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Summary of Contents for Compumotor AX

Page 1: ...nderutilized 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 In stock Ready to ship TAR certified secure asset solutions Expert team I Trust guarantee I 100 satisfaction All trademarks brand names and brands appearing herein are the property of their respective ow...

Page 2: ...Compumotor Division Parker Hannifin Corporation pin 88 006938 03 E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...apter 2 GETTING STARTED 5 Chapter Objectives 5 What You Should Have 5 Ship Kit Table 5 Basic System Configuration 6 InstallationLabel 6 Setting Drive Functions 6 Basc SystemWiring Diagram 8 Transformer Connections Optional 9 Motor Connections 10 Power Connections 10 Establish Communications 11 Powering up the System 12 DeactivateLimit Inputs 12 Testing the System 13 Chapter 3 INSTALLATION 1 5 Chap...

Page 4: ...3 Move Profiles 43 Move Times 45 Incremental vs Absolute Positioning Modes 46 Positional Accuracy vs Repeatability 48 Application Considerations 49 Mechanical Resonance 49 Ringing or Overshoot 49 Modes of Operation 50 Open Loop Operation 50 Closed Loop Operation 54 ProgramControl 61 Triggers 61 Delays 61 Loops 62 POBs Programmable Output Bits 63 Move CompletionSignal 63 Sequences 64 Stand alone Op...

Page 5: ...77 Current Settings 177 Address Settings 178 DimensionalDrawings 179 AX Drive and Fan Dimensions 179 Motor Dimensions 180 Torque Speed Curves 185 Special Motor Wiring 187 Wiring The 106 205 Motor 187 Wiring The 106 178 Motor 188 Chapter 7 MAINTENANCE TROUBLESHOOTING 1 8 9 Chapter Objectives 189 Maintenance 189 Spare Parts Table 189 Motor Maintenance 190 Drive Maintenance 190 Troubleshooting 190 Re...

Page 6: ... Trapezoidal Profile 44 Figure4 3 S Curve Profile 45 Figure 4 4 PLC Connections 74 Figure 4 5 AX DIP Switch and Tuning Pot Locations 79 Figure5 1 Command Example 81 Figure 6 1 AX Drive Pinoutsand Connectors 168 Figure 6 2 Optical IsolationCircuit 171 Figure 6 3 V O Wiring Diagram TestingOnly 172 Figure 6 4 Encoder I10Wiring Diagram 172 Figure 6 5 AX Encoder Connector I10Circuit Diagram 173 Figure ...

Page 7: ...s 80 AX EnvironmentalSpecifications 165 AX Drive S ecifications 166 Compumotor SuppliedMotor Specifications 167 Table 6 4 Encoder Pinout 169 Table 6 5 Interfaceand I 1 0 Specifications 170 Table 6 6 Encoder It0 Specifications 170 Table 6 7 Sequence Selection Table 171 Table 6 8 Dip Switch Functions 177 Table 6 9 Current Settingsfor Compumotor SuppliedMotors 177 Table 6 10 Motor Current Settings Fu...

Page 8: ... the product and a brief account of its specificfeatures This chapter contains a detailed list of items you should receive with your AX Drive shipment It will help you to become familiar with the system and ensure that each component functions properly You will learn how to configure the system properly in this chapter This chapter provides instructions for you to properly mount the system and mak...

Page 9: ...dversely affect solid state equipment Electrical noise and atmospheric contamination may also affect the AX Drive System Developing Your Before you attempt to develop and implement your Application application there are several issues that you should consider and address 1 Recognize and clarify the requirements of your application Clearly define what you expect the system to do 2 Assess your resou...

Page 10: ...ctions and used or become familiar with all of the system s features carefully read Chapter 3 Installation 6 Afteryou have read Chapter 3 and clearly understand what must be done to properly install the system you should begin the installation process Do not deviate from the sequence or installation methods provided 7 Beforeyou begin to customizeyour system check all of the system functions and fe...

Page 11: ...step motor s windings to provide additional intermediate positions between poles This produces high positional resolution and smoother rotation over a wide speed range Programmable logic controller An industrial control device that turns on and off outputs based upon responsesto inputs A type of incremental encoder output in which the two square wave outputs are offset by 90 A serial data communic...

Page 12: ...ample The command is displayed in boldface Be sure to add a delimiter spaceor carriage return after each command in a sequence Refer to the example below Command PescrlDtlon A 5 Sets acceleration to 5 revs sec2 rps2 V 5 Sets velocity to 5 r p s D l 2 8 0 0 Sets distance to 12 800 steps G Executesthe move Go Bold face quotation marks or other forms of highlighting are not be used for command respon...

Page 13: ...oltage Levels In this manual you will deal with inputs and outputs that you can turn on or off We will define the terminologies needed for these inputs and outputs Inputs ON 0 low Current flows OFF 1 high No current flows Command W i t i o r 1 T R 0 1 1 Waits for Trigger 1to turn on and Triggers 2 and 3 to turn off Outputs ON 1 hrgh Current flows OFF 0 low No current flows Command DescrlPtion 001 ...

Page 14: ... AXH model or the low powered 3Amax AXL model An additional feature of the AX Drive is the optically isolated encoder interface which permits closed loop operation The interface is designed to operate with l T L quadrature rotary or linear incremental encoders The motors provided with the AX Drives are high accuracy 1 8 hybrid step motors that have been optimized for smooth micro stepping operatio...

Page 15: ...solated programmable outputs User selectable micro stepping waveforms for optimal smoothness Automatic power up motion sequence execution Motion sequence selection via RS 232C or external switches Sequence upload download and automatic verify Incremental encoder interface is standard 23 34 and 42 frame motors available with torques from 50 to 2 400 oz in 10foot motor cables standard The system off...

Page 16: ... control the stepper motor s rotation and angular position The motor converts electrical pulses into discrete mechanical motion shaft rotation An incremental encoder mounted either on the motor or on the load provides positional feedback encoderpulses to the built in indexer Figure 1 1is a functional block diagram of the AX Drive system s processes CW CCW Limit Inputs Home Input 3 Triaaer Input Bi...

Page 17: ...ny as soon as possible Parker Compumotorcannot be held responsible for damage incurred in shipment Carefully unpack and inspect your AX Drive shipment The items listed in Table 2 1should be present and in good condition NOTE Theon way to determine i f you have anAXH Drlue or anAXL Drive f s to check the serial phte or the fnstaltation label on the side of the drive opposffe the heatsink fins Ship ...

Page 18: ...epdescribedbelow to complete the basic c t i o n of your system Insfatlation The installation label located on the side of the drive Label opposite the heatsink fins provides default DIP switch settings The label also provides general guidelinesfor drive mounting wiring and 1 0 connections Setting Drive Drive functions are set using the 8 positionDIP switch Functions located on the bottom of the A...

Page 19: ... following procedure to adjust the DIP switches STEP 1 Remove A C power from the AX Drive STEP 2 Remove the DIP switch cover panel STEP 3 Check all DIP switch settings Use Table 2 3as a guide to ensure that the switches are set properly STEP 4 If you must adjust the DIP switches use a narrow instrument such as a thin flat screw driver CAUTION Impropermotorcurrent settings candamage both the drive ...

Page 20: ...Basic System Wiring Diagram MOTOR RED BLACK SHIELD WHlTE GREEN OPTIONAL FAN AcmKw BLACK WHITE GREEN Figure 2 2 SystemWiring Diagram Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 21: ... apply power to the AX Drive at this time AC power to the AX Drive is Wted to 132VAC FIigher voltageswill damagethe drive The low voltagelimit i sW A C Refer to the transformer user guide to determine which output leads correspond to LINE NEUTRAL and GROUND As illustrated in Figure 2 3 connect the transformer leads to the A C power connector on the drive WARNING Do not connect the transformerto th...

