Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Page 1: ...underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos I...
Page 2: ...Compumotor Division Parker Hannifin Corporation l n 88 003360 03 C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 3: ...I Compumotor Operator s manual 430 TROUBLESHOOTING GUIDE PIN 88 006 107 01 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 4: ...a n c e P r o g r a m i n g command list i s provided i n Figure 2 0 f o r an easy r e f e r e n c e 1 1 Test Equipment Before you begin t r o u b l e s h o o t i n g the 430 you should have the f o...
Page 5: ...voltage lbefore checking wiring I f AC connections a r e c c r r e c t proceed t o next section The 430 Operation Manuals ui t o and including Rev C have indicated AC power wiring configurations f o...
Page 6: ...a r e on the l e f t side of the c i r c u i t board when viewing the screw terminal end of 430 When checking dipswitches and jumpers make sure each s e t t i q z i s e i t h e r completely ON o r OFF...
Page 7: ...ection 2 3 2 2 3 1 No Motion LED Green 2 3 1 1 Holding Torque Attempt t o turn motor s h a f t with power applied t o determine i f f u l l torque is present I f no holding torque i s present check th...
Page 8: ...high t r u e go t o 431 functional t e s t Otherwist see Section 2 3 2 3 2 3 1 5 431 Functional Test To check t h i s s e t the 431 pn the low t r u e end and put a 9999 on the rhumbwheels Now check...
Page 9: ...i n the direction of the l i m i t t h a t is grounded but w i l l n o t move i n the direction of the ungrounded l i m i t I f t h i s seems t o be the case go t o the l i m i t switch section fof a...
Page 10: ...uence successfully This also indicates t h a t t h e 430 s storage i n t o memory and a u t o r e c a l l on power up i s functioning properly I f you need t o erase a l l contents i n the EEPROM t h...
Page 11: ...ntact the factory a t 1 800 358 9068 f o r a return materials authorization number RMA number 4 Package u n i t i n o r i g i n a l package o r equivalent protection f o r shipment Include a note i n...
Page 12: ...upply D E l e c t r i c a l n o i s e D Return u n i t E Processor f a u l t F Return u n i t NO MOTION IMPROPER MOTION See S e c t i o n 2 3 1 See Section 2 3 2 A Limit switches A T e s t program B R...
Page 13: ...120 VAC LINE NEUT GND AC LINE 240 VAC BL A t NEUT h HITE AC CIiD GREEN 240 VAC Figure 1 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 14: ...Ah D J U W E R S CIRCUIT BOARD CONTAIKING INTERKAL D I P S V I T m E S Ah D 0 0 0 AC P O T R IKPUT JUHPER BLOCK I d AC PROTECTIVE S H I E L STATUS INDICATOR figure 1 4 Artisan Technology Group Quality...
Page 15: ...OFF OFF OFF OFF OFF OFF OFF OFF ON OFF OFF OFF OFF ON OFF ON OFF ON OFF ON OFF OFF OH OFF OFF Setting OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ON OFF ON OFF OFF ON OFF OFF OFF...
Page 16: ...999 L B I T S V O L T A G E S 431 S e t t i n g 8 6 6 6 6 I BITS 1 2 3 4 r 5 6 7 B 9 1C 1 1 12 13 14 1 V O L T A G E S JJ Jlf 2J 2iJio 10 3 f5 Figure 1 6 Figure 1 7 Artisan Technology Group Quality In...
Page 17: ...1200 BAUD 8 DATA BITS 2 STOP BITS 0 PARITY a3 i E 2 LBSOLDIg AND READY M Y NEED TO BE SWITCHED I HOST I igure 1 8 c 2 45 5 VOLfS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOU...
Page 18: ...m rrno oout sn a610 L m unn r m ZERO 1 8 1 sn TIQ r m m r m n m 1 5 rsvrvrr rrro 00501 c u m mnrrwm m m w511 mmz rruoI m A N nnrrenrL mvr IWYI r u c m L N M I Iu usarm m r 1 5 3 1 m m r nmm rm rrel cn...
Page 19: ...ual ADDENDUM 4 3 0 NEW COMMANDS PIN 88 006 140 02 Rrlor Hannlfln Corpontion Conpnmr Division 1179 N MCcOaell Blvd W u m a C494952 US4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88...
Page 20: ...Supplement to Colapumotor Model 430 Operator s Manual Nev Commands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 21: ...and is listed below Some of the default parameters listed are read from teh internal configuration switches some are stored in permanentmemory Each except Ba input polarity may be altered by the comna...
Page 22: ...s which s e r v o algorithm i s used t o cal c u l a t e position correction v e l o c i t y See Section 6 8 11 7 MAX C O R R VEL This parameter determines the maximum l i m i t on position cor r e c...
Page 23: ...n the encoder response before t h e indexer determines t h a t t h e motor has s t a l l e d See Section 6 8 10 18 ROTOR TEETA This parameter provides information on motor c h a r a c t e r i s t i c...
Page 24: ...nd a c c e l e r a t i o n i n t h a t order See Section 6 4 27 CURRENT V 6 A This parameter indicates the current r a t e s f o r subsequent defined moves o r the d e f a u l t move including v e l o...
Page 25: ...eration Deceleration Range 2 5 2 4 Analysis of Your Application 2 6 2 4 1 Analytic Approach 2 8 2 4 2 Experimental Approach 2 8 2 5 Equipment Configuration Alternatives 2 9 2 5 1 Simplest Configuratio...
Page 26: ...8 3 33 3 7 7 GO HOME Direc tion SW5 1 3 34 3 7 8 Open Loop HONl Limit Signal Edge SW5 2 3 34 3 7 9 Open Loop HOFE Limit Signal Polarity SW5 3 3 34 3 7 10 B i t 0 t o 16 Polarity SW5 4 3 34 3 7 11 Posi...
Page 27: ...5 2 5 2 2 S e r i a l I n t w f a c e Inputs 5 4 5 2 3 P a r a l l e l Interface Input8 5 4 5 2 4 Discrete Inputs 5 4 5 2 6 Motor Drive Outputs 5 7 5 2 7 U t i l i t y Outputs 5 7 5 3 Basic Methods o...
Page 28: ...6 6 2 Single Move Definition and Execution Commands 6 30 6 6 3 Execute Predefined Move Commands 6 32 6 6 4 Continue Commands 6 34 Stop o r Pause Commands 6 35 6 7 1 Stop and Wait Commands 6 36 6 7 2 S...
