Omron R88A-MCW151-DRT-E User Manual Download

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Cat. No. I203-E2-02

Note: Specifications subject to change without notice.

OPERATION MANUAL

Motion Control Option
Board

R88A-MCW151-E
R88A-MCW151-DRT-E

Cat. No. I203-E2-02

Authorised Distributor:

Printed in Europe

Summary of Contents for R88A-MCW151-DRT-E

Page 1: ...OPERATION MANUAL Motion Control Option Board R88A MCW151 E R88A MCW151 DRT E Cat No I203 E2 02...

Page 2: ...MCW151 Series Motion Control Option Board Models R88A MCW151 E R88A MCW151 DRT E Operation Manual Produced March 2003...

Page 3: ......

Page 4: ...s sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for any thing else Visual Aids The following headings appear in the left column of the manual to help you l...

Page 5: ...vi...

Page 6: ...monitor and debug motion based applications for the MC Unit Section 8 describes error processing and troubleshooting procedures needed to keep the system operating properly Section 9 explains the mai...

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Page 8: ...and System Configuration 1 1 1 Features 2 1 2 System Configuration 5 1 3 Motion Control Concepts 7 1 4 Control System Configuration 14 1 5 Specifications 19 1 6 Comparison between Firmware Versions 2...

Page 9: ...n Perfect Software Package 197 7 1 Features and Requirements 198 7 2 Connecting to the MC Unit 198 7 3 Motion Perfect Projects 199 7 4 Desktop Appearance 201 7 5 Motion Perfect Tools 204 7 6 Suggestio...

Page 10: ...tand the information contained before attempting to set up or operate a Motion Control Unit and Servo Driver 1 Intended Audience xii 2 General Precautions xii 3 General Warnings and Safety Precautions...

Page 11: ...specified conditions especially in applications that can directly or indirectly affect human life You must consult with your OMRON representative before applying Motion Control Units and related devi...

Page 12: ...l and motion control language programming and multi tasking systems that it is not always possible for the system to validate the inputs to the functions or to validate the combination of functions WA...

Page 13: ...r screws are tight ened securely Incorrect tightening may result in malfunction Caution Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Connection of bare stran...

Page 14: ...may result in an unexpected operation or damage to the product Changing the present values or set values Changing the parameters Modifying one of the application programs Caution Do not save data int...

Page 15: ...tromagnetic Susceptibility EN61000 6 2 EN50082 2 EMI Electromagnetic Interference EN55011 Class A Group 1 Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 VAC or 7...

Page 16: ...Description of Features 3 1 2 System Configuration 5 1 3 Motion Control Concepts 7 1 3 1 PTP control 8 1 3 2 CP control 10 1 3 3 EG Control 11 1 3 4 Other Operations 13 1 4 Control System Configurati...

Page 17: ...gearing Point to point Control Point to point PTP control enables positioning independently for each axis Axis specific parameters and commands are used to determine the paths for the axes Continuous...

Page 18: ...ming and debugging Encoder Input and Output To achieve a solution for multi axis applications the MC Unit is provided with an encoder axis This axis provides either to have an encoder input for exter...

Page 19: ...the current position in a register The registered position can then be used by the BASIC program as required The registered positions are captured in hard ware General purpose Input and Output Signal...

Page 20: ...ersonal Computer PC Relais Lamp Programmable Terminal PT General purpose device Typical applicable Actuators for Digital Outputs Print Registration Proximity Sensor Typical applicable Sensors for Digi...

Page 21: ...ith fixed allocation only one Master Unit can be used in a DeviceNet network and only one Master Unit may be mounted to a PC Free Allocation The Configurator can be used to freely allocate the words u...

Page 22: ...avelling can be freely defined for each axis separately The conversion is performed through the use of the unit conversion factor which is defined by the UNITS axis parame ter The origin point of the...

Page 23: ...nate of 50 If the speed parame ter is set to be the same for both axes and the acceleration and deceleration rate are set sufficiently high the movements for axis 0 and axis 1 will be as illustrated b...

Page 24: ...stant speed and deceleration segments Suppose the distance moved by the MOVE command is 40 m the speed profile will be given by the following graph The following two speed profiles show the same move...

Page 25: ...a specified path between the start and end position of a movement for one or multiple axes The MC Unit sup ports the following operations Linear interpolation Circular interpolation CAM control Linea...

Page 26: ...ction of movement are specified The MOVECIRC command computes the radius and the angle of rotation Like the linearly interpolated MOVE command the ACCEL DECEL and SPEED variables associated with the b...

Page 27: ...to another axis The command to create the link is called CAMBOX The travelling speed through the profile is not determined by the axis parameters of the axis but by the position of the linked axis Thi...

Page 28: ...anceling Moves In normal operation or in case of emergency it can be necessary to cancel the current movement from the buffers When the CANCEL or RAPIDSTOP com mands are given the selected axis respec...

Page 29: ...e followed by a subsequent movement without stopping The following illustrations will show the transitions of two moves with MERGE value 0 and value 1 Jogging Jogging moves the axes at a constant spee...

Page 30: ...peed is proportional to the speed reference 4 The rotary encoder will generate the feedback pulses for both the speed feedback within the Servo Driver speed loop and the position feedback within the M...

Page 31: ...esponse to changes in error while maintaining the same relative stability Derivative gain may create a smoother response High values may lead to oscillation The derivative gain axis parameter is calle...

Page 32: ...provide an additional Z marker as a reference pulse within each revolution By properly decoding and counting these encoder signals the direction of motion speed and relative position can be determined...

Page 33: ...rker has a period of 4096 generated edges The pulse has a width of a quarter pulse period length when both phase A and B are low The Z phase signal is active after power on The generated frequency is...

Page 34: ...upply 5 VDC maximum 160 mA to external encoder Environment Ambient Operating Tem perature 0 to 55 C Ambient Operating Humidity 90 RH or less non condensing Ambient Atmosphere Free from corrosive gasse...

Page 35: ...ogramming Software Serial Communications RS 232C Port 0 Connection to PC Motion Perfect Software Port 1 Host Link Master protocol Host Link Slave protocol General purpose RS 422A 485 MCW151 E only Por...

Page 36: ...ogram data MC Unit Random Access Memory RAM and Flash memory backup See note Personal Computer Motion Perfect software manages a backup on the hard disk of the personal computer Self diagnostic functi...

Page 37: ...Yes Command to enable dual feed back control DeviceNet MCW151 DRT E only Software reset of MC Unit Possible by either bit in Remote I O Output word 1 or Explicit Message command RESET Possibly only b...

Page 38: ...nts and Unit Settings 24 2 2 Installation 28 2 2 1 Installation Conditions 28 2 2 2 Installation Method 28 2 2 3 Dimensions 29 2 3 Wiring 30 2 3 1 Control Connections 30 2 3 2 Serial Port Connections...