Page 22: ...r includes a motor connector boot Ensure that the boot covers the connector once it is in place CAUTION Be suretoproperlyconnect the motor to the AX Drive Incorrect connections cancause extensivedamage to the M v e and the motor TheAX motor outputs are protected om phase to phaseshorts They are protected fromphase to ground shorts Power Connections Connect the power cable to the AX Drive seeFigure...

Page 23: ...wo part screw terminal connector Use Figure 2 4 as a guide for connectingthe AX to the computer terminal communication port CAUTION The common COM connection on drive sa u d h y connector is signalground or common as oppoeed to earthground GND onthe motorand power connectors The COM onthe audllary connector shouldbe isolated from the earth Ipound Do not connect COM on the aurlltaryconnectorto GND ...

Page 24: ... You Can control these inputs with software commands and load activated switches The CW and CCW lirnit inputs prevent the load from crashing into a mechanical stop and damaging equipment or injuring personnel At this time you do not need to set up load activated switches in your system you will establish these switches in Chapter 3 Installation To test your motor and the RS 232Cinterface you must ...

Page 25: ...n E2 or higher allow you to issue a TEST command to verify the system s operability NOTE The TEST command disables the limit switches N m attach a load whenyou disable the limit switches When you issue this command the following sequence is automatically executed Commands LD3 MN MPI A2 v 1 D l 2 8 0 0 G T 5 H G m i t i o n DisablesC W and CCW limits Sets indexer to normal mode Sets positioning mod...

Page 26: ...ee the following response on your computer CKI If the motor does not move refer to Chapter 7 Maintenance Troubleshooting If you were able to perform the open loop move and the test routine successfully try to perform as many moves as possible with the basic configuration Simulate the moves you intend to perform with your permanent application For other applicable commands refer to Chapter 5 Softwa...

Page 27: ...rocedures that you must complete before you wire or apply power to your system WARNING Ensum that AC power is disconnectedbefore attemptingtodo anywhhg NEVER disconnect the motorwith power applied to the drive NEVER a m t D I P switchs e w when the power ison Lethal voltagesare present insidethe drive and on the screw terminals Drive and indexer functions are set using the 8 positionDIP switch loc...

Page 28: ...n flat screw driver If you are using motors supplied by Compumotor refer to Chapter 2 Getting Started for motor current settings If you are using motors supplied by Compumotor refer to Chapter 6 Hardware Reference for motor current settings Setting Indexer Each AX Drive as shipped is factory setto device address 1 Address If you ordered more than one AX Drive and you want to daisy chain communicat...

Page 29: ... operate your AX Drive system Motor Mounting The AX Drive system will operate rotary stepper motors with the specifled minimum inductance only Do not attempt to use thisproduct with a linear motor Refer to Chapter 6 Hardware Reference for minimum inductance specifications and dimensional drawings of NEMA 23 34 and 42 stepper motors Rotary stepper motors should be mounted using flangebolts and cent...

Page 30: ...closure s vents In addition the drive should always be enclosed and have at least six inches of clearance in all directions The AX Drive is designed to be mounted for either minimum depth or minimum width depending on how the mounting clips are attached to the AX Drive Use 10mounting screws Enclosure You should install the AX Drive system in an enclosure to Conslderations protect it against atmosp...

Page 31: ...attached to the side of the drive opposite the power connectors for minimum panel width see Figure 3 3 This gives the user the maximum amount of panel space possible NOTE Unifs are shipped in this con figuration MOUNTING CLIPS Figure 3 3 Minimum WidthPanel Mount Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 32: ...er Use the following procedure for mounting Compumotor encodersto the motor The 106 E encodermust be mounted with the heat isolation bracket seeFigure 3 5 NOZE Ifyou are using an encoderfiom another vendor refer to the manufacturer s installation instructions Remove the retaining screws on the back plate of the motor Attach the coupler to the end of the encoder shaft and tighten with an allen wren...

Page 33: ...ryconnectorto GND on the motor or power connectors T h i s type of miswiringcan cause systemdamage In general all components and enclosuresmust be connected to earth ground through a grounding electrodeconductor to provide a low impedance path for ground fault or noise induced currents All earth ground connections must be continuous and permanent Compumotor recommends a single point grounding setu...

Page 34: ...e following steps Shield the motor cable in conduit and ensure the conduit is taken to a low impedance earth ground tiedto one end only Avoid extended motor cable runs Be sure to separate logic and high powercables Provide a separate power line for the AX Drive Do not use the same power circuit for the sensitive electronics and the AX Drive Ground the motor casing Thisis already done for you with ...

Page 35: ...R MOTOR ENCODER FAN AC POWER Rx OPT02 TRIG 1 TRIG 2 TRIG 3 SEQ 2 I SEQ1 E A A GND 8 5v COMMON CHA CH A CH C H B CH z CH z SEI SEI SHIELD N C LINE GND Figure 3 6 AX Drive Pinouts Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 36: ... safety and electrical noise immunity Chapter 2 Getting Started provides detailed instructions for connecting a transformer to the AX WARNING Do not connect the transformer to the AX DRIVEwhfle power Isappliedto the transformer Do not touchthe whhg studs on the transfvwmerafterit is plugged into anAC outlet TUB can causeserious personal i n j u r y Referto Chapter 2 Getting Started for power conne...

Page 37: ...ns AX Drives ordered with encoders Eoption are shipped with the encoder leads prewired to the AX phoenix connector Pinouts and color codes for Compumotor encoders are provide in Chapter 6 Hardware Reference Figure 3 8illustrates the encoder input circuit to theAX NOTE Compumotordoes not recommend extending the encodercables I f uou think extendim the cables is necessary contact a o r n o t o r App...

Page 38: ...computer or terminal Use Figure 3 9as a guide for daisy chain connections You must establish a unique device address for each AX Drive so that you can distinguish them when programming The device address is set with DIP switches 6 through 8 referto Chapter 6 Hardware Reference for valid address settings RS 232CInterface 3 COM COM Unit 1 Unit 2 Unit 3 Address 1 Address 2 Address 3 I I Figure 3 9 Da...

Page 39: ...ith optical isohtion in actual applications This will prevent erratic behavior due to electrical noise OPTO 1 cw CCW HOME OPTO 2 TRIG 1 Triggers can use N O or NC sw tches dependingon how TRIG2 the programIS wrinen TRlG3 SEQ 1 N O Normally Open Swiich N C Normally ClosedSwilch SEQ 2 SEQ 3 OUT 1 OUT 2 Figure 3 10 I 0Wiring Diagram Typical I10 Circuits Typical Opto Output Circuit OPTO 1 or 2 OUTPUT ...

Page 40: ...ent or injuring gersonnel These inputs are optically isolated to increase the AX S noise immunity You can use the home input pin7 to establish a home reference position The Home limit input on the AX is optically isolated and is normally high A normally open load activated switch to the external supply ground is the most common way for determining the home position in both motor step and encoder s...

Page 41: ...FFis equivalent to the input being de energized or logic high These inputs are normally high Refer to Figure 3 10for Sequence switch connections Outputs The AX is equipped with 2 optically isolated programmable output bits They are open emitter outputs and are normally in the high state notconducting current Due to the ITL current capabilities of these outputs a current boost circuit may be needed...

Page 42: ...ECTOR I A OPTO SUPPLY GND c5vDCto 12 VDC GND Figure3 12 Current Boost Circuits for OUT 1 and OUT 2 OPTO SUPPLY OPTO 2 OUT 1 OUT 2 5VDCto 12VDC I GND I Figure3 13 Output Connections Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 43: ...switches useonly if limitsare not installed Sets mode to normal allaxes Sets acceleration to 10 rev sec2 Sets velocity to 2 rps Sets distance to 12 800steps 1 rev Executes the move Go Sets absolutecounterto zero allaxes Executesthe move Go Each motor on every axis will perform a 12 800 step 1rev move To Report the encoder position on all axes you will have to issue a PX command adevice specificcom...

