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SimStep

Manual - 3400 Iss. D

7

th

June 2004

page 24

Fig. 8.2 PM600 Switch Positions

Fig. 8.3 Positions of PM600 Switches SW1, SW2 and SW3

SW3

SW4

1 2 3 4 5 6 7 8

1 2
3 4
5 6

7 8

P2

LK2

SWAP8

LD1

ULOAD

SW1

SW2

10

1

1A

1B

1I

2I

2B

2A

3A

3B

LD2 LD3

ON

ON

LK1

1

32

SW2

SW1

SW3

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Summary of Contents for SimStep

Page 1: ...D Mclennan Servo Supplies Ltd User Manual for SimStep Single Axis Stepper Drive Controller ...

Page 2: ...f mechanism that provides a mechanical advantage can generate considerable force and could cause serious injury Incorrect operation can also lead to damage to the motor or associated machinery It is essential that the purpose of the various fault detection features built into the SimStep s PM600 controller be fully understood and used correctly Mclennan Servo Supplies Ltd 22 Doman Road Yorktown In...

Page 3: ... 7 1 JOG BOXES JC SERIES 19 7 2 SINGLE AND DUAL AXIS JOG BOX OPERATION 20 7 3 MULTI AXIS JOG BOX OPERATION 20 7 4 JOYSTICK JC SERIES 21 7 5 JOYSTICK OPERATION 21 8 PM600 INTELLIGENT STEPPER MOTOR CONTROLLER 22 8 1 GENERAL 22 8 2 SETTING UP THE ENCODER CLOSED LOOP CONTROL MODES ONLY 22 8 2 1 Encoder Termination 22 8 2 2 Encoder Scaling 23 8 2 3 Encoder Direction 23 8 3 PROGRAMMING VIA THE RS232 INT...

Page 4: ...PM600 Motor Controller 1 MSB867 Backplane 1 MSE779 Power Supply Board These are mounted in a 3U high 28HP rack unit The SimStep is supplied with a mains lead an RS232 cable and an RS232 terminator A range of standard motor encoder limits datum and I O cables are available Fig 1 1 SimStep Front View The system has a PM600 controller and a MSE570 Stepper drive powered by a power supply based on the ...

Page 5: ...e quadrature signals from the encoder are connected to the PM600 to allow passive closed loop operation The system is initially supplied with the PM600 configured for open loop operation The PM600 must be reconfigured for closed loop operation see Section 8 2 The MSB867 has a multi axis jog receiver it allows the PM600 s Jog inputs to be controlled by a JC809 Jog Box The axis addresses shown on th...

Page 6: ...ith a JC100 Jog Box and 5V 0V Joystick input and Joystick centre tap compatible with a JC400 Joystick The JC100 and JC400 may be plugged into either connector If using a JC809 Multi axis jog box the axis address that is assigned to Jog is set on the MSB867 interface board using a rotary switch see section 5 2 The JC809 can be connected to other axes by using a Jog daisy chain cable plugged into th...

Page 7: ...If LK1 is removed the motor current will remain at the current set on the drive This setting is usually only needed when a high holding torque is required E g when driving a mechanism with an offset load LK2 If LK2 is on an over temperature fault detected on the drive output stage will cause the controller abort stop input to be activated LK3 Likewise if LK3 is on an overload fault detected on the...

Page 8: ... 4 Motor Phase B E Screen LIMITS DATUM RED Connector type 15 way D Plug Mating Cable 507LDCxx894 xx length Terminal Connection 1 2 0V 3 Upper Limit Input 4 Lower Limit Input 5 Datum Approach Input 6 Datum Stop Input 7 Abort Stop selected by internal link LK8 8 9 10 Upper Limit Input 24V 11 Lower Limit Input 24V 12 Datum Approach Input 24V 13 Datum Stop Input 24V 14 Abort Stop 24V 15 Link pins 3 an...

Page 9: ...Mating Cable 507IOCxx895 xx length Terminal Connection 1 Write Port 1 2 Write Port 2 3 Write Port 3 4 Write Port 4 5 Write Port 5 6 Write Port 6 7 Write Port 7 8 Write Port 8 9 Write Port Common Isolated Supply 10 VLL Controller Supply 11 12 13 14 Read Port 1 15 Read Port 2 16 Read Port 3 17 Read Port 4 18 Read Port 5 19 Read Port 6 20 Read Port 7 21 Read Port 8 22 Read Port Common Isolated 0V 23 ...