Page 39: ...t Connector Power Connector DeviceNet Connector Indicator Color Status Meaning RUN Green ON The MC Unit is operating normally OFF The MC Unit did not start properly or is not pow ered on Flashing with...

Page 40: ...d ON Unrecover able Fault Unit hardware error Watchdog timer error Flashing Minor Fault Switch settings incorrect OFF No Unit Power Unit power is not supplied waiting for initial processing to start o...

Page 41: ...f the I O Slave Messaging mode area Pin 8 is not used General Switch Settings MCW151 E only For the MCW151 E the external DIP switch can be used for general purpose The value of the switch can be acce...

Page 42: ...tch setting Parameter value Pin 10 Pin 9 Pin 8 Pin 7 Pin 6 Pin 5 Pin 4 Pin 3 Pin 2 Pin 1 0 0 0 0 0 0 0 0 0 0 0 default 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 1 0 2 1 1 1 1 1 1 1 1 0 1 1021 1 1 1 1 1 1...

Page 43: ...rs to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions Ambient operating temperature 0 to 55 C Ambient operating humidity 20 to 90 RH...

Page 44: ...upper extension from the Driver 2 2 3 Dimensions The basic dimensions of the MC Unit are shown below 26 24 V 0V 25 I O 1 2 P O RT 0 1 PO RT 2 RUN SD RD MCW151 STS 24V 0V 25 1 26 2 I O RUN PORT2 PORT0...

Page 45: ...6 24V_OP I O 25 1 26 2 Pin Signal Name Function 1 A Encoder phase A Input Output 2 A Encoder phase A Input Output 3 B Encoder phase B Input Output 4 B Encoder phase B Input Output 5 Z Encoder phase Z...

Page 46: ...tions 1 2 3 Pin Name Function 1 24 V Power Supply 24V 2 0 V Power Supply 0V 3 FG Frame Ground 24V 0V Item Specifications Electrical characteristics Conform to EIA RS 232C Synchronization Start stop sy...

Page 47: ...Item Specifications Electrical characteristics Conform to EIA RS 422A 485 Synchronization Start stop synchronization asynchronous Baud rate 1200 2400 4800 9600 19200 38400 bps Transmission Format Data...

Page 48: ...8 FG Shell MC Unit Pin Signal RS 232C Interface 3 SD 0 4 SG 0 5 RD 0 Shell FG D sub 9 pin connector male mini DIN 8 pin connector male MC Unit RS 232C Interface Signal Pin RS 1 2 SD 1 6 SG 1 7 RD 1 8...

Page 49: ...d Signal ground Receive data Receive data Send data Send data D sub 9 pin connector male mini DIN 8 pin connector male Pin Signal RS 232C Interface 2 SD 3 RD 4 RS 5 CS 6 5V 9 SG RS 422A Interface Sign...

Page 50: ...Pin Signal RS 422A Interface 1 RD 2 RD 3 FG 4 SD 5 SD MC Unit Pin Signal RS 422A Interface 1 RD 2 RD 3 FG 4 SD 5 SD COMBICON Plug COMBICON Plug COMBICON Plug DIP switch SW2 Pin 1 OFF Pin 2 OFF Pin 3 O...

Page 51: ...nclude the physical delays in the input circuit Print Registration delay time The print registration is used to capture position data in hardware triggered by either a digital input or the Z marker en...

Page 52: ...Specification Circuit Configuration Type PNP Current capacity 100 mA each output 600 mA total for group of 6 Maximum voltage 24 V 10 Protection Over current over temperature and 2 A fuse on common To...

Page 53: ...22A Stan dards Maximum frequency 500 kp s Galvanic isolation No A 2 A 1 Motion Control Unit Phase A axis 1 4 B 3 Phase B axis 1 B 6 Z 5 Phase Z axis 1 Z Line transmitter 0V 5V 0V 5V 0V 5V MCW151 outpu...

Page 54: ...precautions must be taken Following Error Limit Setting An important motion control safety precaution of the MC Unit is the following error limit checking When the Servomotor is controlled to follow a...

Page 55: ...requires a great deal of time The following precautions will aid in avoiding noise malfunctions and improving system reliability Use electrical wires and cables of the designated sizes as specified i...

Page 56: ...to 100 or less with wire cross sections of 1 25 mm2 or greater Use twisted pair shielded cables for control voltage output signals input signals and encoder signals The maximum distance for the encode...

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Page 58: ...tions of the MC Unit Also the functionality of the Servo Driver related commands are explained 3 1 Overview 44 3 2 System Set up 46 3 3 System Functions 47 3 3 1 Servo Driver Control 47 3 3 2 Digital...

Page 59: ...s parameter Servo Axis The servo axis for axis 0 controls the movement of the connected servo sys tem The Servomotor can be controlled in both speed control as in torque con trol Speed control can be...

Page 60: ...ment on any actual Servo Driver The virtual axis behaves like a perfect servo axis measured position is equal to the demand position All move commands and axis parameters available for the servo axis...

Page 61: ...analog torque limit input Pn002 1 Speed command input during torque control 0 Not used 1 Use S REF as analog speed limit input Pn003 0 Monitor 1 2 Torque Reference Monitor Pn003 1 Monitor 2 0 Motor Sp...

Page 62: ...river The following BASIC parameters need to be considered to set up the applica tion in the MC Unit Param eter No Parameter Name Required Setting Explanation Pn000 1 Control Mode Selection 0 Speed Co...

Page 63: ...Example In the following example a simple motion application including initiation for a single axis is shown init BASE 0 P_GAIN 5 I_GAIN 0 D_GAIN 0 VFF_GAIN 0 OV_GAIN 0 ACCEL 1000 DECEL 1000 SPEED 500...

Page 64: ...the T_REF axis parameter Torque Reference The torque applied to the Servomotor is proportional to the torque reference value defined by the T_REF axis parameter The torque reference character istics...

Page 65: ...s specified in the fol lowing table Servo Driver Output Signals The relevant Servo Driver output signals can be monitored in the MC Unit The mapping of the output signals is specified in the following...

Page 66: ...two simul taneous registration events for which the difference in positions can be deter mined Driver Limit Switches The limit switches should be connected to the Servo Driver In this case both the S...

Page 67: ...be used for general purpose Furthermore detailed Servo Driver speed and torque signals can be moni tored in the MC Unit AIN0 Analog Input The analog input is connected to CN1 5 and 6 and uses the Serv...

Page 68: ...ins the actual Servomotor Rotation Speed data from the Servo Driver Item Specification Output Range 15000 15000 Resolution Given by T_RATE axis parameter Max torque Max torque 15000 15000 Torque comma...

Page 69: ...turn limit setting If an absolute encoder is used the counter counts the number of rotations from the setup position and output the number of rotations from the Servo Driver to the MC Unit For some ap...

Page 70: ...p by retrieving the following information Param eter No Parameter Name Setting Range Unit Default Setting Restart Power Pn205 Absolute encoder multi turn limit setting 0 65535 Rotation 65535 Yes Multi...