Page 44: ...r a period of time has elapsed ratherthan after a fixed distance or when the motor must be synchronized to external events such as trigger input signals To test continuous mode moves enter the following string of commands Use the S or K command to stop the motor in an emergency Command MC A25 v 5 CTMS c v 1 CTRXX0 CA5 C V l 0 CTM5 cv0 G Descri tioQ Move continuous Sets acceleration to 25 rev sec2 ...

Page 45: ... test the CW limit with the AX system enter the following string of commands Command gescri tion L D 0 Enables CW and CCW limits MC Sets indexer to continuous mode A 5 Sets acceleration to 5 revs sec2 V 2 Sets velocity to 2 rps H Changes motor direction CW G Executes the move GO The motor moves at a constant velocity until you close the CW limit switch The motor then comes to an immediate halt To ...

Page 46: ... the switch and type 1 1 s Assuming your end of travel limits are closed and all other inputs are open the response will be 1111001111 The last digit in the response represents the home input status Now close the home switch and type 1 1 s the response should be 1111001110 This verifies that the switch is functioning properly Use the following procedure to test the AX S homing function STEP 1 STEP...

Page 47: ...esolution of your encoder Use the following example as a guide for setting your encoder resolution Command Qescriptiorl ER4000 Tells the indexer that the encoder has a resolution of 4 000stepstrev after quadrature 1 000lines You may test the encoder resolution setting with the following procedure The idea is to move the motor with open loop moves and verify that the number of feedback encoder coun...

Page 48: ...e home position The home position is located between the referenced edges selected with the OSH command i e the AX recognizes the home position as the position where the home limit signal makes a transition from ON to OFF or from OFF to ON depending on the selected edge and the initial direction of the Go Home move Once it recognizes the selected edge the motor decelerates to a stop After coming t...

Page 49: ...ample the command GH 2 sends the motor in the negative direction at 2 rps in search of the home signal The acceleration parameter for this move is the last defined value for acceleration A command If an end of travel limit is activated before home is found the AX reverses direction and attempts to find the home position again If the other end of travel limit is activated before the AX finds home t...

Page 50: ...ble error exists every time the comparison is made the AX wiIl not detect a stall Such a condition might occur for example i f there is minor slipping in the motor or encoder coupling or slop in the gear train Enter the following commands to verify that the Stall Detect function is operating properly STEP 1 Command FSB1 FSH1 FSD1 D W 1 0 0 A 1 v 1 D l 2 8 0 0 G Enable Encoder mode Enable Stall det...

Page 51: ...ctor pin 1 Then use the following command sequence Command MN FSB0 FSH1 FSD1 D W 1 0 0 A 5 v 1 D l 0 0 0 G Pescri tm Sets Mode normal Sets indexer to motor step mode Enables stall detect Enables stop on stall Sets backlashto 100motor steps Sets accelerationto 5 revs sec2 Sets velocity to 1 rps Sets distance to 1000 steps Executesthe move Go Having disconnected the encoder power the AX does not rec...

Page 52: ... steps Wait for Trigger Input 1 to turn on Executes the move Go The motor moves when you turn on trigger input 1 Verifying The AX is equipped with two programmable output bits You Proper may use them to signal a peripheral device that the AX has Programmable just completed some event These outputs are controlledwith Output the 0Command Function Perform the following steps to verify that you have w...

Page 53: ...UTION Do not machine the motor shaftwithout consulting a CompumotorApplicationsEngineer at 800 358 9070 Improper shaft machining can destroy the motorbearings Single Flex When a single flexcoupling is used one and only one of the Coupling shafts must be free to move in the radial direction without constraint Do not use a double flexcoupling in t h i ssituation because it will allow too muchfieedom...

Page 54: ... control application the most important requirement is precise position whether it be with respect to time or velocity A motion proffle represents the velocity of the motor during a period of time in which the motor changes position The type of motion profile that you need depends upon the motion control requirement that you specify The basic types of motion proffles are described below All of the...

Page 55: ...distance is set to 2 590 steps a triangular motion profile is the result By the time the motor has traveled half of the defined distance based on the acceleration setting of lrps the motor begins decelerating to complete the move The motion proffle forthis move is shown in Figure 4 1 Vmax Velocity revslsec t Figure 4 1 Triangular Profile A trapezoidal move profile results when the defined velocity...

Page 56: ... R M 0 4 6 0 R M 0 3 2 0 R M 0 1 9 0 R M 0 0 0 0 Q 0 Descr PfLQCl Enter Velocity streaming mode Accelerateto 1 revlsec Accelerate to 2 revskec Accelerateto 3 revdsec Accelerateto 4 revdsec Decelerate to 3 revslsec Decelerate to 2 revslsec Decelerate to 1 revlsec Decelerate to 0 revslsec Exit velocity streaming mode Velocity rps Figure 4 3 S CurveProfile You can calculate the time it takes to compl...

Page 57: ... to move the motor sh 1 5 revolutions a preset move with a distance of 19 200 steps 1 5 revs 12 800 steps rw would be specifled Every time the indexer executes this move the motor moves 1 5 revs from its resting position You can specify the direction of the move in one command You speclfy the direction by using the optionalsign D 2 8 W or D 18 888 oryou can define it separatelywith the Set Directi...

Page 58: ...mode When you issue the Mode Position Absolute MPA command it sets the mode to absolute When you issue the Mode Position incremental MPI command the unit switches to Incremental mode The AX Drive retains the absolute position even while the unit is in the Incremental mode You can use the Position Report PR command to read the absolute position Command MPA A 2 v 1 0 P Z D l 2 8 0 0 G D 2 5 6 0 0 G ...

Page 59: ...racy of a step motor is typically less Accuracy than a precision gradesystem but is better than most tangential drive systems Of course when you close the loop with an incremental encoder the accuracy of these systems is equivalent to the encoder s accuracy The worst case accuracyof the system is the sum of the following errors Accuracy A B A JJni directionalRe eatabilitv The error measured by rep...

Page 60: ...l not accelerate past one rev per second may be stalling due to resonance The resonance point may be lowered to some extent by adding inertia to the motor shaft This may be accomplishedby putting a drill chuck on the back shaft Note that thts technique ts applicable only to double shaJ motors with the shaJt extendingfromboth ends of the motor In extreme cases you may also need a viscous damper to ...

Page 61: ...u issue it S Deceleratesthe motor to a stop usingthe last defined accelerationvalue The system executesthis command immediately after you issue it Command LD3 Command H Command P S Command z PescruUm Disables the limit switchfunctions It allows motor motionwith no limits connected Instructsthe AX to backspacethe cursor and delete the last character you entered Instructsthe motorto pause for a peri...

Page 62: ...ecutes the move Go The motor returns to its original starting position Command PescrUm H Togglesthe motor direction o f the next move but maintains existing acceleration velocity and distanceparameters G Executesthe same move profile as the previous move but in the opposite direction Go Command D l 000 Sets distance to 1 000steps G Executes 1 000 stepmove Go T2 5 Waits 2 5secondsafterfinishingthe ...

Page 63: ...5 revs sec2 V3 Sets velocity to 3 rps 0 5 0 0 0 Sets distance to 5 000 steps G Executes 5 000 step move Go Command D l 0 0 0 0 Moves the motor to absolute position 10 000 Sincethe motorwas already at position5 000 it moves 5 000 additionalsteps in the same direction G Executesthe move Go D 0 Moves the motor to absolute position0 Since the motor is at absolute position 10 000 the motor moves 10 000...