Page 29: ...cal Index of 430 BCD Commands 6 71 Appendix A Programming t h e Model 430 with t h e Model 431 A 1 Appendix B Diagnostic Program B 1 Appendix C Jumper Location And 1dentifica tion C 1 LIST OF TABLES T...
Page 30: ...n 3 15 Model 431 Model 430 Interconnection 3 18 Typical Programmable Controller Connection 3 20 Wiring f o r S e r i a l Communications 3 22 Typical Model 430flncoder Interface 3 24 Optically Isolated...
Page 31: ...t i c u l a r Compumotor motor drive used a s i n g l e r e v o l u t i o n can be subdivided i n t o 1 000 4 096 21 600 25 000 25 400 36 000 o r 50 000 i n d i v i d u a l steps Using t h e Indexer y...
Page 32: ...POWER INPUT JUMPER BLOCK AND SHIELD INPUT OUTPUT ERMINAL STRIP Figure 1 1 Model 430 Indexer 1 2 FUSES STATUS INDICATION Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www ar...
Page 33: ...i c a l l y d e s i g n e d f o r i n d u s t r i a l a p p l i c a t i o n s in noisy e l e c t r i c a l environments The u n i t is mounted i n a rugged enclosure A l l connections and ind cators a...
Page 34: ...15 sequences Different input l i n e s see section 3 6 a r e used to s e l e c t preprogrammed moves and sequences A sequence consi sts of a combination of moves and o t h e r com mands such as loops...
Page 35: ...conneat t o t h e Indexer p a r a l l e l i n t e r f a c e 1 4 SPECIFICATIONS Performance e l e c t r i c a l environmental and mechanical s p e c i f i c a t i o n s a r e p r e s e n t e d i n T a...
Page 36: ...Figure 1 2 Model 431 Input Panel 1 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 37: ...y 100 130 VAC i n p u t 220 240 VAC i n p u t 50 60 Hertz 0 8 Amps maximum 0 4 Amps maximum Table 1 2 430 S e r i e s Mechanical and Environmental S p e c i f i c a t i o n s Parameter S i z e Height...
Page 38: ...otor drive o p t i o n s ranging from 1 000 t o 50 000 s t e p z r e v f o r y o u r a p p l i c a t i o n B o t h t h e s i z e and t h e r e s o l u t i o n o f t h e Compumotor motor drive must be...
Page 39: ...o w o p e r a t i o n w i t h i n t h e t o r q u e l i m i t s of t h e motor A margin of 50 t o 100 percent of normal load t o r q u e r e q u i r e m e n t s is recommended I f t h e s e l e c t e...
Page 40: ...CITY I f DESIRED VELOCITY HIGH RATE FOR LIGHT LOADS LOW INEXTIA HEAVY LOADS HIGH INERTIA t I I TIME TO REACH l j FULL SPEED TIME B INDEXER CAPABILITY F i g u r e 2 1 Velocity Buildup Artisan Technolog...
Page 41: ...DECELERATE SHAFT ROTATIONAL VELOCITY t TIME A TRAPEZOIDAL MOTION PATTERN TIME B TRIANGULAR MOTION PATTERN Figure 2 2 Motion P r o f i l e s 2 4 Artisan Technology Group Quality Instrumentation Guarant...
Page 42: ...t h e a o t o r d r i v e used w i t h t h e Indexer Table Table 2 1 Resolution Per Step Motor Resolution s t e p s h e v Equivalent Value Per Step p a r t of rev min o f a r c Rounded v a l u e s 2 3...
Page 43: ...o p e r p o s i t i o n i n g of t h e load d e s p i t e any gear play o r f r i c t i o n e f f e c t s o f t h e mechanical t r a n s m i s s i o n between t h e motor and t h e load b You can use...
Page 44: ...CTION MOTOR SHAFT COUPLING MOTOR S I Z I N G ACCELERATION DECELERATION MAX VELOCITY ANGULAR P O S I T I O N MOTION MODE MOTION PATTERN Figure 2 3 Basic Elements t o Be Analyzed Artisan Technology Grou...
Page 45: ...c e l e r a t i o n v e l o c i t y and p o s i t i o n y o u r a n a l y s i s m u s t i n c l u d e a d e f i n i t i o n of any g e a r play coupling e f f e c t s t r a n s m i s s i o n e l a s t...
Page 46: ...erformance 2 5 1 SIMPLEST CONFIGURATION The simplest conf1guratio n Figure 2 6 consists of a b a s i c Indexer and a Compumotor motor drive connected t o a load 2 5 2 LIMIT SWITCHES L i m i t s w i t...
Page 47: ...ple lasume d t n t a l 23 000 steps t total 2 75 second3 Figure 2 4 Velocity and Acceleration Triangular Move P r o f i l e 2 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOUR...
Page 48: ...Velocity s e t t o 3 75 rev sec r d Di3tancc set to 19 65 revolution ta 3 75 seconds Vav A v e n g e velocity i n period ta 3 75 2 1 875 t x Vavg 3 75 x 1 875 7 03125 revolution td ta thcrerore distan...
Page 49: ...ONTROLS CONTROL INPUTS v AC BASIC POWER INDEXER OUTPUT PULSES AC I DRIVER I POWER 7 I I I I I 1 I I PULSES I I I I v COUPLING I I I I I h I I I MOTOR DRIVE MOTOR YECHANICAL Artisan Technology Group Qu...
Page 50: ...INDEXER MOTOR DRIVE I I I I COUNTER I CLOCKWISE I CLOCKWISE CW LIMIT Figure 2 7 Limit Switch I n p u t Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 51: ...OLS E l MECHANICAL T INCRFMENTAL OPTICAL ENCODER F i g u r e 2 8 A d d i t i o n of P o s i t i o n Tracking 2 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisant...
Page 52: ...a l l e d 2 5 5 MULTIPLE FUNCTION ASSEMBLIES Multiple f u n c t i o n a s s e m b l i e s a r e a l s o a v a i l a b l e Some s p e c i f i c examples a r e a Basic Indexer plus power supply plus d...
Page 53: ...R OR COMPUTER I INDEXER MOTOR DRIVE I COMBINED INTO ONE ASSEMBLY ON SOME MODELS F i g u r e 2 9 Indexer C o n t r o l l e d by P r o g r a m a b l e C o n t r o l l e d C o m p u t e r Artisan Technol...
Page 54: ...o n s i b l e f o r in t r a n s i t damage Unpack t h e shipping c a r t o n and i n s p e c t t h e Indexer f o r any damage c r a c k s b r o k e n p a r t s o r damaged c a b l e s S a v e t h e p...