Page 71: ...tion for the system Execute the Servo Driver absolute encoder setup function Fn008 to reset the multi turn data Note that performing this operation will stop communication between Servo Driver and MC...

Page 72: ...vides the BASIC commands DRV_READ and DRV_WRITE Using these commands it is possible to read from and write to all Servo Driver parameters directly from the MC Unit user program Reset Servo Driver and...

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Page 74: ...ality of the serial communication protocols including Host Link Master and Slave and the DeviceNet interface are explained 4 1 Serial Communications 60 4 1 1 Host Link Master 60 4 1 2 Host Link Slave...

Page 75: ...4 1 1 Host Link Master In Host Link Master mode Host Link commands can be sent from the MC Unit to a Host Link Slave such as a PC by using BASIC commands The BASIC task execution will be paused until...

Page 76: ...data in word units beginning with the designated CIO IR word WL LR AREA WRITE Writes the specified data in word units beginning with the designated LR word WH HR AREA WRITE Writes the specified data i...

Page 77: ...ined com mand response only Valid Valid Valid Header Code Name BASIC Command required CPU Unit Operating Mode RUN MON PRG End code Contents Probably cause Corrective measures 00 Normal completion No p...

Page 78: ...nds a IC re sponse 3 The Master detects an error within the response The corresponding end code will be defined in the status 4 The timeout time has elapsed for the Master The HLM_STATUS BASIC paramet...

Page 79: ...ata to PC using HLM_WRITE BASIC program Source address Table 18 Amount of data 2 words Destination address LR 014 TABLE 18 0701 0702 HLM_WRITE 2 13 PLC_LR 14 2 MC_TABLE 18 Host Link Communication HLM...

Page 80: ...t are supported for the Host Link Slave are listed here below The protocol supports both single frame and multiple frame transfer A full description of the Host Link protocol can be found in SYSMAC CS...

Page 81: ...Name Function End code Contents Probably cause Corrective measures 00 Normal completion No problem exists 13 FCS error The FCS is wrong Check the FCS calculation method If there was influence from noi...

Page 82: ...r fur ther details on the commands Example Consider a MCW151 E connected to a general purpose device using port 2 RS 422A The following problem will receive a series of data elements and write it to V...

Page 83: ...t high speed so it is useful to use this for data which requires regular data transfers with the Master Accessing MC Unit memory with Explicit Message Communications When larger amount of data needs t...

Page 84: ...e address If a Slave requires less than one word it simply uses the rightmost bits in the word allocated to it The MC Unit will occupy the number of words number of node numbers set for the input and...

Page 85: ...rning Flag 1 Servo Driver warning WARN has occurred 0 No Servo Driver warning 07 Servo Driver Communi cation Error 1 Communication error between MC Unit and Servo Driver has occurred 0 No communicatio...

Page 86: ...ON 0 Output is OFF 11 Output 11 1 Output is ON 0 Output is OFF 12 Output 12 1 Output is ON 0 Output is OFF 13 Output 13 1 Output is ON 0 Output is OFF 14 to 15 Reserved 2 Servo Driver I O Mapping 00 I...

Page 87: ...nt From the floating point data in the MC unit only the integer part will be trans ferred The valid range is 0 65535 Output word Bit Name Function 1 00 to 15 User defined Contents is set at VR 1 2 00...

Page 88: ...S SAGE SEND 28 01 FINS command Command Block Response Block Normal Response Note For a normal response the leftmost bit of the service code specified in the command will be turned ON and then returned...

Page 89: ...the destination node address local node Source node address response The node address of the OMRON I O Slave Unit or slave manufactured by another company of which the explicit message was sent is ret...

Page 90: ...the first word of data to be read Address H Leftmost 2 digits of the address in 4 digit hexadecimal Address L Rightmost 2 digits of the address in 4 digit hexadecimal For the Table memory the maximum...

Page 91: ...tmost 2 digits of the length in 4 digit hexadecimal ignored for MC Unit Length L Rightmost 2 digits of the length in 4 digit hexadecimal When an OMRON Master is being used the maximum is 39 elements 2...

Page 92: ...n 4 digit hexadecimal When an OMRON Master is being used the maximum is 119 elements 77 Hex The 119 VR elements imply 238 bytes to be transferred Read data response The specified data is returned from...

Page 93: ...gits of the length in 4 digit hexadecimal When an OMRON Master is being used the maximum is 39 elements 27 Hex The 39 Table elements imply 234 bytes to be transferred Write data command The specified...

Page 94: ...tmost 2 digits of the length in 4 digit hexadecimal When an OMRON Master is being used the maximum is 39 elements 27 Hex The 39 VR elements imply 234 bytes to be transferred Write data command The spe...

Page 95: ...in 4 digit hexadecimal ignored for MC Unit Length L Rightmost 2 digits of the length in 4 digit hexadecimal When an OMRON Master is being used the maximum is 119 elements 77 Hex The 119 VR elements im...

Page 96: ...ss 2 Example Using CMD 490 Command Words S First Command word D Response Words D First Response Word Results are stored as shown in the following table Word Contents Hex Meaning S 28 01 EXPLICIT MESSA...

Page 97: ...rom the MC Unit s VR 203 One word format 65535 Word Contents Hex Meaning C 00 0C No of bytes of command data 12 bytes of command data S C 1 00 10 No of bytes of response data 16 bytes of response data...

Page 98: ...code 28 01 Hex D 1 00 00 Response code 0000 Hex Normal com pletion D 2 00 02 No of received bytes data length after D02003 2 bytes D 3 02 B5 Slave node address 2 TABLE DATA WRITE THREE WORD FORMAT re...

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Page 100: ...MC Unit 5 1 Overview 86 5 2 BASIC Programming 86 5 2 1 Axis System and Task Statements 86 5 2 2 Data Structures and Variables 87 5 2 3 Mathematical Specifications 88 5 3 Motion Execution 89 5 4 Comma...

Page 101: ...a certain action and return a value related to that action For example ABS will take the value of its parameter and return the absolute value of it to be used by some other function or command For exa...

Page 102: ...Global Variables The global variables also called VR variables are common to all tasks on the MC Unit This means that if a program running on task 2 sets VR 25 to a cer tain value then any other progr...

Page 103: ...oat ing point and single precision integer The single precision floating point format is internally a 32 bit value It has an 8 bit exponent field a sign bit and 23 bit fraction field with an implicit...

Page 104: ...ask on the MC Unit has a set of buffers that holds the information from the motion commands given The motion commands include MOVE MOVE ABS MOVEMODIFY MOVECIRC FORWARD REVERSE MOVELINK CONNECT CAM and...

Page 105: ...are marked as idle This process is called move loading If there is a valid move in the MTYPE buffers then it is processed When the move has been completed the MTYPE buffers are marked as idle 5 4 Comm...