Page 64: ... waits 5 seconds deceleratesto 2 rps waits 3 seconds acceleratesto 5 rps waits 5 seconds decelerates to 2 rps waits 3 seconds then comes to a stop Note that issuing the CV0 command stops the motor the S command is not a buffered command and cannot be used in a sequence The following Continuous Mode MC commands will accelerate or decelerate the motor to a specifiedvelocity and continue at that velo...

Page 65: ... single ended outputs do not connect channels A B and 2 to the AX Drive s encoder connector The number of encoder steps that the AX system recognizes is equal to four times the number of encoder lines For example a 1000 lineencoder mounted directly on the motor will generate 4000 encoder steps per revolution of the motor shaft A minimum of three motor steps per encoder step is required for success...

Page 66: ...mmand D definesmoves in motor steps In Encoder Step mode FSBl the distance command defines moves in encoder steps You must set up the indexer for the correct encoder resolution The Encoder Resolution ER command is used to define the encoder resolution The sample move below assumes the use of an encoder with an encoder to motor step ratio of 4 1 Command MN E R 4 0 0 0 D e s c r w Sets mode to norma...

Page 67: ...if a stall is detected referto the FSH command in Chapter 5 or if the encoder is forced outside of the dead band window The sample move below assumes the use of an encoderwith a encoder to motor step ratio of 4 1 Example Command E R 4 0 0 0 F S B l FSC1 MN A1 0 v 5 D 4 0 0 0 G Sets up encoder where 4 000 encoder pulses 1 000lines are produced per 1 revolution o f the motor Sets move to encoder ste...

Page 68: ...ends on the setting for backlash setwith the DW command to give optimum operation The factory default setting for backlash is 0 motor steps If you mount theencoderon themotor you should leave this parameterset to zero for the moet accurate response Command J e s c r m D W 1 0 0 Sets backlash value to 100 steps E R 4 0 0 0 Sets encoder resolution to 4 000 stepstrev FSH1 Enables stall detect FSD1 En...

Page 69: ...o 1 step Pauses execution o f the following commands until the indexer receives the Continue C command Causesthe sequence to repeat Executesthe move Go Sends a line feed Reports absolute motor position in motor steps Pausesthe motor for 1 second Sends a line feed Reports the number of encoder pulses steps that the encoder has received since the Position Zero PZ command was issued Pauses the motor ...

Page 70: ...Go While the motor is moving you can cause a stall by holding the shaft If you can not manually stall the motor you can smulate a stall by carefully disconnecting the 5V encoder lead from pin 1on the AX encoder connector When the stall occurs Output 1is turned on and the motor stops thissignals you that the motor has stalled The motor will come to a stop Multi Axis Stop On a multi axisAX system yo...

Page 71: ...don Command DescrlDtlon Sets the system inthe preset mode Sets indexer to encoder step mode Enablesposition maintenance Selectsdead band at 10 encoder steps PositionMaintenance is activatedif the motor s end of move positionis off by morethan 10 encoder steps Enables stall detect function Turns on Output 2 if the motor s end of move position is within the 10 encoder step dead band range Sets accel...

Page 72: ...inputs when it appears as though execution is being halted by the TR command and all conditions for matching the trigger input configuration defined by the TR command appear to be met It may also be used to initiate external actions by monitoring the trigger inputs manually with a computer controlling the AX You can use the Time Delay T command to halt the operation of the indexer function for a p...

Page 73: ...itiatescommand execution The motor moves a total of 64 000steps asuccession of flve 12 800 stepmoves with a 2 secondpause between each move Nested Loops The example below shows how you can nest a small loop inside a major loop The only way you can nest a loop is by using the Constant Velocity Loop CL and End Loop CN commands in the continuous mode MC You may nest a constant velocity loop within a ...

Page 74: ...to signal the end of the current move In a preset move you may use one of the following commands LF Line feed seeexample 1 CR Carriage return seeexample 2 0 Output command seeexample 3 I Quote command seeexample 4 Example l Command P S Pauses execution until indexer receives a Continue C command Sets move to normal mode Sets accelerationto 2 revs sec2 Setsvelocity to 2 rps Sets distance to 38 400s...

Page 75: ...rogrammed order whenever the sequence is run Immediate commands cannot be stored in a sequence just as they cannot be stored in the command buffer Only buffered commandsmay be used in a sequence Sequence The AX has 2 000bytes of non volatile memory EEPROM to Programming store up to 7 sequences Each sequencemay have up to 256 characters includingdelimiters Note that one sequence cannot borrow any u...

Page 76: ...the Sequence Status Definition XSD command precededby a device address to verify ifthe last sequence defhition was successful The possible responses seen on your tenninal are 0 1 or 2 A 0 means the sequencewas successfullydefined A 1means the sequence already exists with the number you have specified A 2means there was not enough space in the sequenceb d e r for that sequence To check the status o...

Page 77: ...ically saved in the AX S non volatile memory To determine which if any sequencewill be executed on power up issue the SequenceStatus Power up XSP command One method of executing sequences is performed by issuing the XP9 command The XP9 command will not cause any sequenceto be immediately executed Once you issue the XP9 command the AX reads the sequenceselect inputs Pins 12 14 on AX 1 0 connector e...

Page 78: ...nes again and executing another sequence Sample Applications and Commands STEP 1 STEP 2 STEP 3 STEP 4 The following are step by step procedures demonstrating how to run sequences Using a terminal or a computer key in the following commands Issue the XP9 command Define the following sequences Command XE6 XD6 MN A 1 v 2 0 D l 2 8 0 0 G X T Command XE7 XD7 MN A 1 v 2 0 0 4 4 8 0 0 G XT PescrlRtm Eras...

Page 79: ... functioning properly return to Chapter 2 Getting Started and complete this check before attempting to complete this section An IBM compatible software diskette providing termfnal emulation i s available from Parker Compumotor To operate the software you will need aASICA or GW BASIC programming language programs installed in your computer lmmedlate Sequence Execution You can execute a sequenceby e...

Page 80: ...s the end of the move It then begins the process again This application can be looked on as moving a part out machining the part then bringing the part back 1 AX BAS PROGRAM 2 3 4 t 5 This program controls the RS232 Communication line to execute 2 6 different moves using the AX 7 8 15 OPEN COM1 9600 N 8 1 RS CS DS CDn AS I Open Communication port 20 V I Q ECHO LF Initialize variables 90 CLS 100 LO...

Page 81: ...ve In real application we would expect you to 1904 go ahead with the process and work on the part before going on to 1905 next move i e Activate a punch 1906 1907 Now that first move is finished we go on to move 2 1908 AX also prints a line feed after finishing the second move 1909 As soon as computer receives the line feed from AX program will t 1910 go back to the first move 1911 t 1912 1 t ttt ...

Page 82: ... and 3 the following step is performed Send the 1F command over the RS 232C communication line locking out the AX at device address 1 All universal commands with no preceding device address will now be executed only by the AX S at Device addresses 2 and 3 Entering a 2F command in addition to 1F command would allow only the AX at device address 3to execute universal commands with no preceding devic...

Page 83: ... interface Multi AXIS Interface Program Example The following program is very similar to AXBAS except this program controls 2 AX S on a daisy chain This program assumes the device address of 2 AX S to be 1and 2 respectively The program does the following Executesthe flrst move upon user input Waits for a line feed from the IX drive which indicates the end of the move Upon user input executes the s...