Page 10: ... 5V 10 Joystick Input 11 12 Joystick Centre Tap Input 13 14 Data A 15 Data B RS232 IN Connector type 9 way D type socket Terminal RS232 Connection RS485 Connection 1 RS485 A 2 Transmit Data 3 Receive Data 4 5 0V 6 RS485 B 7 CTS 8 RTS 9 RS232 OUT Connector type 9 way D type plug Terminal RS232 Connection RS485 Connection 1 RS485 A 2 Receive Data 3 Transmit Data Link to echo replies and commands 4 5...

Page 11: ...y EMC The SimStep complies with EN 50081 1 and EN50082 1 when properly with cables that use EMC connectors The cable used to connect the motor to the drive should be a screened twisted pair type The screen should be connected at both ends of the cable On the drive end the screen should be connected to earthed metalwork of the case and on the motor end the screen should be connected to the motor bo...

Page 12: ... shown in fig 3 2 Alternatively if the motor has a connector box the cable can be plugged in directly Fig 3 2 Encoder Cable 3 3 1 Typical Motor Encoders Frame size Motor Encoder Order Code Size 23 23HSX 206 CI 500L 301HSE00053 23HSX 306 CI 500L 301HSE00054 Size 34 34HSX 108 RI 500L 301HSE00055 34HSX 208 RI 500L 301HSE00056 Limit Datum Limit Motor encoder Encoder Cables Type Cable length 507ENC0189...

Page 13: ...n 34HSX Red White Red White Yellow Yellow Black White Black White Orange Orange The motor can be connected into the MSA889 junction box as shown in fig 4 4 Internal links select parallel or series operation This function is shown in figures 4 2 and 4 3 The maximum drive current for coils wired in parallel is the unipolar motor phase current rating x 2 The maximum drive current for coils wired in s...

Page 14: ...ions 57 mm Motor Lead connections 4 Lead motors 1 1 1 2 2 3 Link for parallel 3 Operation 4 4 126 mm 8 Lead motors Motor Lead 1 1 507MOCxx892 Motor leads 1 1 2 2 2 2 3 3 3 3 4 4 4 4 Junction Box MSA889 57 mm Motor Lead connections 126 mm Link for series Operation Motor Lead 507MOCxx892 8 Lead motors Motor Leads 1 1 2 2 3 3 4 4 Junction Box MSA889 1 1 2 2 3 3 4 4 ...

Page 15: ...inked Note This connection enables an external open contact to abort a move However for this feature to be utilised it is necessary to remove an internal link LK8 within the controller It should be noted that the limit switches should be placed sufficiently within the total travel distance to allow the motor to decelerate from high speed They should also be mounted for sliding operation so that th...

Page 16: ...of the PM600 manual 4 3 2 Using Over travel limits as datum inputs In applications where space is limited the over travel limit switches may also be used as the datum stop switch In the example shown the lower limit switch is also connected to the datum stop input and the controller is configured to utilise the high speed datum approach facility Fig 4 6 Limit Datum Connections 0VLL VLL Upper Limit...

Page 17: ... to the PM600 and an unregulated supply of 40V nominal to the MSE570 There is a mains fuse fitted in the mains inlet its rating is 2A anti surge There are two front panel fuseholders that protect the DC outputs of the power supply The rating of the fuses are 3 15A for the motor rail and 1A for the logic rail The mains voltage may be changed from 230V to 115V by changing the position of the links o...

Page 18: ...ll be obtained A thermal sensor protects the output devices in case of overheating If the drive temperature exceeds 80 C the thermal sensor will operate With the switch settings shown below the drive is disabled SW1 1 on and the condition is latched SW1 2 on The latched condition can only be reset by removing the power Fig 6 1 MSE570 Set up Switches 6 1 General Set up 1 4 3 2 DT On Off SS CC LT Di...

Page 19: ...ils in parallel is 3 5A default Current settings for motors wired with coils in series Motor Current A 23HSX 206 2 1 23HSX 306 2 1 34HSX 108 2 7 34HSX 208 2 7 2 4 3 On Off 0 0A 0 5A 0 9A 1 2A 1 3A 1 6A 1 85A 2 1A 1 SW2 2 4 3 On Off 2 3A 2 5A 2 7A 2 9A 3 0A 3 1A 3 3A 3 5A 1 SW2 WARNING Failure to make the correct current settings can damage the motor ...

Page 20: ...ttons The speed of movement can be programmed using SJ command into the SimStep during commissioning Fast speed continuous operation in desired direction by depressing holding the F button together with either the or button The fast positioning rates are can also be programmed using SF command into the SimStep during commissioning Figures 7 1 to 7 3 show the connections of the JC series Jog Boxes ...

Page 21: ...ammed into the PM600 see pages 7 48 and 7 49 of the PM600 manual 7 3 Multi axis Jog Box Operation The MSB867 interfaces between the JC809 Multi axis Jog Box and the PM600 It communicates to the JC809 via signals transferred over a RS485 link The outputs from the MSB867 connect to the PM600 s Jog inputs Connecting the Jog Daisy Chain lead between the JOG B connector on one system to the JOG A conne...