Page 106: ...ata will be lost when the Unit is powered OFF When a session will be ended the current programs in RAM must be copied to Flash memory by using the EPROM command The Motion Perfect package provides a b...

Page 107: ...in the previous servo cycle The analogue outputs for the speed references are updated The digital outputs are updated conform the status of the OP system out put variable The status of the digital in...

Page 108: ...to motion buffers see 5 3 Motion Execution 2 Read digital inputs 3 Load moves See note 4 Calculate speed profile See note 5 Calculate axis positions See note 6 Execute position servo For axis 0 this a...

Page 109: ...tion will present the possible errors that may occur and suggest the way to detect them For a full description of the error handling refer to section 8 2 Error Handling Caution The MC Unit outputs may...

Page 110: ...or handling will be at the DeviceNet master the MC Unit as DeviceNet slave has a status parameter The FB_STATUS will return the sta tus of the Remote I O Communication with the Master Please refer to...

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Page 112: ...ers 109 6 2 11 Servo Driver Commands and Parameters 110 6 2 12 Host Link Commands and Parameters 110 6 2 13 DeviceNet Commands and Parameters 110 6 3 Command function and parameter description 111 6 3...

Page 113: ...L 131 6 3 53 DEMAND_EDGES 132 6 3 54 DIR 132 6 3 55 DPOS 132 6 3 56 DRV_CLEAR 133 6 3 57 DRV_READ 133 6 3 58 DRV_RESET 134 6 3 59 DRV_STATUS 134 6 3 60 DRV_WRITE 135 6 3 61 EDIT 135 6 3 62 ENCODER 136...

Page 114: ...PEED 153 6 3 104 KEY 153 6 3 105 LAST_AXIS 153 6 3 106 LINK_AXIS 154 6 3 107 LINPUT 154 6 3 108 LIST 154 6 3 109 LN 155 6 3 110 LOCK 155 6 3 111 MARK 155 6 3 112 MARKB 156 6 3 113 MERGE 156 6 3 114 MO...

Page 115: ...6 3 157 REP_OPTION 178 6 3 158 REPEAT UNTIL 178 6 3 159 RESET 179 6 3 160 REV_IN 179 6 3 161 REV_JOG 179 6 3 162 REVERSE 179 6 3 163 RS_LIMIT 180 6 3 164 RUN 180 6 3 165 RUN_ERROR 180 6 3 166 RUNTYPE...

Page 116: ...190 6 3 193 TRUE 191 6 3 194 TSIZE 191 6 3 195 UNITS 191 6 3 196 VERSION 191 6 3 197 VFF_GAIN 192 6 3 198 VP_SPEED 192 6 3 199 VR 192 6 3 200 WA 193 6 3 201 WAIT IDLE 193 6 3 202 WAIT LOADED 194 6 3 2...

Page 117: ...pplicable Type The classification is given for command function or parameter Syntax Standard BASIC notation is used to show command or function syntax Syn tax definition Syntax code is given in typewr...

Page 118: ...TUM performs one of 7 origin search sequences to posi tion an axis to an absolute position or reset a motion error 129 DEFPOS DEFPOS defines the current position as a new absolute posi tion 131 FORWAR...

Page 119: ...n Page FOR TO STEP NEXT FOR NEXT loop allows a program segment to be repeated with increasing decreasing variable 140 GOSUB RETURN GOSUB jumps to a subroutine at the line just after label The program...

Page 120: ...t Command assigns a hexadecimal number to a variable 114 AXIS AXIS sets the axis for a command axis parameter read or assignment to a particular axis 120 BASICERROR BASICERROR is used to run a specifi...

Page 121: ...94 WDOG WDOG contains the software switch which enables the Servo Driver 195 Name Description Page Name Description Page Multiply multiplies any two valid expressions 111 Power takes the power of any...

Page 122: ...rns the sine of expression 186 SQR SQR returns the square root of expression 186 TAN TAN returns the tangent of expression 189 XOR XOR performs an XOR function between corresponding bits of the intege...

Page 123: ...absolute position of the forward soft ware limit 142 FWD_IN FWD_IN contains the input number to be used as a forward limit input 142 FWD_JOG FWD_JOG contains the input number to be used as a jog for...

Page 124: ...ermines whether the axis runs under servo control or open loop 184 SPEED SPEED contains the demand speed in units s 186 SRAMP SRAMP contains the S curve factor 186 T_RATE T_RATE contains the torque re...

Page 125: ...alarm code of the Servo Driver 134 DRV_WRITE DRV_WRITE writes a specific value to the specified parame ter of the Servo Driver 135 Name Description Page HLM_COMMAND HLM_COMMAND executes a specific Ho...

Page 126: ...r 10 2 1 9 The parentheses are evaluated first and then the result 11 1 is multiplied by 10 Therefore factor would contain the value 111 6 3 2 Power Type Arithmetic Operation Syntax expression_1 expre...

Page 127: ...10 2 1 9 The parentheses are evaluated first and then 10 is divided by the result 11 1 Therefore a would contain the value 0 9009 6 3 6 Is Less Than Type Logical Operation Syntax expression_1 expressi...

Page 128: ...o operator returns TRUE if expression_1 is equal to expression_2 otherwise it returns FALSE Arguments expression_1 Any valid BASIC expression expression_2 Any valid BASIC expression Example IF IN 7 ON...

Page 129: ...y hexadecimal number characters 0 9 A F Range 0 FFFFFF Hex See also HEX PRINT Example TABLE 0 F ABCD print TABLE 0 TABLE 1 15 0000 43981 0000 6 3 13 Statement separator Type Program command Syntax sta...

Page 130: ...ange will return zero Arguments expression Any valid BASIC expression Example PRINT ACOS 1 3 1416 6 3 18 ADD_DAC Type Motion Control Command Description The ADD_DAC command can provide dual feedback c...

Page 131: ...The axis from which to sum the speed reference output to the base axis Set the argument to 1 to cancel the link and return to normal operation See also AXIS ADDAX OUTLIMIT Examples Example 1 The foll...

Page 132: ...ing several ADDAX commands in a system can create a dan gerous loop when for instance one axis is linked to another and vice versa This may cause instability in the system Arguments axis The axis to b...

Page 133: ...n_1 AND expression_2 Description The AND operator performs the logical AND function on the corresponding bits of the integer parts of two valid BASIC expressions The logical AND function between two b...

Page 134: ...urns the arc tangent of the expression ATAN can have any value The result will be in radians and will be between PI 2 and PI 2 Arguments expression Any valid BASIC expression Example PRINT ATAN 1 0 78...

Page 135: ...the axis for a single motion command or a single axis parameter read write to a particular axis AXIS is effective only for the com mand or program line in which it is programmed Use the BASE command t...

Page 136: ...orary base axis The base axis is effective until it is changed again with BASE Each BASIC process can have its own axis group and each program can set its own axis group independently Use the PROC mod...