Page 84: ... 4 t t t t t f t f t f f 2 f f t l f f f f 1901 t 1902 After axis one is done we request that you hit any key to go on t 1903 to second move In real application we would expect you to t 1904 go ahead with the process and work on the part before going on to t 1905 next move i e Activate a punch m 1906 t 1907 Now that first axis finished its move we go on to move axis 2 t 1908 Second AX also prints ...

Page 85: ...lues issued determines which sequence the indexer will run For example turning on SEQ2 and SEQ3and turning off SEQ1 executes Sequence 2 Issuing the XP8 or the XP9 commandscauses the AX to scan the sequenceselect inputs and execute the fist valid sequence it encounters onpower up When in XP8 mode the AX returns control to the RS 232C port after executing the fist valid sequence When in the XP9 mode...

Page 86: ...nce to 6 400steps Executes the move Go Ends Sequence 1 definition nescri tiorl Erases Sequence 2 Defines Sequence 2 Sets move to normal mode Sets accelerationto 1 rev sec2 Set velocity to 10 rps Sets distance to 3 200steps Executes the move Go Ends Sequence 2 definition Descnptw Erases Sequence 3 Defines Sequence3 Sets move to normal mode Sets accelerationto 1 rev sec2 Set velocity to 10 rps Sets ...

Page 87: ...purchase a Model 72 or Model 72 I O contact your Automated Technology Center or Compumotor Distributor The Model 72 User Guidecontains all pertinent information for use with the AX Tuning Procedure NOTE a mast app ications tuning anAX h iue to amotor isnot Should certain aspects of the systems performance come under scrutiny in the area of velocity ripple resonant frequenciesor step to stepaccurac...

Page 88: ...e motor should be tuned to its drive while under normal loaded conditions Tuning prior to this is useless since changes in the load or the system s transmission will result in a new natural frequency for the motor Tuning the drive affects the profile of current being sent to the motor You will need to re tune the drive if the current setting switches are changed Refer to Chapter 6 forvalid setting...

Page 89: ...the motor casing and holding the handle of the screw driver close to your ear asyou would a stethoscope This will also allow you to hear the different magnitudes of vibration caused by the motors natural frequency Using this method your goal is to tune for the least amount of vibration After some experience with tuning it is possible to locate a motor s natural frequency by simply placing your fin...

Page 90: ...he velocity in small increments 1rps and lower until you have located the velocity where the natural frequency seems to be most prominent Now that you have located the natural frequency of your system the following procedure will adjust the current waveform of the drive to the mechanical characteristics of the system Adjust the current trim if necessary pot 1 The current trim pot allowsyou to sele...

Page 91: ...ations but it may be possible to take your tuning procedure one step further by changing the shape of the current mveform itself See Table 4 3 Waveform l Table 4 3 AX Waveform Settings WAVE SHAPlNa FOR THE AX DRIVE STEP 1 STEP 2 STEP 3 STEP 4 STEP 5 STEP 6 Stop motion to the motor Use the WV SelectMicro steppingWaveform command to select a new waveform The new waveform will take effect immediately...

Page 92: ...T 0 00 Set up commands deflne set up conditionsfor the application These commands establish the output data format from the encoder as well as other functions Motion commands d e c t motor motion such as acceleration velocity distance go home stop direction mode etc Programming commands affect programming and program flow for trigger output all sequence commands quote time delays pause and continu...

Page 93: ...alid values that you can specify for n or any other parameter specified The default setting for the command is shown in this box A command will perform its function with the default setting if you do not provide a value This box indicates if the command is immediate or buflefed The system executes immediatecommands as soon as it receives them Buffered commands are executed in the order that they a...

Page 94: ... command described are listed here 12 Response A sample status command is given nextto RESPONSETO and the system response is shown next to IS When the command has no response this field is not shown Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 95: ...CUTION TIME 2mS SEE ALSO D V G SYNTAX a An Mot i o n SYNTAX a ACn UNITS n revs sec2 Acceleration Change EXECUTION TIME 2mS SEE ALSO MC A vc I RANGE 0 00 999 99 VALID Software Version E2 Description TheAcceleration Change AC command is used only when the motor is moving in Continuous Mode MC The command allows velocity changes at different acceleration while moving The command is used in conjunctio...

Page 96: ... B cr response will be issued if less than 1Whof the command buffer is free Buffer Status Report ATTRIBUTES I m m e d i a t e N e v e r Saved I R More than 10 of the buffer is free B Lessthan lO hof the buffer is free VALID S o f t w a r e V e r s i o n E2 EXECUTION TIME 2ms SEE ALSO BS RESPONSE TO aB IS B o r R SYNTAX aB This command is commonly used when a long series of commands will be loaded ...

Page 97: ...TES UNITS N A I N A Immediate I Never Saved RANGE N A Continue VALID S o f t w a r e V e r s i o n E2 Description The Continue C command ends a pause state It enablesyour indexer to continue executingbuffered commands After you initiate a pause with the Pause PS command or the Pause and Wait for Continue 0 command you can clear it with a Continue C command This command is useful when you want to t...

Page 98: ...UTES Buffered Savable in Sequence CA Motion Example EXECUTION TIME 2ms SEE ALSO MC A Cv CTR CTM CBC Change Acceleration NOTE Both CA and AC commands can be used on in continuous mode MC operation _C ommand MC A25 v 5 CTMS C V l CTRXX1 CA5 c v 1 0 CTMS cv0 G Pescrgdm Move continuous Sets accelerationto 25 rev sec2 Setsvelocity to 5 revlsec Remain at velocity for 5 seconds Decelerate at 25 rev sec2t...

Page 99: ...Savable in Sequence C6C Programming _Command m i d i o n MC Move continuous A25 Sets accelerationto 25 rev sec2 VS Sets velocity to 5 revlsec CTMS Remainat previous velocity for 5 seconds CV1 Change velocity to 1 revlsec CA5 Change acceleration to 5 rev sec2 G Executesthe move Go CBC Clear command buffer of above commands Systemwill remain at last enteredconstant velocity 1 revlsec Clear Buffered ...

Page 100: ... at the end of this type of correction move Correction Gain c2JIDmw Example rmt ot 1 CG3 The system corrects 318 o f the final position error on the initial correction move VALID Software Version E2 ATTRIBUTES Buffered Savable in Sequence Description This command along with the CN command allows loops to be run in the continuous velocity mode A l l the commands between CLn and CN will be repeated ...

Page 101: ...oop I EXECUTION TIME 2ms I SEE ALSO CL Y VALID Software Version E2 Description This command ends the continuous loop definition The constant velocity commandsbetween CL and CN are looped ATTRIBUTES Buffered Savable in Sequence I Example See CL command I SYNTAX a CN Descrlptlon This command controls outputs 1and 2 while running in the continuous mode The outputs will turn ON current flows or OFF no...

Page 102: ...rn SYNTAX a C R Example VALID Software Version E2 Vhen the indexer reaches this command in the buffer it esponds by issuing a carriage return ASCII 13 over its lterface back to the host computer Ifyou pIace the CR ommand after a Go G command it indicateswhen a move is omplete If you place the CR command after a Trigger TR ommand it indicates when the trigger condition is met I UNITS N A ommand Des...

Page 103: ...ed number of secondsbefore executing the next command i n the buffer A Time Delay T command will llQtwork in continuousmode Command DescrlDtlon MC Sets Continuous Mode A25 Sets Acceleration to 25 rev sec2 V 5 Sets Velocity to 5 revlsec CTMS Wait 5 seconds before executing the next command C V 0 Change Velocity to 0 revlsec G Go Execute the move profile UNITS n seconds RANGE 0 0 1 9 9 9 9 9 DEFAULT...