Page 55: ...upplied with t h e motor drive and proceed a s follows I n s t a l l t h e c a b l e l e a d s on t h e Indexer t e r m i n a l s p e r Figure 3 1 Connect t h e c a b l e s h i e l d t o c h a s s i s...
Page 56: ...ANEL 7 NOTE DRAWING NOT TO SCALE D R I V E R COLOR P I N NO R E 0 61 B 0 GREEN A Figure 3 1 Connection of Indexer to Motor Drive 3 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88...
Page 57: ...setting Remove p r o t e c t i v e cover Figure 3 1 over the AC jumper block Connect a l i n e cord t o the AC jumper block a s i n Figure 3 1 Place t h e protect ive cover Figure 3 1 over the AC jum...
Page 58: ...o r 240 V A C operation Adding t h e jumper f o r 100 o r 220 VAC o p e r a t i o n does nothing NOTE THIS APPLIES TO UNITS WITH SERIAL NUPEERS 553 AND HIGHER DO N O T USE THE 100 220 JUKPER ON UNITS...
Page 59: ...h e v e l o c i t y a c c e l e r a t i o n and d i s t a n c e v a l u e s a c h i e v e d may be d i f f e r e n t from t h o s e d e s c r i b e d i n S e c t i o n s 3 5 1 th rough 3 5 4 3 5 1 PO...
Page 60: ...TAINING INTERNAL D I P SWITCHES AND JUMPERS AC POWER INPUT JUMPER BL OCK STATUS INDICATOR If your 430 has jumpers and not switches refer t o Appendix C Figure 3 3 Model 430 Indexer I n t e r n a l D I...
Page 61: ...Table 3 1 Model 430 Factory DIP Switch and Jumper Settings REV C 3 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 62: ...t h e same speed reached i n Test 1 3 5 4 TEST 3 PRESET MOVE a Move t h e temporary c o n n e c t i o n from Terminal 36 t o Terminal 37 PRESET b Momentarily ground t h e START t e r m i n a l The mo...
Page 63: ...or c i r c u i t s e x h i b i t t h e proper c u r r e n t s i n k i n g c h a r a c t e r i s t i c s The 430 i n p u t s can be d r i v e n by s w i t c h i n g them t o ground o r s i n k i n g a...
Page 64: ...d by high f o r a t l e a s t 2 m i l l i s e c o n d s GROUND JOG JOG O U T DISABLE SHUTWWN STOP GO H O M E START H O M E LIMIT DIRECTION PRESET ABSOLUTE TRIGGER 2 TRIGGER 3 Low f o r a t l e a s t 2...
Page 65: ...PLY MAXIMUM VOLTAGE FOR LOW 0 6 VDC MINIMJM VOLTAGE FOR HIGH 3 0 VDC Figure 3 4 O p t i c a l l y Isolated I n p u t s 3 12 I 5 VOLTS TERMINAL 45 I I I I BLOCKING I DIODE 7 4 7 Artisan Technology Grou...
Page 66: ...T 0 through BIT 15 when t he input goes a c t i v e A response l a g of up t o 2 m i l l i s e c o n d s is possible T e r m i n a l 29 OUT DISABLE Causes t h e f o u r 430 o u t p u t s t a t u s b i...
Page 67: ...M O V E with that number assigned is stored i n working memory a low s i g n s 1 on t h i s i n p u t w i l l i n i t i a t e t h a t PREDEFINED NOVE I n t h i s mode t h e s t a t e of T e r m i n a...
Page 68: ...MOUNTING FLANGE Figure 3 5 Direction of Rotation Determination 3 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 69: ...m p o r a r y jumpers i n s t a l l e d on Terminals 42 and 43 A h i g h s i g n a l on one o f t h e s e i n p u t s w i l l p r e v e n t r o t a t i o n i n t h e i n d i c a t e d d i r e c t i o...
Page 70: ...p u t may be used i n c o n j u n c t i o n wlth t h e Encoder Z channel index signal i f necessary t o s e l e c t one of multiple index s i g n a l s of the Encoder Refer t o section 6 8 6 f o r add...
Page 71: ...t The 16 d a t a i n p u t s c o n s t i t u t e a d a t a word The s t r o b e i n p u t s which a r e always a c t i v e low a r e used t o e n t e r a word i n t o 430 memory The o p t i o n a l Mo...
Page 72: ...BIT 4 5 B I T 5 1 BIT 6 3 BIT 7 1 B I T 8 1 0 B I T 9 I1 B I T 1 0 I 2 BIT 11 13 B I T 1 2 1 4 B I T 1 3 15 B I T 14 1 6 B I T 1 5 17 m W N D STROBE 18 DATA STROBE 1 1 9 DATA STROBE 2 O DATA STROBE 3...
Page 73: ...owe ver t h e I n d e x e r is n o t a b l e t o r e c e i v e t h e commands at t h e maximum r a t e b I n t e r n a l p r o c e s s i n g o f command l i n e s r e q u i r e s a minimum delay o f 1...
Page 74: ...6 8 B I T 1 P B I T 8 0 B I T e i S I T 10 I BIT I 1 1 S I T I 1 i B I T I1 5 B I T 1 6 b BIT I S I m o srraac I 8 DATA S M I L 1 1 9 D A A i n 0 8 L I ZO OAT ITXOBL I Z I O A s n o u L 1 2 c om F i...
Page 75: ...ce is configured i n the f u l l duplex mode transmitted characters w i l l n o t be d i s p l a y e d u n t i l they a r e echoed from t h e I n t e x e r T h i s s e r v e s a s a u s e f u l indica...
Page 76: ...lTEAND READY HAY NEED T O BE SWITCHED M O D E L 430 INDEXER 430 22 c m 28 READY 33 STOP 35 START 38 ABSOLUTE 45 5 VOLTS 46 PULLUPS Figure 3 8 Wiring f o r S e r i a l Communications REV C Artisan Tech...
Page 77: ...e START and STOP inputs t o GROWD see section 3 6 2 1 A t t h i s point the Indexer w i l l echo characters t h a t a r e sent t o it E x i t i n g t h e Serial I n p u t node To e x i t t h i s mode...
Page 78: ...INDEXER I CHANNEL Z I COMMON I SHIELD I 7 I MODEL 4 3 0 TERMINAL TO 45 RED YELLOW o r BROWN WHITE YELLOWo r WHITE BROWN BLUE or GREEN WHITEjBLUE o r WHIT GKEE ORANGE BLACK GREEN Figure 3 9 Typical Mo...