Page 137: ...axes used by MOVE and the speed and acceleration rate BASE 0 MOVE 100 23 1 1250 Example 3 On the command line the base group order can be shown by typing BASE BASE 0 2 1 BASE 0 2 1 Example 4 Use the P...

Page 138: ...ger than the SPEED parameter CAM works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis Arguments start_point The address of the first element in the Table...

Page 139: ...tion The MC Unit moves continuously between the val ues in the Table to allow a number of points to define a smooth profile Two or more CAMBOX commands can be executed simultaneously using the same or...

Page 140: ...RWARD REVERSE MOVE MOVEABS and MOVECIRC will be decelerated at the deceleration rate as set by the DECEL parameter and then stopped Other moves will be immediately stopped CANCEL command cancels the c...

Page 141: ...ram will also reset the local variables on the current task to zero See also RESET VR 6 3 37 CLEAR_BIT Type System Command Syntax CLEAR_BIT bit_number vr_number Description The CLEAR_BIT command reset...

Page 142: ...ing error port 1 7 Break interrupt port 1 8 Overrun error port 2 9 Parity error port 2 10 Framing error port 2 11 Break interrupt port 2 This parameter is read only 6 3 41 COMPILE Type Program Command...

Page 143: ...s axis is used to monitor the conveyor BASE 0 SERVO ON CONNECT 0 25 1 6 3 43 CONTROL Type System Parameter Description The CONTROL parameter contains the type of MC Unit in the system For both the MCW...

Page 144: ...moother response and allow the use of a higher proportional gain than could otherwise be used High values may cause oscillation See section 1 4 1 Servo System Principles for more details See also AXIS...

Page 145: ...axis moves at creep speed forward until the Z marker is encoun tered The demand position is then reset to zero and the measured position is corrected to maintain the following error 2 The axis moves...

Page 146: ...a relative adjustment of the current position DEFPOS works on the default basis axis set with BASE unless AXIS is used to specify a temporary base axis Precaution The changes to the axis position made...

Page 147: ...54 DIR Type Program Command Syntax DIR Alternative LS Description The DIR command displays a list of the programs held in memory their mem ory size and their RUNTYPE Furthermore the controller s avai...

Page 148: ...011 The Servo Driver Pn parameters are divided into two groups Selection parameters which contain hexadecimal value One example is for instance the Pn50A input signal selection 1 Value parameters whic...

Page 149: ...settings Be sure to write program data to Flash memory before executing the command All data of Table and VR variables is erased and possibly re read from Flash memory All axis parameters are set to...

Page 150: ...program task will be paused until the connection of the other device to the Servo Driver is removed Arguments parameter The number of the Pn parameter to be written Note that the parameter num bers ar...

Page 151: ...SIC programs in the MC Unit in the Flash memory At each start up the program data from the Flash memory will be copied to the RAM Note Motion Perfect offers this command as a button on the control pan...

Page 152: ...of the first axis to have the error Check the AXISVALUES parameter for the status bit allocations The default setting of ERRORMASK is 268 Refer to 8 2 Error Handling for more detailed information on...

Page 153: ...et Parameter Description The FB_STATUS DeviceNet parameter returns the status of the communica tions of the MC Unit with the DeviceNet master The following values can be returned See also FB_SET 6 3 7...

Page 154: ...ut number to be used as the feedhold input The number can be from 0 to 7 As default the parameter is set to 1 no input is selected If an input number is set and the feedhold input turns set the speed...

Page 155: ...s numerous writes and erases it has a lim ited life cycle Programmers should be aware of this fact and use the command as limited as possible Arguments address The address of the VR variable Range 0 2...

Page 156: ...ternative FO Description The FORWARD command moves an axis continuously forward at the speed set in the SPEED axis parameter The acceleration rate is defined by the ACCEL axis parameter FORWARD works...

Page 157: ...ON while the axis position is greater than FS_LIMIT See also AXIS AXISSTATUS RS_LIMIT UNITS 6 3 84 FWD_IN Type Axis Parameter Description The FWD_IN axis parameter contains the input number to be used...

Page 158: ...e GOSUB command and then jumps to the specified label Upon reaching the RETURN statement program execution is returned to the stored position Labels can be character strings of any length but only the...

Page 159: ...monitored with the HLM_STATUS parameter Note 1 When using the HLM_READ be sure to set up the Host Link Master pro tocol by using the SETCOM command 2 The Host Link Master commands are required to be...

Page 160: ...ave is a C200HX PC the VR 233 will contain value 12 hex after successfull execution Example 2 The following command will check the Host Link communication with the Host Link Slave node 23 connected to...

Page 161: ...1 When using the HLM_READ be sure to set up the Host Link Master pro tocol by using the SETCOM command 2 The Host Link Master commands are required to be executed from one program task only to avoid a...

Page 162: ...such as a re try or emergency stop needs to be programmed in the user BASIC program Each port has an HLM_STATUS parameter The PORT modifier is required to specify the port Arguments n The specified s...

Page 163: ...LM_WRITE command writes data from the MC Unit to a Host Link Slave by sending a Host Link command string containing the specified node of the Slave to the serial port The received response data will b...

Page 164: ...HLM_WRITE 1 28 PLC_EM 50 25 MC_VR 200 6 3 95 HLS_MODEL Type Host Link Parameter Description The HLS_MODEL parameter defines the MC Unit model code for the Host Link Slave protocol When a Host Link Ma...

Page 165: ...Precautions In order to avoid any instability the servo gains should be changed only when the SERVO is OFF See also D_GAIN OV_GAIN P_GAIN VFF_GAIN 6 3 98 IF THEN ELSE ENDIF Type Structural Command Sy...

Page 166: ...ples Example 1 The following lines can be used to move to the position set on a thumbwheel multiplied by a factor The thumbwheel is connected to inputs 4 5 6 and 7 and gives output in BCD moveloop MOV...

Page 167: ...nt is omitted the port as speci fied by INDEVICE will be used variable The variable to write to Precautions Channel 0 is reserved for the connection to Motion Perfect and or the com mand line interfac...

Page 168: ...t as speci fied by INDEVICE will be used Precautions Channel 0 is reserved for the connection to Motion Perfect and or the com mand line interface Please be aware that this channel may give problems f...

Page 169: ...troller Channels 5 to 7 are logical channels that are superimposed on the RS 232C programming port 0 when using Motion Perfect Arguments n The specified input device When this argument is omitted the...

Page 170: ...escription The LOCK command prevents the program from being viewed modified or deleted by personnel unaware of the security code The UNLOCK command allows the locked state to be unlocked The code numb...

Page 171: ...ous change of direction MERGE will only function if the following are all true 1 Only the speed profiled moves MOVE MOVEABS MOVECIRC and MOVEMODIFY can be merged with each other 2 There is a move in t...

Page 172: ...12 5 mm MOVE works on the default basis axis group set with BASE unless AXIS is used to specify a temporary base axis Argument dist_1 is applied to the base axis dist_2 is applied to the next axis etc...

