers 202 TICKS 64bit R W ms Increments at a fixed rate of one count per millisecond Starts at zero after the motor h...

Page 322: ...y The exact velocity can be calculated with the following formula Note The Round function rounds the number to the nearest integer Also note that the lowest possible velocity is 1 43 RPM and the highest is 1023 RPM 16 3 2 Velocity accuracy only MIS34x 43x The velocity can be set in steps of 0 01 RPM and the accuracy of the velocity is better than 200 ppm quartz controlled SOLL V Round velocity res...

Page 323: ...osition Icon Name Execution time µs Remarks 0 Set operation mode 60 Move relative no velocity no acceleration 1 90 Move relative set velocity no acceleration 1 150 Move relative set velocity set acceleration1 210 Move absolute no velocity no acceleration 1 60 Move absolute set velocity no acceleration 1 120 Move absolute set velocity set acceleration1 180 Set single output high low 30 Set multiple...

Page 324: ...n is installed and the CANopen communications speed and load Simply running the motor will load the motor up to 17 so the MLT becomes 37 µs at full speed 1023 RPM Serial communications on the RS 485 line can load the motor up to 1 at 19 200 baud which is insignificant but at the maximum baud rate of 921 600 the communications can load the motor up to 45 which would result in an MLT of 60 µs When C...

Page 325: ...low Yellow White Red White Driver Driver Driver B A A B B A A B B A A B A A B B Connection of Zebotronics motor Type SMxxx x xx x 4 terminals Black 1 White Green Red A B Connection of Zebotronics motor Type SMxxx x xx x 8 terminals 1 Brown 3 2 White Black 4 5 Blue Red 7 6 8 Yellow Gray Green A A B B SM56 x xx SM87 SM107 168 x xx A A B B Black Black White Orange White Orange Red Yellow Yellow White...

Page 326: ... Black Yellow Red White Connection of Vexta motor Type PH2xx xxx Connection of Vexta stepmotor Type PH2xx xxx Orange Red Red White Orange White Yellow White Yellow Black White Black A A B B A A B B Motor in unipolar model 6 cables Driver B A A B Red Brown Black Yellow Blue Violet White Green Connection of Phytron motor Type ZSx xxx x x A A B B ...

Page 327: ...gister All registers are read as 32 bit If the register is only 16 bit the high part must be discarded Block description Sync Response Sync Description 0x50 0x52 Read register 0x51 0x52 Read register block 0x52 0x11 Acknowledge Write register 0x54 0x11 Acknowledge Enter safe mode 0x55 0x11 Acknowledge Exit safe mode 0x56 0x11 Acknowledge Write to flash 0x57 None Reset controller 0x59 None Group wr...

Page 328: ...and termination Write No 52h 52h 52h Write command MAddress Yes 00h FFh Address 0 This will always be 0 because this is the Address of the master RegNum Yes 05h FAh RegNum 5 This will always be the same as requested Len Yes 80h 7Fh Len 128 The length will always be 128 so 64 registers is read in each block Data Yes E8h 17h 03h FCh The data read from the registers Controller sends SMC75 Response Wr...

Page 329: ...om the SMC75 Block description Controller sends SMC75 response ExitSafe Address End Accept Block Name Protected Example Description ExitSafe No 55h 55h 55h Exit safe mode command Address Yes 07h F8h Address 7 The address of the SMC75 End No AAh AAh Command termination Accept No 11h 11h 11h Accept from SMC75 Controller sends SMC75 response WriteFlash Address End Accept Block Name Protected Example ...

Page 330: ...Protected Example Description GWrite No 59h 59h 59h Group write command Group Yes 07h F8h Address 7 The group id of the SMC75s to write to Sequence Yes 04h FBh Sequence 4 The sequence number of the write RegNum Yes 05h FAh RegNum 5 The register number to write to Len Yes 02h FDh Len 2 The number of data bytes Data Yes E8h 17h 03h FCh Data 1000 The data to write to the register End No AAh AAh Comma...

Page 331: ...16 bit Program pointer The current location of the program pointer 3 8 bit Stack pointer 4 16 bit Program checksum This checksum is calculated when the program is started 6 8 bit Input status 7 8 bit Output status Program state Name Description 0 Passive The program execution is stopped This state is only entered shortly at power up 1 Running The program execution is running 2 Single Step A single...

Page 332: ...MIS34x 4 pcs M12 5 pin male power 8pin female RS485 12 female IO 5 pin male B Profibus DP Q6 MIS34x 4 pcs M12 5 pin male power 8pin female RS485 12 female IO 5 pin female A CANopen Q9 MIS34x 4 pcs M12 5 pin male power 8pin female RS485 12 female IO 8 pin male SSI IO5 6 Q5 MIS34x 4 pcs M12 5 pin male power 8pin female RS485 17 female IO 5 pin female A CANopen EC MIS34x 4 pcs M12 5 pin male power 17...