Page 79: ...xternal devices regulated DC I Open collector 40 V max 100 mA w i t h no pull lp sink Pulse width lhese a r e used is g r e a t e r than 10 t o drive non microseconds when Compumotor stepper operated...
Page 80: ...UNCTION 1 r F1 P I N 71 snp 1 Connect to 430 chassis FAULT RESET BLUE WKITE 11 BOOST BLACK 62 STEP RETURN dHITE 64 15 DIR RETURN 65 1 1 1 SHUTDOWN 1 YELLOW 66 SHUTDOWN RTN YELLOW WHI BOOST RTN REV C A...
Page 81: ...There is an 80 microse ond delay between the time the e r r o r occurs and the time the KRROR o u t u t becomes active Terminal 28 READY When active low indicates t h a t the Indexer is ready t o a c...
Page 82: ...5 VOLTS TERMINAL 46 INTERNAL 5 VDC SUPPLY EXTERNAL CIRCUITS INDEXER Figure 3 10 Optically 1 solated Outputs Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 83: ...power up d e f a u l t values f o r a number of operating parameters see Figure 3 3 Remove the left hand s i d e cover of the 430 4 screws t o a c c e s s t h e DIP s w i t c h e s and jumpers DIP s w...
Page 84: ...es are described i n sectionis 3 7 3 through 3 7 1 8 i n the same order as the l i s t i n g presented i n Table 3 4 REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www...
Page 85: ...u e I 5 3 D 1 o l d r t O N l i k tr e ncr l u r m D 5 t o 8 Least S i g n i f i c a n t D i g i t P o s i t i o n Data 1 t o 4 2th D i g i t P o s i t i o n Data 5 t o 8 3th D i g i t P o s i t i o n...
Page 86: ...n The d e c i m a l v a l u e o f t h e d i g i t i s t h e sum of t h e DIP switch v a l u e s For example assume t h a t DIP switches 1 1 1 2 1 3 a n d 1 4 d e f i n e a BCD d i g i t and a r e s e...
Page 87: ...ELERATION DATA LSD M S D POSITION DATA LSD 2nd Digit 3rd D i g i t 4th Digit 5th Digit 6th Digit M S D BCD Digit 1 DIP Switch Assignments ues 8 4 DIP 1 SW1 1 1 1 5 SW2 1 SW 5 I 1 SWL 1 sws 5 SW5 5 SWd...
Page 88: ...g Selected Value 1 ON 1 2 OFF 0 4 OFF 0 8 ON 8 Total 9 3 7 3 DEFAULT VELOCITY D A T A SW1 5 M 8 SW2 1 T O 8 SW3 1 T O 4 velocity x multiplier Equal t o t h e sum of f o u r IiCD d i g i t s d4 d3 d2 d...
Page 89: ...n s t e p s s e c s e c ACCELERATION DATA X ACCELERATION RANGE Settings a r e as follows Acceleration S W 3 Settings 3 7 6 ACCELERATION D A T A SW4 1 t o 8 x10 xl00 1 0 0 0 1 0 0 0 0 Equal t o t h e s...
Page 90: ...5 3 ON o r l o w t r u e SW5 3 OFF Refer t o s e c t i o n 6 5 2 f o r d e t a i l s 3 7 10 BIT 0 TO 16 POLARITY SW5 6 S i n g l e DIP s w i t c h t o s e l e c t h i g h t r u e 91 15 4 ON o r l o w...
Page 91: ...9 3 S i n g l e DI P switch used t o s e l e c t h i g h t r u e SW9 3 ON o r low t r u e SW9 3 OFF Refer t o s e c t i o n 6 3 2 3 7 15 RESERVED JUMPERS Kl 1 t o JU 5 Should be s e t a s follows JU 1...
Page 92: ...is used are a Encoder referenced positioning b Encoder position serving c Dynamic s t a l l detection d Move termination on s t a l l e Output s i g n a l ON Except f o r item e implementation of the...
Page 93: ...d motor s t e p s t o Encoder s t e p s would be changed a s shown below Encoder Direct 10 l Reducer between Mounted t o Mot or Motor and Encoder Number Encoder s t e p s seen revolution by Indexer pe...
Page 94: ...a d e s i g n a t e d Encoder position I n t h i s mode i t w i l l r e s i s t any spontaneous change i n i t s position when a t r e s t I f external forces cause the Encoder position t o change t...
Page 95: ...of a motor s t a l l I f the Encoder position deviates excessively from the desired position i n the course of a move the Indexer assumes the motor has s t a l l e d REV C Artisan Technology Group Qu...
Page 96: ...efault value is 0 The deadband compensation f e a t u r e allows mechanical systems with backlash i n the gear t r a i n t o use the S t a l l Detect and Position Loss Detection features I f a nonzero...
Page 97: ...ground Slowly r o t a t e t h e Encoder The v o l t a g e a t Channel A should switch between 0 and 5 volts Transfer the oscil loscope t o Channel B and repeat s t e p C I f any o f t h e t e s t p o...
Page 98: ...e c t i o n 4 3 Three programmed moves and one preprogrammed s e q u e n c e w e r e l o a d e d i n t o t h e Indexer a t t h e factory These moves and sequences which can be changed by t h e user a...
Page 99: ...i t s w i t c h i n p u t s a r e grounded b Turn on AC power t o t h e Indexer and t h e motor drive c S e t t h e BCD thumbwheels t o 0255 t o s e t up t h e d a t a word Note I f t h e Model 431 I...
Page 100: ...command has been used t h a t e r a s e d the program from permanent memory Moves 2 4 and 8 c a n be run a s p a r t of Sequence 8 s e c t i o n 4 3 2 o r i n d i v i d u a l l y s e c t i o n s 4 3...
Page 101: ...h e z e r o p o s i t i o n established a t t h e l a s t Indexer RESET or POWER UP Move a t a velocity of 150 000 steps 6 revs sec and an acceleration of 100 000 steps revs sec sec Sequence No 8 Mov...
Page 102: ...TBE TEST M W I T I O R a I f t h e move t e s t s above were not successful recheck t h e t e s t setup described i n section 4 2 1 b I f t h e t e s t s e t u p is c o r r e c t r e c a l l t h e t e...
Page 103: ...n the move i s complete i t can be repeated by grounding t h e START input again 4 3 4 MOVE NO 4 TEST a Transfer the temporary jumper from Terminal 2 t o Terminal 3 BIT 2 b Momentarily ground Terminal...