Page 173: ...actor in the UNITS axis parameter If for example an axis has 4 000 encoder edges mm then the number of units for that axis would be set to 4000 and MOVE ABS 12 5 would move to a position 12 5 mm from...

Page 174: ...rthogonal axes in a circular arc The path of the movement is determined by the 5 arguments which are incre mental from the current position The arguments end_1 and centre_1 apply to the base axis and...

Page 175: ...3 3 0 3 1 Move D E MOVE O 6 Move E F MOVECIRC 3 3 3 0 1 Move F G MOVE 2 0 Move G H MOVECIRC 3 3 0 3 1 Move H A 6 3 119 MOVELINK Type Motion Control Command Syntax MOVELINK distance link_distance link_...

Page 176: ...lt basis axis group set with BASE unless AXIS is used to specify a temporary base axis The axis set for link_axis drives the base axis Note If the sum of link_acceleration and link_deceleration is gre...

Page 177: ...60 m To ensure that the speeds and positions of the cutter and paper match during the cut task the arguments of the MOVELINK command must be correct Therefore it is easiest to first consider the accel...

Page 178: ...ing the DEFPOS com mand The OFFPOS axis parameter can also be used to shift the origin point MPOS is reset to zero at start up The range of the measured position is controlled with the REP_DIST and RE...

Page 179: ...ommand deletes all program lines of the program from memory NEW without a program name can be used to delete the currently selected program using SELECT The program name can also be specified without...

Page 180: ...hat will be applied to the demand position DPOS without affecting the move in any other way The measured position will be changed accordingly in order to keep the following error OFF POS effectively a...

Page 181: ...more outputs or returns the state of the first 24 outputs OP has three different forms depending on the number of arguments Command OP output_number value sets a single output channel The range of ou...

Page 182: ...e to set mask OP AND NOT 15 256 Get current status and mask OP mask OR val 256 Set val to OP 8 to OP 11 6 3 133 OPEN_WIN Type Axis Parameter Alternative OW Description The OPEN_WIN parameter defines t...

Page 183: ...is 15000 This sets the speed refer ence range to 15000 14999 which is the actual input reference range of the Servo Driver See also AXIS S_RATE S_REF S_REF_OUT SERVO 6 3 137 OV_GAIN Type Axis Paramete...

Page 184: ...s are occupied and FALSE if they are empty When the task executes a movement command the task loads the movement information into the task move buffers The buffers can hold one movement instruction fo...

Page 185: ...se of w x after the number to be printed The width of the column is given by w and the number of decimal places is given by x Using only one parameter x takes the default width and specifies the numbe...

Page 186: ...PRINT DISTANCE mpos 0 SPEED v 2 DISTANCE 123 SPEED 12 34 Example 6 PRINT ITEM total OF limit CHR 13 Example 7 PRINT HEX 15 HEX 2 F FFFFA 6 3 143 PROC Type Task Command Syntax PROC task_number Descript...

Page 187: ...xample MOVE length AXIS PROCNUMBER 6 3 148 PSWITCH Type I O Command Syntax PSWITCH switch enable axis output_number output_state set_position reset_position Description The PSWITCH command turns ON an...

Page 188: ...he unit conversion factor to allow the positions to be set in convenient units First the unit conversion factor must be calculated and set Each pulse on an encoder gives four edges for the MC Unit to...

Page 189: ...e bit to be read Range 0 23 vr_number The number of the VR variable for which the bit is read Range 0 250 See also CLEAR_BIT SET_BIT VR 6 3 151 REG_POS Type Axis Parameter Alternative RPOS Description...

Page 190: ...ter For the secondary registration event the MARKB axis parameter will be set and the position will be stored in the REG_POSB axis parameter Inclusive windowing Inclusive windowing allows the print re...

Page 191: ...er to REG_POS 2 Captures absolute position on falling edge of Z marker to REG_POS 3 Captures absolute position on rising edge of input R0 to REG_POS 4 Captures absolute position on falling edge of inp...

Page 192: ...Syntax RENAME old_program_name new_program_name Description The RENAME command changes the name of a program in the MC Unit directory The program names can also be specified without quotes Precaution...

Page 193: ...e REPEAT and the UNTIL statement to be repeated a number of times until the condition becomes TRUE Precautions REPEAT UNTIL construct can be nested indefinitely Arguments commands Any valid set of BAS...

Page 194: ...also be set Note This input is active low See also AXIS AXISSTATUS FWD_IN 6 3 161 REV_JOG Type Axis Parameter Description The REV_JOG parameter contains the input number to be used as a jog reverse i...

Page 195: ...cified without quotes The task number specifies the task number on which the program will be run If the task number is omitted the program will run on the highest available task RUN can be included in...

Page 196: ...Menu Note The execution of the EPROM command is required to store the new RUNTYPE settings into Flash memory Otherwise the new settings will be lost when the power is switched off Arguments program_na...

Page 197: ...ed to force a square wave of positive and nega tive movement with a period of approximately 500ms on axis 0 WDOG ON SERVO OFF square S_REF AXIS 0 2000 WA 250 S_REF AXIS 0 2000 WA 250 GOTO square 6 3 1...

Page 198: ...coder edges per servo period 3 Applications like the CAM command CAMBOX command and the SCOPE command all use the same Table as the data area Arguments control Set ON or OFF to control SCOPE execution...

Page 199: ...RUN STEPLINE STOP TROFF Example SELECT PROGRAM PROGRAM selected RUN 6 3 173 SERVO Type Axis Parameter Description The SERVO parameter determines whether the base axis runs under servo control SERVO O...

Page 200: ...command will enable the Host Link protocols or define the general pur pose communication The serial ports have 9 600 baud 7 data bits 2 stop bits even parity and XON XOFF enabled for general purpose c...

Page 201: ...ABS MOVECIRC MOVEMODIFY REVERSE UNITS Example SPEED 1000 PRINT Set speed SPEED 6 3 180 SQR Type Mathematical Function Syntax SQR expression Description The SQR function returns the square root of the...

Page 202: ...the task with the program to be stepped Range 1 3 See also RUN SELECT STOP TROFF TRON Examples Example 1 STEPLINE conveyor Example 2 STEPLINE maths 2 6 3 183 STOP Type Program Command Syntax STOP pro...

Page 203: ...T_REF parameter is defined by 15000 15000 The actual torque reference is depending on the Servomotor To determine the torque reference in percentage of the rated torque multiply the T_REF parameter va...

Page 204: ...lash memory using the FLASHVR command Arguments address The first location in the Table to read or write Range 0 7999 value The value to write at the given location and at subsequent locations See als...

Page 205: ...xecution for the program specified with program_name The program name can also be specified without quotes If the program name is omitted the selected program will be assumed Arguments program_name Th...

Page 206: ...on factor enables the user to define a more convenient user unit like m mm or motor revolutions by specifying the amount of encoder edges to include a user unit Axis parameters like speed acceleration...