Page 22: ...ill interrogate the joystick position the controller will then display a value in the format 01 2126 where 01 refers to Axis 1 and 2126 is the joystick centre position Now hold the joystick at one extreme of its range and repeat the 1AI3 command note this number and then repeat at the other extreme of the joystick range Let us assume that the following data are given from the 1AI3 command Low 1688...

Page 23: ...tion configuration For further information refer to the Switch Setting section 10 of the PM600 manual The control mode has been set to open loop stepper mode by the command 1CM11 When using the SimStep with an encoder the control mode can be changed to closed loop stepper by the command 1CM14 8 2 Setting Up The Encoder Closed loop Control Modes Only Each edge of the quadrature signals is counted s...

Page 24: ...ing is correct If one is the negative of the other then the sense of direction needs to be reversed by either swapping the A and B signals OR by setting the Encoder Numerator to a negative value 8 3 Programming via the RS232 Interface Any suitable communication programme can be used to communicate with the SimStep controller For example the MyTerminal programme available from www SimStep co uk or ...

Page 25: ...ne 2004 page 24 Fig 8 2 PM600 Switch Positions Fig 8 3 Positions of PM600 Switches SW1 SW2 and SW3 SW3 SW4 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 P2 LK2 SWAP8 LD1 ULOAD SW1 SW2 10 1 1A 1B 1I 2I 2B 2A 3A 3B LD2 LD3 ON ON LK1 1 32 SW2 SW1 SW3 ...

Page 26: ...op on Axis 1 2MA 2000 Move Axis 2 to absolute position 2000 steps 2OA Output the encoder position of Axis 2 The SimStep controller responds to all commands once the command has been accepted However not all commands can be accepted immediately For example a move command sent whilst a previous command is still taking place will be delayed until the previous one is finished Commands in general will ...

Page 27: ...ital I O to be connected The unit is DIN rail mounted so that it can be sited next to a typical PLC control unit Fig 9 1 I O Breakout Box and I O Cable Fig 9 2 I O Breakout Box Connections 85 mm 70 mm I O Breakout Box ordering details Limit Datum Limit I O Breakout Box 506MSC00891 Motor 1m I O Cable 507IOC01895 2m I O Cable 507IOC02895 3m I O Cable 507IOC03895 5m I O Cable 507IOC05895 I O Breakout...

Page 28: ...ical Connections Fig 9 3 Typical Connections to the I O Breakout Box Fig 9 4 Typical I O Connections using an External Supply 9 3 Read Ports The read ports can be connected to a PNP signal output a switch or another SimStep s write port The RP Read input Port command is used to check the operation of the read ports This instruction returns an eight digit binary number of either 0 or 1 characters t...

Page 29: ...Breakout box or the external supply 0V 10 SimStep Example Sequence An example sequence is shown below Three switches are connected to the Read Port to control the action of the sequence and three outputs are used to monitor the action of the sequence One switch executes a home to datum move and two switches initiate moves The home to datum move must be done before the other moves can be selected T...

Page 30: ...02 Wait for Move 1 input to go off 1xs2 Goto input scanning sequence 1es 1ds4 Sequence 4 Move 2 1wp22222002 Turn off At Position outputs 1ma5000 Move to position 5000 1we Wait for end of move 1wp22222102 Turn on At Position 2 output 1wa22222022 Wait for Move 2 input to go off 1xs2 Goto input scanning sequence 1es 1bs Save sequences 1ae0 Execute sequence 0 on power up 10 2 Configuration Configure t...

Page 31: ...oder 3m 507ENC03893 Encoder 5m 507ENC05893 Encoder 10m 507ENC10893 Limits Datum 1m 507LDC01894 Limits Datum 2m 507LDC02894 Limits Datum 3m 507LDC03894 Limits Datum 5m 507LDC05894 Limits Datum 10m 507LDC10894 Jog Link 0 5m 507JDC05916 I O 0 5m 507IOC05895 I O 1m 507IOC01895 I O 2m 507IOC02895 I O 3m 507IOC03895 11 4 Junction Boxes Type Order Code MSA889 Motor Limits Datum 506MSC00889 MSA891 I O Bre...

Page 32: ...he overall system complies with EN50081 1 and EN50082 1 EMC directive These products should not be put into service until the machinery in which they are incorporated has been declared in conformity with the provisions of The Supply of Machinery Safety Regulations 1992 and The Supply of Machinery Safety Amendment Regulations 1994 Machinery Directive Motor control systems are inherently hazardous E...

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