Page 104: ...u l t move would be a c a s e where a D i s c r e t e I n p u t was used A s e t o f commands is required t o use a l l of t h e 430 c a p a b i l i t y The term BCD Command is used t o i d e n t i f...
Page 105: ...f o r p o s i t i o n t r a c k i n g D i r e c t i o n and Z ch anne1 p o l a r i t y can be changed w i t h i n t e r n a l DIP s w i t c h e s s e e s e c t i o n 3 6 3 The f i r s t t w o i n p u...
Page 106: ...DEXER INDEXER OUTPUTS PROGRAMMING ON OFF 4 OUTPUTS TO COMPUMOTOR MOTOR DRIVES OUTPUTS TO NON COMPUMOTOR STEPPER TRANSLATORS F i g u r e 5 1 B a s i c Command and Cont rol I n p u t O u t p u t F u n c...
Page 107: ...30 inputs 5 2 4 1 S t a r t a n d S t o p S h a f t Motion START T e r m i n a l 35 and STOP T e r m i n a l 33 REV C I n i t i a t e Default Move I f the s i g n a l s on Terminals 1 t o 16 e q u a l...
Page 108: ...e w i l l be CONTINUOUS I f i n p u t grounded low t h e motor s h a f t w i l l move a p r e s e t d i s t a n c e whose v a l u e i s s e t by t h e d e f a u l t parameters A B S O L U T E I f ungr...
Page 109: ...and d a t a i n p u t s Terminals 1 through 16 No a c t i o n w i l l occur i f t h e preprogramed sequence i s not s t o r e d i n working menory 5 2 4 7 GO HOME T e r a t n a l 34 I f i n p u t g r...
Page 110: ...h 66 c a r r y t h e s i g n a l s t o d r i v e Compumotor motor drives These o u t p u t s may be configured f o r single ended o r d i f f e r e n t i a l o u t p u t s if a Compumotor m o t o r d...
Page 111: ...med Operation does n o t take f u l l advantage of t h e 430 c a p a b i l i t i e s 5 3 2 PREPROGRAMMED OPERATION The I n d e x e r can be prepr3grammed f o r m u l t i p l e moves Preprogrammed O p...
Page 112: ...OF TRAVEL LIMIT SWITCH I p LOAD ACTIVATED SWITCHES JOG RUN SEQUENCE STOP MOTOR G0 HOME POWER SUPPLY LIMIT OUTPUT CONTROL ULAY I INPUT SIGNAL RELAY I MACHINE I N C 7 A7 GROUND F i g u r e 5 2 A p p l...
Page 113: ...executing previously programmed commands Dynamically Programmed Operation a l l o w s f u l l use of t h e 430 c a p a b i l i t i e s and has t h e p o t e n t i a l f o r i n t e r a c t i v e on l...
Page 114: ...p u t can have o n l y one o f two states such a s csn off o r zero one Each b i t i s assigned t h e value o f z e r o o r OFF when i n a c t i v e OFF and a s p e c i f i c BCD value when a c t i v...
Page 115: ...s t Automatic Recall S t a t u s Closed Loop Setup Parameters Closed Loop Setup Parameters Jog Acceleration Velocity Jog Acceleration Velocity Go Home Acceleration Velocity I h Home Acceleration Veloc...
Page 116: ...y t h e 430 t r a n s f e r s t h e c o n t e n t s o f t h e r e g i s t e r s i n t o working memory f o r f u r t h e r p r o c e s s i n g E x t e r n a l l y g e n e r a t e d commands c a n be e...
Page 117: ...s t e n t s y s t e m a t i c procedure f o r t h e e n t r y of d a t a words is recommended The form shown i n F i g u r e 5 5 c a n be u s e d t o a s s i s t you i n t h i s process When t h e Com...
Page 118: ...S Command Strobe 1 Data robe 1 Data Strobe 2 Data Strobe 3 20 Data Strobe 4 21 430 Terminal No 1 2 3 4 Figure 5 4 P a r a l l e l I n t e r f a c e 5 15 5 L BIT 9 BIT 10 BIT 11 MOST BIT 12 SIGNIFICANT...
Page 119: ...uired d a t a f o r each c o m a n d below Command Name D a t a Reg 1 Data Reg 2 Ats Reg 3 Data Reg 4 Command No Figure 5 5 Indexer Comand Language Sheet Artisan Technology Group Quality Instrumentati...
Page 120: ...n t h e range of 0 t o 9 999 The l e a d i n g 0 s need not be entered For example 0004 would be e n t e r e d a s 4 a n d 0240 would be e n t e r e d a s 240 D a t a w o r d s f o r e a c h r e g i s...
Page 121: ...e generating storing and t r a n s m i t t i n g progpams f o r the 430 Programs sent by a computer must incorporate a 10 millisecond delay between commands t o give t h e 430 time t o process them T...
Page 122: ...i a t h e s e r i a l i n t e r f a c e Activate t h e s e r i a l i n t e r f a c e Enter t h e following command l i n e 0 1 0 0 293 CR 0000293 Function OFF d To e n t e r t h e RECALL PROGRAM FRONU...
Page 123: ...s you want t o make using t h e Model 431 Input Panel o r t h e s e r i a l i n t e r f a c e h t e r t h e SAVE PROGRAM command 0292 plus CND STB vi a 431 0 0 0 0 292 CR vi a s e r i a l i n t e r f...
Page 124: ...AVE PROGRAM command a s noted above Not e If you i n a d v e r t e n t l y l o s e programs through t h e use of SAVE PROGPAU you w i l l have t o r e e n t e r t h e l o s t infcsrmation i n t o work...
Page 125: ...d i n summary form i n s e c t i o n 6 2 i n t h e t a b l e s i n d i c a t e d above Each t a b l e r e f e r e n c e s t h e s e c t i o n t h a t d e s c r i b e s the l i s t e d command in d e t...
Page 126: ...r than a value between 0 and 9 Note To conserve s p a c e a n abbreviated form o f t h i s n o t a t i o n is used i n Tables 6 1 through 6 7 I n t h e example above t h e n o t a t i o n would be sh...
Page 127: ...h e summary command t a b l e s IMMEDIATE P r i o r i t y commands t h a t a r e i m m e d i a t e l y e x e c u t e d whenever they a r e entered v i a t h e P a r a l l e l I n t e r f a c e When t...