Page 207: ...ment is profiled Note This parameter is read only See also AXIS MSPEED UNITS Example Wait until at command speed MOVE 100 WAIT UNTIL SPEED VP_SPEED 6 3 199 VR Type System Command Syntax VR address Des...

Page 208: ...y OP 15 OFF VR VR 0 1 RETURN The variables are backed up by a battery so the program here could be designed to store the state of the machine when the power is OFF It would of course be necessary to p...

Page 209: ...axis set with BASE unless AXIS is used to specify a temporary base axis See also AXIS WAIT IDLE Example Switch output 8 ON at start of start of MOVE 500 and OFF at end MOVE 800 MOVE 500 WAIT LOADED O...

Page 210: ...parameter can be executed automatically by Motion Perfect when the Drives Enable Button is clicked on the control panel See also AXISSTATUS ERROR_AXIS ERRORMASK MOTION_ERROR SERVO 6 3 205 WHILE WEND...

Page 211: ...le a 10 XOR 2 1 9 The parentheses are evaluated first but only the integer part of the result 18 is used for the operation Therefore this expression is equivalent to the fol lowing VR 0 10 XOR 18 The...

Page 212: ...198 7 3 Motion Perfect Projects 199 7 3 1 Project Manager 199 7 3 2 Creating a Project for the First Time 201 7 4 Desktop Appearance 201 7 4 1 Control Panel 202 7 4 2 Editing and Running Simple Progr...

Page 213: ...s The MC Unit requires Motion Perfect version 2 0 or later Please note that previous versions of the package will not work with this MC Unit The following are required to run Motion Perfect version 2...

Page 214: ...rol and provides a mechanism for verifying the application programs on the MC Unit 7 3 1 Project Manager The project manager is a background process that automatically maintains consistency between th...

Page 215: ...ancy The options available include You can force Motion Perfect to verify that the two copies are identical at any time by selecting Check project from the File Menu Function Purpose Save Save control...

Page 216: ...ing the required directory and entering the new project name click the Create Button 4 If the project path and name already exist a window will appear asking whether to overwrite the existing project...

Page 217: ...6 3 48 DATUM for details Program List Box The Program List Box in the middle of the Control Panel will show a list of the programs in the project There are two buttons next to each program name to co...

Page 218: ...all moves in case of emergency 7 4 2 Editing and Running Simple Programs This section provides a couple of typical examples of a simple programming session using Motion Perfect The following procedure...

Page 219: ...erent period Refer to for SECTION 6 BASIC Motion Control Programming Language details on programming 4 Executed the programs together The Run and Step Buttons on the Control Panel will control only th...

Page 220: ...description for the non printing characters received Also CR and LF will cause the corresponding action 7 5 2 Editor This section describes the Editor used to edit BASIC programs for the MC Unit The...

Page 221: ...the menu s of the window The operations correspond to the buttons displayed in the picture below from left to right Saving Program This enables the user to force the program to be saved on the compute...

Page 222: ...ired program is currently selected see Selected Program box of the Control Panel then push the Step button of this box Push the Step button of the Editor Window toolbar Selecting Start Stepping from t...

Page 223: ...Unit as it processes the BASIC commands and moni tors the status These values are updated continuously at a specified rate The following operations are possible on the Axis Parameters Window The user...

Page 224: ...the value displayed may be incorrect The refresh button will force Motion Perfect to read the whole selection again 7 5 4 Controller Configuration The Controller Configuration Window shows the hardwar...

Page 225: ...all the I O points and toggle the status of the output points The I O Status Window is shown in the centre of the screen below Refer to 5 3 Motion Execution for a description of the different types o...

Page 226: ...e controller and therefore the FAST_JOG parameter is assumed to be 1 Note The jogging inputs which are connected are considered to be active low nor mally closed This implies that jogging is enabled w...

Page 227: ...Unit records the data at the selected frequency and then uploads the information to the scope to be displayed If a larger time base value is used the data is retrieved in sections and the trace is see...

Page 228: ...int plot ted is seen as a white spot After the scope has finished running and a trace has been dis played the time base scale can be changed to view the trace with respect to different horizontal time...

Page 229: ...it has recorded the required data the required data is retrieved by the scope and displayed The scope stops running if in One shot Trigger Mode or it waits for the next trigger on the MC Unit if in Co...

Page 230: ...scale value and the button on the right increases the scale value To return to the Automatic Mode continue pressing the left button decreasing the scale value until the word AUTO appears in the curre...

Page 231: ...he current section will be dis played as a white spot If the scope is configured both to record motion parameters and to plot Table data then the Table data is returned in one complete block and the m...

Page 232: ...o Driver as DRV_RESET com mand You do not need to close an Editor Window to run a program It saves time not to It is better to open an edit session for each program you want to see before running any...

Page 233: ...as Flash memory for storage of both user programs and the system software From Motion Perfect it is possible to upgrade the software to a newer version using a system file Select the Load System Softw...

Page 234: ...ting procedures needed to keep the system operating properly 8 1 Error Indicators 220 8 2 Error Handling 221 8 2 1 MC Unit Error Handling 221 8 2 2 Servo Driver Alarms 225 8 3 Problems and Countermeas...

Page 235: ...munications are active on the Network ON green OFF Checking for node address dupli cation Checking whether the Unit s node address has been set on another node ON green Flashing green Waiting for conn...

Page 236: ...d OFF the MOTION_ERROR parameter will be set to 1 and the ERROR_AXIS parame ter will contain the number of the first axis to have the error condition The motion error can be cleared by using the DATUM...

Page 237: ...both the Servo Driver and MC Unit and turn it ON again ERRORMASK The ERRORMASK axis parameter enables to user to deter mine which condition will generate a motion error for each axis If the result of...

Page 238: ...has the possibility to exe cute the DRV_RESET or DRV_CLEAR command to clear the error However if the communication is still down this will hang the program task Run time BASIC Errors Run time BASIC e...

Page 239: ...error 22 Modifier not allowed 66 Table is full 24 Command is command line only 67 Invalid line number 25 Command runtime only 68 String exceeds permitted length 26 LABEL expected 70 Value is incorrec...

Page 240: ...1 for specific details on other alarms and how to resolve them Alarm Description A E0 A E0 No MC Unit Display and Outputs Note OFF Output transistor is OFF alarm state ON Output transistor is ON Statu...

Page 241: ...N A E7 occurs when Servo Driver is used after disconnection of MC Unit without clearing the unit detection Display and Outputs Note OFF Output transistor is OFF alarm state ON Output transistor is ON...

Page 242: ...he power supply Replace the power supply 7 Motion Perfect cannot connect to the MC Unit Serial communications cable is not connected properly Check the cable connection and wiring Correct the cable wi...

Page 243: ...Check whether there is a mechanical limit or lock in effect Manually release the mechanical lock 21 The MC Unit is defective Replace the MC Unit 22 Rotation is reversed The Servo Driver is set for re...