Page 104: ...will get to this command and wait until the input pattern is matched before going on to the next command NOTE Thiscommand i sused ontyJbr maresin the continuousmale I Command MC A 2 5 v 5 CTMS cv 1 CTRXX1 CA5 cv10 CTMS cv0 UNITS N A Sets mode to continuous Sets accelerationto 25 rev sec2 Sets velocity to 5 revlsec Dwell5 seconds after reachingconstant velocity Rampat last set accelerationto 1 revl...

Page 105: ...ation to 5 revs sec2for continuous mode velocity changes during this move Ramp to a velocity 10 revlsec at acceleration rate set with CA command Dwell for 5 seconds Rampto a velocity o f zero at accelerationrate set with CA command Executesthe move Go After the G command is issued the motor will accelerate at 25 rps2 to a velocity of 5 rps The motor will remain at 5 rps for 5 secondsand then decel...

Page 106: ... the motor will be the difference between the current motor position and the position referencedto the zero position set with the D command A distance must be defined with the D command before a preset move can be executed The Distance D command has no effect on continuous moves MC Distance Example EXECUTION TIME 2ms Command Descrl tloLl 9 M N Preset mode to normal preset A 5 Set Accelerationto 5 ...

Page 107: ...EXECUTION TIME 2ms SYNTAX a DBn SEE ALSO FSG CG DW Set up EXECUTION TIME 2ms SEE ALSO Fs commands I UNITS n steps Descri Dead Band Window 4 ATTRIBUTES Buffered Savable in Sequence L Example RANGE 0 999 999 VALID Software Version E2 I SYNTAX a DWn ion This command allows precise dead band specification in motor steps The backlash dead band allowssystems with backlash to use stall detect FSH command...

Page 108: ...ce Encoder Resolution I VALID Software Version E2 VALID Software Version E2 ATTRIB UTES Immediate Never Saved EXECUTION TIME 2ms SEE ALSO F DEFAULT N A Description The encoder resolution defines the number of encoder steps the indexer will see per revolution of the motor The number of lines on an encoder should be multiplied by 4 to arrive at the correct ER value per revolution of the motor RANGE ...

Page 109: ...units without specifling a device identifier on every command If you do not disable other units in a daisy chain uploading programs may cause other units on the daisy chain to perform uploaded commands Example I UNITS N A i2 mmld DescrlDtlon 1 F Disables the communications interface on the unit with device address t 3F Disables the communications interface on the unit with device address3 G All o ...

Page 110: ...stance D parameter in units of motor steps or encoder steps UNITS N A Position Maintenance 0 OFF 1 O N RANGE N A Enables position maintenance This will cause the indexer to senro the motor to the desired position if not in the correct position at the end of a move or if the motor is forced out of position while at rest Terminate move on Stall Detect 0 OFF 1 O N Instructs the indexer to abort any m...

Page 111: ...ct to the absolute zero position The absolute zero position is set to zero when you power up the indexer or execute the Position Zero PZ command The Absolute mode is useful when you need to move to speciflc locations UNITS N A Example RANGE n 0 1 Command F S A l P Z A 1 0 v 5 D 2 5 6 0 0 G D 6 4 0 0 0 G Sets lndexer to Absolute mode Resets the absolute position counter to zero Sets acceleration to...

Page 112: ...xer for the correct encoder resolution The Encoder Resolution ER command is used to define the number of encoder steps per revolution of the motor Example DEFAULT 0 i2 mmml D e s c r l t m E R 4 0 0 0 Set up encoder where 4 000 encoder pulses 1 000 lines are producedper 1 motor rev FSB1 Set moves to encoder step mode A 1 0 Set accelerationto 10 rev sec2 V 5 Set velocity to 5 revlsec 0 4 0 0 0 Set ...

Page 113: ...n maintenance will be disabled turned OFF automatically if a stall is detected while doing position maintenance VALID S o f t w a r e V e r s i o n E2 Position maintenance may be turned off temporarily by issuing a K command The next move will re enableit If using position maintenance the user should also enable FSDl and FSHl to make certain motion stops if encoder feedback is lost ATTRIBUTES B u ...

Page 114: ...indexerto encoder step mode FSH1 Enable stall detect FSD1 Enable stop on stall DEFAULT 0 SYNTAX a FSDn UNITS N A FSE Turn on Output Number 1 on Stall I EXECUTION TIME 2ms I SEE ALSO SS DW ER FSH FSF I RANGE n 0 1 VALID Software Version E2 Description D o n o t t u r n o n o u t p u t 1 onstall FSEl Turn on output 1on stall ATTRIBUTES Buffered Savable in Sequence I Entering FSEl will cause the inde...

Page 115: ...r 3is brought low Settingup another unit to turn on Output 1when it detects a stall with the Turn on Output on Stall FSE command enables the user to implement a multi axis stop on stall axis by connecting output 1of one axis to the trigger 3input on the other The move is stopped immediately no deceleration The input may be used as a trigger but will stop motion when TR3is entered Entering FSFO wil...

Page 116: ...The dead band is set using the DB command DEFAULT 0 FSBl and FSCl must be used for t h i scommand to functlon correctly The output is updated by position maintenance RANGE n 0 1 SYNTAX a FSGn Example UNITS N A Command Pescrlptusa E R 4 0 0 0 Set encoder resolution to 4 000 stepslrev D B 5 0 Dead band is set to 50 steps FSB1 Set indexerto encoder step mode F S C l Enable Position Maintenance FSG1 E...

Page 117: ...DWcommand and the Encoder Resolution ER command before this feature will operate properly Stall Detection is only possible when an encoder is being used RANGE n 0 1 Stall Detect FSHI will function only if encoder step mode FSB1 is enabled Command DescrWm D W 1 0 0 0 Set dead band window to 1 000 steps E R 2 0 0 0 Set encoder resolution to 2 000 steps 500 lines FSB1 Set indexer to encoder step mode...

Page 118: ...de MC you only need to enter the A and V commandsprior to the G command The system ignoresthe D command in this mode N A N o motor motion will occur until you enter the G command in both the Normal MN and Continuous MC modes If motion does not occur with the G command enter the status commandsRA RB and RC N A Command MN A 5 v 1 0 D 2 5 6 0 0 G A 1 G Buffered Savable in Sequence Descri t ion Sets m...

Page 119: ... as the Home Limit input to be active at the same time This means that the Z Channel pulse must be enveloped by the active region of the Home Limit input When both are active the controller defines that position as the home position EXECUTION TIME 2 m SEE ALSO RC os commands V SYNTAX a GHsn The controller will reverse direction if an End Of Travel limit is activated while searching for Home howeve...

Page 120: ...ple None ATTRIBUTES Immediate N e v e r Saved I H Motion Set Direction DEFAULT N A EXECUTION TIME 2mS VALID Software Version E2 RANGE N A SYNTAX H SEE ALSO None UNITS N A EXECUTION TIME 2mS SEE ALSO D Description The Set Direction H command changes or defines the direction of the next move that the system will execute This command does not effect moves already in progress ATTRIBUTES Buffered Savab...

Page 121: ...ng t igger sequence select lines and limits VALID S o f t w a r e V e r s i o n E2 ATTRIBUTES I m m e d i a t e N e v e r Saved IS S t a t u s This is not a software status It will report the actual hardware status of the inputs This command is useful for troubleshooting an application to verifj that Limit switches TRIGGER inputs and Home switches work Input Status The response format is illustrat...

Page 122: ...commandmay causethe motor tolose torque The load couldbe driven past limit switches andcause damage to the mechanism and possibiy t o the operator In addition to stopping the motor the K command will terminate a loop end a time delay abort down loading a sequence XD temporarily turn off position maintenance and clear the command buffer DEFAULT N A SYNTAX a K EXECUTION TIME 2 m Example SEE ALSO S F...