Page 128: ...r o f a s s o c i a t e d commands e g h 0200 t o 0213 Shown i n abbreviated form i n Tables 6 1 through 6 7 e g D o Seq Figure 6 1 Conventions Used t o Describe 430 BCD Conmands Each t a b l e p r e...
Page 129: ...I rVALUE OR CHOICE TO BE ENTERED T a b l e 6 5 v rSPECIFIC DATA M BE ENTERED INDICATES DEPENDENCY ON OTHER COMMANDS 0 INDICATES DATA WORDS ENTRY REQUIRED i COMMAND ATTRIBUTES F i g u r e 6 2 E x p l...
Page 130: ...Table 6 1 Shaft Motion Setup Commands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 131: ...Table 6 1 Shaft Motion Setup Commands Continued Table 6 2 Position Definition Commands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 132: ...Table 6 3 Execute o r Continue Commands m r 1 n u b r or n 0 s t 65 535 EErCLIIE LOOP UMTL mlrxm Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 133: ...a b l e 6 5 P o s i t i o n T r a c k i n g Commands C o n t i n u e d R e q u i r e u s e of a n Encoder v C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg co...
Page 134: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 135: ...Table 6 7 General Purpose Commands REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 136: ...T a b l e 6 7 G e n e r a l Purpose Commands C o n t i n u e d REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 137: ...h e r e g i s t e r a r e 0 o r 1 T h i s requirement is h i g h l i g h t e d i n the command d e s c r i p t i o n l i n e by t h e d a t a word n o t a t i o n 000b I f t h e d a t a word d i g i t...
Page 138: ...VELOCITY 0261 WW OOdddddddddd IHNEDIATE SEQUENIIAL 1 Nmber of D a t a Wards 4 LIMIT OF R1 VALUE J R1 0006 v e l o c i t y range 1 t o 5 INTERPRETATION OF VALUE OF R1 Maximum V e l o c i t y V e l o c...
Page 139: ...l approach d i r e c t i o n w i l l not be reversed and t h e f i n a l s t o p p i n g p o s i t i o n w i l l be on t h e same s i d e of t h e HOME l i m i t s i g n a l a s o r i g i n a l l y d...
Page 140: ...R4 OOdd dddd dddd v e l o c i t y u n i t s R1 OOOd v e l o c i t y range 0 t o 5 I f a n i n v a l i d v e l o c i t y r a n g e is s p e c i f i e d t h e command i s i g n o r e d Range z e r o i...
Page 141: ...a 1 000 s t e p p e r r e v o l u t i o n d r i v e w i t h a top speed of 1800 R P M 30 rev sec which r e q u i r e s a 5 microsec s t e p p u l s e width I n o r d e r t o g e n e r a t e a move a t...
Page 142: ...l e r a t i o n d e f i n e d by t h i s command w i l l o n l y a p p l y t o moves d e f i n e d a f t e r t h i s command i s i n v o k e d Moves d e f i n e d b e f o r e t h i s command i s i s s...
Page 143: ...JOG v e l o c i t y i s defined a t power on t o be 2 500 s t e p s per second s l o w 6 4 6 SET JOG ACCELERATION 0282 00Cd OOdddddddddd IMMEDIATE SEQUENTIAL Number of Data words 4 Rl OOOd a c c e l...
Page 144: ...o r t h e range FUNCTION T h i s command d e f i n e s t h e GO H O M E v e l o c i t y which i s used by t h e GO HOME and GO TO CLOSED LOOP HOME commands Commands 0057 a n d 0058 a n d t h e GO BOM...
Page 145: ...M ZERO 0046 OWddddddddd IMMEDIATE SEQUENTIAL Number of Data Words 3 R2 R3 R4 000d dddd dddd Number of clockwise steps from zero OlOd dddd dddd Number of counterclockwise steps from zero 1 to 134 217 7...
Page 146: ...losed loop operation Note The absolute zero position and t h e position of t h e H O M E l i m i t s v i t c h a r e two independent locations and o n l y coincide i f f i r s t a GO H O M E command C...
Page 147: ...d r e q u i r e s a low speed The r e p e a t a b i l i t y of t h e HONE p o s i t i o n i s r e l a t e d t o the Edge Approach Velocity A lower Edge Approach Velocity y i e l d s a more repeatable...
Page 148: ...ge is d e f i n e d as t h e clockwise edge I f t h e I n d e x e r i s p e r f o r m i n g a c l o s e d l o o p GO HOME t h e e d g e d e f i n i t i o n g i v e n by b2 is i g n o r e d I n s t e a...
Page 149: ...gure 6 4 Active Low and Active High HOME I n p u t s I I CLOCKWISE LIMIT COUNTERCLOCKWISE LIMIT I t I I I I I I I I I 1 i I I I I CLOCKWISE EDGE COUNTERCLOCKWISE EDGE Figure 6 5 Active High S i g n a...
Page 150: ...the HONE position w i l l be performed a t the specified percent of d e f a u l t v e l o c i t y defined i n R1 i n the specified absolute d i r e c t i o n defined i n R2 These commands a r e summa...
Page 151: ...1 I N I T I A L SEARCH CONSTANT VELOCITY 2 3 DECELERATION OVERSHOOT VELOCITY ACTIVE HOME EDGE ACCELERATING DECELERATING Figure 6 6 Homing Cycle 6 29 Artisan Technology Group Quality Instrumentation Gu...
Page 152: ...d 00411 section 6 7 1 2 6 6 1 2 EXECUTE LOOP UNTIL CONTINUE 0033 0ddd SEQUENTIAL Number of Data Words 1 R1 Oddd number of commands to be repeated 1 to 255 FUNCTION This command can be used only in a P...
Page 153: ...nterclockwise move 1 to 2 147 483 647 steps FUNCTION This command executes a move of a number of steps at the velocity and acceleration defined by Commands 0261 and 0262 The direction of the move is d...
Page 154: ...6 3 1 EXECUTE GO R O M E 0057 000b DOMINANT SEQUENTIAL Number of Data Words 1 R2 0000 i n i t i a l search d i r e c t i o n clockwise 0001 i n i t i a l search d i r e c t i o n counterclockwise FUN...
Page 155: ...pped f o r t h i s command t o be executed 6 6 3 3 EXECUTE A PREDEFINED SEQUENCE 00651 00ddd DOMINANT Number of Data Words 1 R1 OOdd PREDEFINED SEQUENCE number 1 t o 15 FUNCTION T h i s command c a u...