Page 244: ...brake power supply and release the brake and then manually turn the motor s output axis with the motor s power line discon nected because the dynamic brake may be applied Replace the Servomotor 34 The...

Page 245: ...supply is not separated from other power supplies Check whether the MC Unit s output power supply is sepa rated from other power sup plies Separate the MC output sup ply from other power sup plies 46...

Page 246: ...correct Check whether the communications cables are connected properly Check whether the power supply is set correctly Check all the nodes for broken wires in the communications and power supply cable...

Page 247: ...hen using an OMRON Master check the following items and perform the necessary error processing steps Register the scan list again After performing the clear scan list operation check that the Slave ha...

Page 248: ...ection explains the maintenance and inspection procedures that must be followed to keep the MC Unit operating in optimum condition It also includes proper procedures when replacing an MC Unit 9 1 Rout...

Page 249: ...ing too close together There must be sufficient dis tance between them Do a visual check and separate the terminals as required Are any external cables discon nected There must be no external abnormal...

Page 250: ...3 1 Make a note of the switch settings of the MC Unit to be replaced 2 Use Motion Perfect to check the project of the Unit and to make a local copy saved on the Personal Computer 3 Turn OFF the system...

Page 251: ......

Page 252: ...Pn50A 1 RUN Signal Input Alloca tion 8 Always disabled Switch is controlled by the MC Unit Pn50A 2 MING Signal Input Allo cation 8 Always disabled Switch is controlled by the MC Unit Pn50A 3 POT Sign...

Page 253: ......

Page 254: ...0 Baud rate setting DIP switch Supported baud rates 125 kbps 250 kbps and 500 kbps Communications data Predefined Master Slave connection set Group 2 only server Dynamic connection support UCMM No Exp...

Page 255: ...hanged No No 8 MAC ID switch value No No 9 Baud rate switch value No No Item DeviceNet service Parameter option Object instance Service 0E Get_Attribute_Single No 4B Allocate_Master Slave_Connection S...

Page 256: ...duced connection size Yes No 00FE hexadecimal 8 Consumed connection size Yes No 00FE hexadecimal 9 Expected packet rate Yes Yes 12 Watchdog time out action Yes No 01 hexadecimal 13 Produced connection...

Page 257: ...hexadecimal 13 Produced connection path length Yes No 0000 hexadecimal 14 Produced connection path Yes No No 15 Consumed connection path length Yes No 0000 hexadecimal 16 Consumed connection path Yes...

Page 258: ...E only Appendix B Item DeviceNet service Parameter option Object instance 1 Service 05 Reset No 32 Table_Memory_Read_3W 33 VR_Memory_Read_3W 34 VR_Memory_Read_1W 35 Table_Memory_Write_3W 36 VR_Memory_...

Page 259: ......

Page 260: ...cation program tasks 3 Continuous error checking Inputs IN 6 start_machine active high Start application IN 7 e_stop active low Emergency stop IN 5 resetting active high Reset motion error Main variab...

Page 261: ...start_machine 1 Start the application program s RUN application 3 WA 10 Program status Normal running VR programstatus 2 BASE 0 Main loop loop Check for motion error or Servo Driver OFF IF MOTION_ERRO...

Page 262: ...y 2 Even parity option 5 Host Link Slave SETCOM baud_rate data_bits stop_bits parity 2 option Host Link Slave settings HLS_NODE 3 HLS_MODEL FE Host Link Master settings HLM_TIMEOUT 1000 RETURN Motion...

Page 263: ...llowing program can be used to set the correct Servo Driver settings Modify the parameters to those required for the application Servo Driver parameter setting program Tasks Set up Servo Driver parame...

Page 264: ...bled IF DRV_READ 50B 8883 THEN DRV_WRITE 50B 8883 VR force_reset TRUE ENDIF Pn50C Input signal selection 3 Pn50C 0 8 RDIR Signal Input always disabled Pn50C 1 8 SPD1 Signal Input always disabled Pn50C...

Page 265: ...bwheel input inputs 4 to 7 The table will not move until a start button is pressed input 10 start WAIT UNTIL IN 10 ON WAIT UNTIL IN 10 OFF GOSUB get_tws MOVEABS 45 tw_value WAIT IDLE GOTO start get_tw...

Page 266: ...oop BASE 0 MOVELINK 0 4 0 0 1 Wait distance MOVELINK 0 1 0 2 0 2 0 1 Accelerate MOVELINK 0 3 0 3 0 0 1 Match speed MOVELINK 0 1 0 2 0 0 2 1 Decelerate MOVELINK 0 5 5 3 3 1 Move back GOTO loop The midd...

Page 267: ...cut in relation to a printed mark The product is nominally 150 mm long and the printed registration mark appears 30 mm from the end of the product The product must be stationary when cut but the draw...

Page 268: ...OP check_status VR 250 HLM_STATUS PORT 2 IF VR 250 0 THEN PRINT Succeeded RETURN ELSE PRINT Failure attempt 0 IF READ_BIT 9 250 THEN PRINT Command not recognized by slave ELSE IF READ_BIT 8 250 THEN P...

Page 269: ......

Page 270: ...ORUN 120 AXIS 86 120 AXISSTATUS 121 208 221 BASE 86 121 BASICERROR 122 223 CAM 11 123 CAMBOX 12 124 CANCEL 13 125 CHECKSUM 126 CHR 170 CLEAR 87 126 CLEAR_BIT 126 CLOSE_WIN 126 CLUTCH_RATE 126 comment...

Page 271: ...4 NIO 164 NOT 164 not equal operator 113 NTYPE 89 165 OFF 165 OFFPOS 165 ON 165 166 OP 166 OPEN_WIN 167 OR 167 OUTDEVICE 168 OUTLIMIT 168 OV_GAIN 16 47 168 P_GAIN 16 47 169 PI 169 PMOVE 90 169 power o...

Page 272: ...ands and functions 104 Servo Driver commands and parameters 110 system commands and parameters 105 task commands and parameters 109 buffer actual move 89 next move 89 task 89 C CAM control 11 cancelli...

Page 273: ...ge 139 functional specifications 19 G I gain derivative 16 integral 16 output speed 16 proportional 16 speed feedforward 16 general specifications 19 general purpose protocol commands 67 programming e...

Page 274: ...39 move loading 90 moves absolute 8 calculations 9 cancelling 13 continuous 10 defining 9 execution 89 merging 156 relative 8 multitasking 86 N O number format 88 one word format 72 origin search 13...

Page 275: ...mathematical 88 RS 232C interface 31 RS 422A 485 interface 32 speed control 47 speed feedforward gain 16 statements axis 86 description 86 system 87 task 87 system configuration basic 5 DeviceNet 6 T...

Page 276: ...revision Page numbers refer to the previous version Revision code Date Revised content 1 June 2002 Original production 2 March 2003 Revisions and additions as follows Added comparison section for fir...

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