Page 123: ...cuted The Stop Loop 0 command causes Loop execution to stop The ImmediatePause U command allows you to temporarily halt loop execution You can use the Continue C command to resume loop execution ATTRIBUTES Buffered Savable i n Sequence I Example EXECUTION TIME 2mS SEE ALSO Y N U C SYNTAX a Ln Command DescruUa A 5 Sets accelerationto 5 rev sec2 V 1 0 Setsvelocity to 10 revlsec D 2 5 6 0 0 Sets dist...

Page 124: ... are bypassedor connectedto normallyclosed limit switches L D 3 Allows you to make any move regardless of the limit input state DEFAULT 0 RANGE n 0 3 SEE ALSO RA ATTRIBUTES Buffered Savable i n Sequence DescriptIon Issuing the LF command transmits a line feed over the RS 232C link This command is useful when you send messages during buffered moves or sequences for display screen LF Execute contr61...

Page 125: ...ous MC command causes subsequent moves to ignore any distance parameter and move continuously You can clear the M C command with the Move Normal MN command The indexer uses the Acceleration A and Velocity M commands to reach continuous velocity Mode Continuous Using the Time Delay CTM Trigger CTR and Change Acceleration CA commands you can achieve basic velocity profiling VALID S o f t w a r e ver...

Page 126: ...s used to change the mode of operationfrom Mode Continuous MC to Mode Normal or preset To use the MPA or MPI commands the indexermust be in mode normal MN ATTRIBUTES Buffered Savable in Sequence I Example Command Descri tion M N Set positioning mode to preset A5 Set accelerationto 5 rev sec2 V 5 Set velocity to 5 revlsec 0 6 4 0 0 Set distance to 6 400 steps G Executesthe move Go SYNTAX a MN EXECU...

Page 127: ...ute ATTRIBUTES Buffered Savable i n Sequence I You can set the absolute counter to zero by cycling power or issuing a Position Zero PZ command EXECUTION TIME 2mS SEE ALSO MN MPI D PZ FSA The indexer must be in Mode Normal MN to use this command In Continuous Mode MC this command is ignored DEFAULT N A SYNTAX a MPA Example Command MN MPA A5 v 1 0 D 2 5 6 0 0 G D l 2 8 0 0 G UNITS N A Oescr Set mode...

Page 128: ...ations ATTRIBUTES Buffered Savable in Sequence I The indexer must be in Mode Normal MN to use this command In Continuous Mode MC this command is ignored I SYNTAX a MPI Example Command MN MPI A 5 v 1 0 D6400 G G UNITS N A Descri tion Set positioningmode normal preset Set positioningmode incremental Sets accelerationto 5 rev sec2 Sets velocity to 10 revlsec Sets distance of move to 6 400 steps Move ...

Page 129: ...mple ATTRIBUTES Buffered Savable in Sequence I Command EXECUTION TIME 2ms SEE ALSO L PS C Y Pauses the execution o f buffered commands until the indexer receives a Continue C command Sets move to mode normal Setsaccelerationto 5 rev sec2 Sets velocity to 5 rev sec Sets move distance to 25 600 steps Loops five times Executes the move Go Ends the loop Clears pause and executes all the buffered comma...

Page 130: ...t i o n I 0 Set accelerationto 10rev sec2 5 Setsvelocityto 5 revlsec 5 6 0 0 Set move distance to 25 600steps I X Set programmable output 1 to on Executesthe move Go 0 After the move ends turn off output 2 RANGE n 0 1 o r X SYNTAX a Onn Of I Report Homing Function Set ups I VALID UNITS N A Descriptlon This command results in a report of which sofbvare switches have been set by the OS command The r...

Page 131: ... region is encountered The AX will then consider the motor at Home This will occur regardless of whether or not the home input is active at the end of the deceleration of the initial Go Home move ATTRIBUTES B u f f e r e d S a v a b l e i n Sequence I Example EXECUTION TIME 2mS SEE ALSO FS GH SYNTAX a OSBn Command Qes lotlon OSB1 Enables back up to home O S C 0 Setsthe active state o f the home in...

Page 132: ...te of the home input to open RANGE n 0 1 SYNTAX a OSCn UNITS N A OSD S e t up This command allows you to define the recognized active state of the Z channel corning from the encoder The Z channel is used inconjunction with a load activated switch connected to home limit to determine the home position The switch determines the home region The Z channel determines the exact position in that region t...

Page 133: ...of the Home switch is defined as the first switch transition seen by the indexer when traveling off of the CW limit in the CCW direction If n 1 the counterclockwise edge of the Home switch will be referenced as the Home position The counterclockwiseedge of the Home switch is defined as the first switch transition seen by the indexer when traveling off of the CCW limit in the CW direction DEFAULT 1...

Page 134: ...n the encoder step mode FSBl the position will be reported in encoder steps If you are in motor step mode FSBO the position will be reported in motor steps The response to this command will be reported after the move is complete You may reset the position counter to zero with the Position Zero PZ command RANGE N A Example Command lDtlOQ P Z Resets the absolute counter to zero LD3 Disable both CW C...

Page 135: ...interactive tests and in synchronizingmultiple indexes that have long command strings RANGE N A Command P S P e Pauses execution of following commands until the indexer receives the Continue C command Sets accelerationto 5 rev sec2 Sets velocity to 5 revlsec Sets move distance to 25 600steps Executes the move Go Delays the move for 2 sec Executesthe move Go Continues Execution DEFAULT N A When the...

Page 136: ...f the response is 0 f9 999 999 999 VALID Software Version E2 EXECUTION TIME 2mS SEE ALSO w3 PR FSB t DEFAULT N A This command is useful in the following situations RANGE N A SYNTAX aPX Encoder Set up UNITS N A Closing the loop with the host though positioning with n steps End of move verificationof position Example Command MN PZ A1 0 v 5 D25600 G FSB1 1PX Presets mode Sets the absolute counter to ...

Page 137: ...solute counterto zero Report absolute position Response 0000000000 SYNTAX a PZ Programming I RANGE N A UNITS N A Quote DEFAULT N A VALID Software Version E2 Descrlption Any characters entered after the quotation marks upto 12 characters will be transmitted exactly as they were entered over the RS 232C link A space entered by the space bar indicatesthe end of the command A space is always sent afte...

Page 138: ...t to mode normal Preset Moves Set accelerationto 10 revlsec2 Set velocity to 5 revlsec Set distance to 12 800 steps Executesthe move Go Once the move is done Run Sequence 1 is commanded on a unit with device address 2 VALID Software Version E2 Q0 Set up I EXECUTION TIME 2ms I SEE ALSO 1 FW Exit Velocity Profiling Mode ATTRIBUTES I a Q0 Description The Q command exits the velocity profiling mode Th...

Page 139: ... Decelerate to 2 revslsec Decelerate to 1 revlsec Decelerate to 0 revslsec SYNTAX a Q l EXECUTION TIME 2ms mode UNITS N A RANGE N A SEE ALSO QO FW Q 0 Exit velocity streaming mode Motor movement will stop when Q command is entered DEFAULT N A R S t a t u s Request Indexer Status EXECUTION TIME 2mS SEE ALSO RA RB RC VALID S o f t w a r e V e r s i o n E 2 SYNTAX a R I RESPONSE TO a R IS x I scripti...

Page 140: ... that attention is required more details on the error condition are availableby using the RA RB or RC commands It i s not recommended that this command be used in tight polling loops which could result in microprocessor over load Time delays can alleviate this problem This command is not intended to be used to determine if a move is complete Rather it should be used after the move is complete to d...

Page 141: ...RB The RA command is useful when the motor will not move in either or both directions The report back will indicate whether or not the last move was terminated by one or both end of travel limits NOTE This command is not intended to be used to determine ifa move is complete Rather it should be used a f t e rthe mow is complete to determine there might be other errors or faults Cammand I R A ResDon...