Page 156: ...r by d r i v i n g t h e RESET i n p u t low 6 6 3 5 EXECUTE CONTINUOUS M O V E USING THE JOG PARAMETERS C02831 000b WMINANT SEQUENTIAL Number of Data Words 1 R2 0000 clockwise move 0001 c o u n t e...
Page 157: ...Wait for a Trigger 0044 6 7 1 5 Suspend Sequence Wait for Continue O114 6 7 1 6 Suspend Sequence on Trigger 1 Wait for Continue OllS 6 7 1 7 b STOP Motion Commands 6 7 2 Stop Motion 0112 6 7 2 1 Disc...
Page 158: ...n t i l a CONTINUE command is issued 6 7 1 2 WAIT N MILLISECONDS 0041 00dddddddddd SEQUENTIAL Number of Data Words 3 R2 R 3 R4 OOdd dddd dddd t h e number o f m i l l i s e c o n d s 1 t o 4 294 967 2...
Page 159: ...l be ignored 6 7 1 5 WAIT F O R A TRIGGEX 0044 000d 000b DELAYED ACTION SEQUENTIAL Number o f Data Words 2 R1 OOOd number o f t h e TRIGGER i n p u t 1 t o 3 R2 0000 a c t i v e s t a t e o f t h e T...
Page 160: ...e x e c u t i o n i s s u s p e n d e d u n t i l a CONTINUE command Command 0072 i s received The Indexer completes execution of its c u r r e n t command and t h e n waits Upon r e c e i p t of a CO...
Page 161: ...msec TRIGGER 2 o r 3 HIGH ACTIVE LOW LOW I I I I 4 msec minimum I I I I I HIGH I I ACTIVE H I G H LOW Figure 6 7 Trigger Signal I n p u t s Artisan Technology Group Quality Instrumentation Guaranteed...
Page 162: ...STOP motion f u n c t i o n i s d i s a b l e d This command i s used t o s t o p e x e c u t i o n of a PREDEFINED SEQUENCE u n t i l a subsequent CORTINUE command is issued I f t h e PREDEFINED SEQ...
Page 163: ...executing a PREDEFINED SEQUENCE the next step in the sequence will be executed Only one function may be assigned to a given TRIGGER input at a given time For example if TRIGGER 1 has already been ini...
Page 164: ...e r a t i o n t o zero velocity The a c t i o n of t h e TRIGGER is e q u i v a l e n t t o h i t t i n g a l i m i t switch I f no TRIGGER is received e x e c u t i o n of commands continues Followi...
Page 165: ...e i s c a l c u l a t e d i n t e r n a l l y by multiplying the move d i s t a n c e i n p o s t q u a d r a t u r e e n c o d e r s t e p s t i m e s t h e m o t o r r e s o l u t i o n t o encoder...
Page 166: ...re not detected if Commands 0015 or 0025 have not been issued 6 8 0 3 POSITION MAINTENANCE This causes the 430 to maintain the motor s desired position With position maintenance enabled should the mot...
Page 167: ...0001 activate FUNCTION This command turns post move Position Maintenance ON or OFF After power up or RESET this function is OFF unless the RECALL PROGRAM FROM MEMORY ON POWER UP function is activated...
Page 168: ...KINATION ON STALL DETECT 0025 000b IMMEDIATE SEQUENTIAL SAVED N u m b e r o f Data Words 1 R2 0000 deactivate 0001 activate REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOU...
Page 169: ...alled during a PRESET move when the Indexer has put out the nominal number of motor pulses it wi 1 1 check the Encoder position and detect the discrepancy At that point it will move at the Maximum Cor...
Page 170: ...dddddddd DOMINANT SEQUENTIAL Number of Data Words 3 R2 R3 R4 OOdd dddd dddd clockwise move i n encoder s t e p s Oldd dddd dddd counterclockwise move i n encoder s t e p s 1 t o 2 147 483 647 steps Th...
Page 171: ...atio of motor resolution to encoder resolution used with Command 01761 Note Theinternal quadrature detector will multiply the normal output of the Encoder by four FUNCTION This command executes a move...
Page 172: ...BOMB L I M I T i n p u t is a c t i v e on a c l o s e d l o o p homing o p e r a t i o n and may be combined w i t h t h e Z CHANNEL index signal as a means t o s e l e c t o n e of m u l t i p l e i...
Page 173: ...st be output to get back one encoder step If that whole number includes a fraction it must be expressed as a ratio of whole numbers This ratio must be defined for the Indexer to be able to execute any...
Page 174: ...Enco ler f o r t h e P o s i t i o n Maintenance function t o work I n t h i s operating mode t h e s y s t e m r e s o l u t i o n w i l l be s e t by the Encoder 6 8 9 DEFINE M O T O R RESOLUTION 01...
Page 175: ...deadband region It is the number of motor steps required to get the load moving again following a change of motor direction The default value for backlash deadband is 0 6 8 1 1 DEFINE POSITION MAINTE...
Page 176: ...K is 10 The first d i g i t of R 2 d12 is the velocity range number Default 1 d121 units Steps Sec Velocity Steps sec Steps lO sec Steps 100 sec Step 1000 s e c S t e p s h i n S t e s l 2s e c Maximu...
Page 177: ...sition with respect to encoder position It is used exclusively with Command 0015 Turn ON OFF output on condition for the purpose of generating a signal when this condition occurs This parameter and th...
Page 178: ...gular Acceleration and v e l o c i t y parameters a r e e s t a b l i s h e d using Commands 0261 and 0262 or by d e f a u l t s e t t i n g s of t h e i n t e r n a l DIP switches T h i s command p r...
Page 179: ...i n encoder s t e p s This number 9 999 999 999 represents a t h e o r e t i c a l maximum I n f a c t i t is the number of motor s t e p s t h a t may not exceed t h i s value Consequently t o deter...
Page 180: ...BAMIIAG ARD STORX COWUNDS The Programming and S t o r e commands a r e summarized i n T a b l e 6 6 These commands can be grouped a s follows a DEFINED MOVE Commands 0200 0203 102061 0215 6 9 1 b PRED...
Page 181: ...arameters a r e e s t a b l i s h e d using Commands 0261 and 0262 or by d e f a u l t s e t t i n g s of t h e i n t e r n a l DIP switches T h i s command p r e d e f i n e s a move which may be e x...
Page 182: ...tion will occur at the same rate in time to allow stopping at the designated position If the distance is too short the profile will be triangular Acceleration and velocity parameters are established u...