Page 333: ...M12x1 5 and 5m power and IO cable with shield mounted Side mounted C3 2 pcs PG12 cable Clands M12x1 5 and 1m power and IO cable with shield mounted Side mounted C6 CANOPEN 2 pcs PG12 cable Clands M12x1 5 and 2m power and IO cable with shield mounted Side mounted W0 2 pcs PG12 cable Clands M12x1 5 and no cable mounted Rear end mounted W1 2 pcs PG12 cable Clands M12x1 5 and 1m power and 1m IO cable ...

Page 334: ...ted and rubber sealing in rear end IP65 Shaft end IP42 12 9 53mm shaft D shape Black painted Shaft end IP42 Only MIS34x 13 9 53mm shaft D shape Black painted Shaft end IP42 Rear end shaft ø10mm 30mm long D shape Only MIS34x 14 14mm with 5x5 key shaft Black painted Shaft end IP42 Only MIS34x 15 14mm with 5x5 key shaft Black painted Shaft end IP42 Rear end shaft ø10mm 30mm long D shape Only MIS34x 1...

Page 335: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 333 ...

Page 336: ...334 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 17 Declarations ...

Page 337: ... THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 15 december 2004 on the approximation of the laws of the Member States relating to electromagnetic compatibility was manufactured in conformity with the following national standards that implements a harmonised standard Manufacturer Hereby declare that Company Name Address Telephone E mail Web JVL Industri Elektronik A S Blokken 42 DK 3460 Birkerød De...

Page 338: ...COUNCIL of 15 december 2004 on the approximation of the laws of the Member States relating to electromagnetic compatibility Was manufactured in conformity with the following national standards that implements a harmonised standard Manufacturer Hereby declare that Company Name Address Telephone E mail Web JVL Industri Elektronik A S Blokken 42 DK 3460 Birkerød Denmark 45 45 82 44 40 jvl jvl dk www ...

Page 339: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 337 17 2 Vibrationtest certificate MIS23x TT2498 01GB ...

Page 340: ...338 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 17 3 Vibrationtest certificates MIS34x ...

Page 341: ...JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 339 ...

Page 342: ...340 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 17 4 Index ...

Page 343: ...unication test 218 Connecting the SMC75 Controller to the CAN bus 214 DS 301 device profiles 241 Node id and baud rate 215 CanOpen 114 149 CANopen network 210 Capacitor 12 CE requirements 260 324 Checksum 142 176 CiA membership 210 Clear errors 53 COB ID 213 228 231 Command 122 157 Command timing 311 Conditional jump multiple inputs 198 Conditional jump single input 197 Confidence alarms 21 Confid...

Page 344: ...or 104 Home_Bits 133 167 Homemode 125 160 Homing mode 238 I In physical position output 27 In position output 27 Index_Offset 132 167 Indexer SMI30 281 Inpos_Mask 137 171 Input_Filter_Cnt 137 171 Input_Filter_Mask 137 171 Inputs 121 156 Analogue 19 Digital 18 End of travel 83 Home 88 Multifunction I O 101 Pulse inputs 101 Quadrature input 101 SMC75 16 Step pulse and direction 94 Interface RS485 26...

Page 345: ...er 28 Error output 27 In position 27 In pyhsical position 27 Pulse Direction 28 SMC75 special outputs 27 SMC75 user outputs 23 P P terminal 12 P_Home 124 159 P_Ist 119 121 139 154 156 173 22 9 232 P_New 126 139 161 173 P_Soll 10 65 89 207 228 231 P terminal 12 Parallel connection of motor phases 261 262 Parallel connection of motors 262 Passive mode 90 PDOs 225 227 229 239 243 244 Phases 261 PL po...

Page 346: ...de 125 160 Index_Offset 132 167 Inpos_Mask 137 171 Input_Filter_Cnt 137 171 Input_Filter_Mask 137 171 Inputs 121 156 Iosetup 121 134 156 168 Max_P_Ist 123 158 Max_Voltage 143 177 Min_Busvol 127 162 Min_P_Ist 122 157 Mode_Reg 88 116 151 221 228 231 Motortype 141 175 My_Addr 141 175 NL_Mask 135 169 Notsaved 143 177 Option_Bits 144 178 Outputs 121 156 P_Home 124 159 P_Ist 119 121 139 154 156 173 229 ...

Page 347: ...ns 266 268 271 Standby current 64 Standby time 64 Standby_Current 119 154 Standby_Time 118 153 Startmode 124 159 Statusbits 65 122 157 Step pulse and direction inputs 94 Step pulse inputs 94 SYNC Synchronisation Object 247 T Technical Data 266 268 271 Temp 122 157 Temperature protection 27 Termination 214 216 Termination resistors 30 Tn 126 161 Torque 64 262 Transmit PDOs 229 239 Trouble shooting ...

Reviews:

No comments

Brands by name

Popular brands

Load more brands