Page 183: ...n t t h e Indexer w i l l accept a new CONTINUOUS M O V E command t o change speed 6 9 1 4 DELETE A M O V E C02151 00dd IMMEDIATE Number of Data Words 1 Rl OOdd move number t o d e l e t e 1 t o 40 F...
Page 184: ...a n d i d a t e f o r t h e sequence except END THE SEQUENCE DEFINITION and PERFORM THE TEST MOVE Commands C02161 and 0255 A l l o t h e r commands e n t e r e d f o l l o w i n g t h i s one a r e n...
Page 185: ...e n t memory The f o l l o w i n g i n f o r m a t i o n i s s a v e d by t h i s command SH rrWME input enabled o r d i s a b l e d Command C00191 D i r e c t i o n D e f i n i t i o n normal o r re...
Page 186: ...information in memory at the time the last SAVE command was issued will be restored The information loaded by this command is detailed in the description of the SAVE PROGRAM command Command 02911 This...
Page 187: ...st S A V E command was issued will be restored The information loaded by this command is detailed in the description of the SAVE PROGRAM command Command 02911 above REV C Artisan Technology Group Qual...
Page 188: ...ocity 0 Command C02141 Current velocity and acceleration i n t e r n a l DIP switches Command C02611 02621 J O G velocity and acceleration 2 500 max Command C02811 C02821 Refer t o s e c t i o n 3 7 f...
Page 189: ...t e s w h i c h o u t p u t i s t o be s e t OFF Any number o t h e r t h a n 0001 o r 0002 i s considered i n c o r r e c t and t h e command w i l l be ignored 6 1 0 2 3 TURN ON OFF BOTH OUTPUTS C...
Page 190: ...o o p deadband 0008 Turn on out put on s t a l l R2 S i g n a l P o l a r i t y 0000 Active high 0001 Active low R3 Output S e l e c t i o n 0001 OUT1 is used 0002 OUT2 i s used FUNCTION T h i s comm...
Page 191: ...e i n p u t SHUTDOWN Terminal 32 The d i s c r e t e i n p u t can t h e n be used t o t u r n t h e motor current ON and OFF o r b Use Command 0019 t o enable Command 00181 which d i s a b l e s the...
Page 192: ...e position implemented v i a the ABSOLUTg input i t s value must not exceed 134 217 728 steps FUNCTION T h i s command w i l l d e f i n e a d e f a u l t p o s i t i o n parameter i n motor s t e p s...
Page 193: ...i n a t i n g t h e n e e d t o a c t i v a t e t h e d a t a i n p u t s and a s s o c i a t e d s t r o b e s t o e f f e c t execution A f t e r t h e S P E C I A L i n p u t i s a s s i g n e d t...
Page 194: ...l 1 t h e i r parameters PREDEFINED SEQUENCES show a l i s t of t h e commands by number i n decimal w i t h a l l command parameters displayed i n hexadecimal notation The example below shows the out...
Page 195: ...ns Num Type Distance VR Velocity AR Acceleration SEQUENCE BUFFERS SEQUENCE BUFFER NUMHER 8 116 01 01 00 32 OA 00 05 REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www...
Page 196: ...REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 197: ...f o r more than 20 seconds Active cooling f o r motor and d r i v e should be implemented when BOOST is used 6 10 8 T U R N ON OFF AUTOMATIC BOOST 0029 000d IMMEDIATE SEQUENTIAL R2 0000 Disable AUTOMA...
Page 198: ...s w i l l cause Motor Drives which support GEARSHIFT such as Compumotor s P Drive t o change motor r e s o l u t i o n This is g e n e r a l l y used t o s e l e c t a high motor r e s o l u t i o n f...
Page 199: ...REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...
Page 200: ...XECLTE W HOE 0051l E O ELWP UNTIL r n N T I m Coo331 EXEC LOOP 00321 E a N T E PEWORU AN ABSOLUIE OVE 00521 EOCLTE PEWORU AN INCREKSNTAL WVE 00511 ESCJTE N T KNE 02551 KILL W I M ON TRIGGER 1 012Ul KI...
Page 201: ...X Y d m m m a 1 lVI33G M I Id do UUOd I 0 llV23UOYIV n E l K l ILIOYM mui urn oudnnor W V U m Y d 3AVS lllIlIY3l93V U O H 01 U S Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOUR...
Page 202: ...n t e r n a l DIP switch SW5 4 Plug the connector end of t h e supplied ribbon cable i n t o t h e appropriate c o n n e c t o r on t h e 431 Use t h e low t r u e c o n n e c t o r i f t h e r e is n...
Page 203: ...t h i s command This d a t a c o n s i s t s of a 12 digit long number t h a t s p e c i f i e s t h e d i r e c t i o n of t h e nlove and d i s t a n c e i n motor steps I n t h i s example t h e v...
Page 204: ...e t t o 0051 t h e Indexer w i l l repeat t h i s move each time t h e CHD STB switch is operated Example 2 Reverse the direction of motion selected i n Example 1 Changing t h e d i r e c t i o n c o...
Page 205: ...d a t a i n r e g i s t e r R3 from 0002 t o 0012 Set the thumbwheels t o W l 2 Press DS3 t o load t h i s number i n t o R3 The d a t a i n working memory is nov olopoolvooo I and the motor shaft w L...
Page 206: ...3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 BCD value Stmbe 0000 0000 0000 0000 0000 0000 0100 0000 load R3 t h i s cornland defines the acceleration parameter as 1 000 000 steps sec sec 0000 0000 0010...
Page 207: ...e Sequence 000 1 0000 0000 0000 load R1 t h i s conmand w i l l s t o p t h e motor and the Sequence on TRIGGER 1 001 1 0000 0000 0000 load R1 0011 0000 0005 0000 load 33 t h i s command s t a r t s a...
Page 208: ...on OUT 2 0002 0000 0000 0000 load R2 0002 0000 0002 0000 load R3 t h i s command causes a 2 second wait t h i s command turns off OUT 2 0001 0000 0002 0000 load R1 t h i s command turns o f f O U T 1...
Page 209: ...Ve1oci y Range n t u l t i p l i e r OFF XZ5 ON X250 ON JU22 3 Acceleration Range M u l t i p l i e r X 100 OFF JU23 t 2 A c c e l e r a t i o n Range M u l t i p l i e r X 1 000 ON JU24 I Accelerati...
Page 210: ...N Differential O FF Single ended OFF Reserved Out OFF Reserved Out OFF Reserved Out OFF Example Jumpers JU1 through JU4 represent one BCD d i g i t The following table indicates hov t o s e t them t o...
Page 211: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...