Page 142: ...PauseActive Bdfered commands are not being executed due to a Pause PS command waitingfor a C command ShutdownActive The motor is shutdown by the ST1 command TriggerActive At least one trigger is active Example I Resaonse I NO IE This command i s not intended to be used to determine ifa move is complete Rather it should be used after the move is complete to determine i J there might be other errors...

Page 143: ...ch exceedsthe backlash dead band parameter This may involve a Stall or slipping of the load short of a stall DEFAULT N A SYNTAX aRC Homine Function Failure In this condition the indexer has encountered both End of Travel limits or one of several possible Stop commands or conditions Go Home motion was concluded but not at Home Stall In this condition the indexer has detected a deviation between mot...

Page 144: ...n deceleration ramp between velocities A limit switch closure will stop movement while in velocity profiling mode but does not cause the Indexer to exit velocity streaming mode RM profiling mode is unidirectional The direction will be the last activated direction either from an actual move or from a D or H command Bi directionalmoves using this mode can be made by returning to velocity zero switch...

Page 145: ...ccelerate to 4 revslsec Decelerate to 3 revslsec Decelerate to 2 revslsec Decelerate to 1 revfsec Decelerate to 0 revslsec Exit velocity streaming mode I Status of Sequence Execution I EXECUTION TIME Z S I SEE ALSO R RA RB RC VALID Software Version E2 I RESPONSE TO aRS IS X ATTRIBUTES Immediate Never Saved I Description The RS command indicatesthe status of the latest sequence execution Possible r...

Page 146: ...A The part number identifies which product the software is written for as well as any special features that the software may include The revision level identifies when the software UNITS RANGE I was written You may want to record this information in your own records for future use This type of information is useful when you consult Parker Compumotor s Applications Department N A Example The produc...

Page 147: ...he motor if in Rate Multiplier RM mode If you are in the RM mode issue an Exit Velocity Profiling Mode 90 command to stop the motor stop ATTRIBUTES I m m e d i a t e N e v e r S a v e d I Example VALID S o f t w a r e Version E2 I SYNTAX a S Command QescriptiQn MC Sets move in continuous mode A 1 Sets accelerationto 1 rev sec2 V 1 0 Sets velocity to 10 revlsec G Executesthe move Go S Stopsmotor mo...

Page 148: ...crifice some holding torque at zero speed Once the motor starts moving full motor current is restored SYNTAX a SCn This command is valid only while the motor is stationary When the motor starts moving you must re issue the command to reduce current after the move EXECUTION TIME 2ms Example UNITS N A SEE ALSO SCA Command Qescri ti n SC1 Sets standby current level to 13 When the motor stops moving c...

Page 149: ...current EXECUTION TIME 2mS SEE ALSO sc SN S e t up DEFAULT 8 SYNTAX a SCAn Scan VALID Software Version E2 UNITS N A RANGE n 1 8 Description The Scan SN command allowsyou to definethe debounce time inmilliseconds for external sequence selection inputs The debounce time is the amount of time that the sequence inputs must remain constant for a proper reading from a remote controller such as a program...

Page 150: ...nsmit the requested status report DEFAULT 0 Example RANGE n 0 1 SYNTAX a SSAn Command g e s c r m SSA1 Turns echo o f f Characters sent to the indexer are not echoed backto the host UNITS N A Limit Inputs for Stopping VALID Software Version E2 I SEE ALSO s ss SYNTAX a SSDn DescrlptIon The hardware limit switchescan act as remote stop inputs canbe controlled from PIX rather than via RS 232C link SS...

Page 151: ...Set accelerationto 10 rev sec2 I Set velocity to 5 revfsec I Set to mode continuous Loop 5 times Execute the move Go Sets direction to CW End loop e motor will move back and forth between limits DEFAULT 0 ATTRIBUTES Buffered Savable in Sequence I EXECUTION TIME 2ms I SEE ALSO LD s SF I SSH Set up Description SSH Clears command buffer on stop SSHl Saves command buffer on stop In Normal Operation SS...

Page 152: ...d rapidly decreases the motor current to zero The system ignoresmove commands that you issue after the ST1 command Torque on the motor is not maintained afteryou issue the ST1 command VALID Software Version E2 ST Prograrmning The ST command rapidly increases the motor current to normal Onceyou restore the current you can execute moves Shutdown ATTRIBUTES Buffered Savable i n Sequence I Thiscommand...

Page 153: ...o be shut down simultaneously EXECUTION TIME 2mS SEE ALSO FSC ST This command causes the position maintenance function to be turned on and turns the motor power back on if it was turned off due to SV1 or SV8 command The encoder position wffl be read and this newest position will be maintained DEFAULT None This command causes the position maintenance function to be turned on and turns the motor pow...

Page 154: ...tlon MN Set to mode normal A5 Set accelerationto 5 rev sec2 V 6 Set velocity to 6 revlsec D12800 Set distance to 12 800 steps G Execute the move Go T 3 Delays 3 seconds between moves G Execute the move Go TEST I Motion I UNITS n seconds Test Routine RANGE 0 0 1 9 9 9 9 9 VALID Software Version E2 1 EXECUTION TIME I SEE ALSO None Descrlptlon The Test Routine TEST command is intended for use as an i...

Page 155: ... Version E2 1 SEE ALSO TS Description This command allowsyou to specify a trigger configuration to be matched before continuing execution of the move The command is in the form TRnnn where nnn corresponds to triggers 1 2 and 3 respectively The possible values for n are as follows ATTRIBUTES Buffered Savable i n Sequence I n 1 Wait for the trigger input to be high opened n 0 Wait for the trigger in...

Page 156: ...ts the status of triggers 1 2 and 3 respectively The possible values forn are as follows ATTRIBUTES I m m e d i a t e N e v e r S a v e d I n 1 Input is high opened n 0 Input is low closed SYNTAX a T S Example EXECUTION TIME 2mS TRIG1 Jri TRlG 2 TRlG3 SEE ALSO TR TS command is useful for checking the status of the trigger inputs when it appears as though execution is being halted by a TR command T...

Page 157: ...N A p e s c r i a Sets move to Normal mode Sets accelerationto 5 rev sec2 Sets velocity to 5 rev sec Loops indefinitely Sets distance to 25 600steps Executes the move G Waits 10secondsafter the move Ends loop Halts execution until the indexer receivesthe Continue command This command string pauses at the point where the U command is entered A Continue C command causes executionto resume at the poi...

Page 158: ...and is completed the indexer moves on to the next command in the buffer once the specified velocity is reached EXECUTION TIME 2 m SEE ALSO A D G When the Go Home GH command is executed the velocity is changed accordingly subsequent moves should include a new V command unless the Go Home velocity is applicable DEFAULT 0 Once you define the velocity that velocity will be valid until you define anoth...

Page 159: ...e the decimal point are allowed This command does not change the velocity value set by the V command Example DEFAULT SYNTAX I n rev sec Command P e s c r W MC D o moves in continuous mode A 1 0 Sets accelerationto 10 rev sec2 V 5 Setsvelocity to 5 revlsec G Executes the move Go VC7 Change velocity to 7 revlsec2at acceleration of 10 rev sec2 The motor will ramp up to constant velocity at 5 rps afte...

Page 160: ...eps The format is in 2 s complement notation Moves in the negative direction CCW will report back negative numbers bit 31 is set to 1 Signed Binary Position Report If you are using a terminal to communicatewith the indexer the response may not be a printable character The response must be decoded using a computer VALID Software Version E2 This command is useful if you want to receive a position re...

Page 161: ... following steps to interpret a negative number starting with F DEFAULT N A SYNTAX a W 3 EXECUTION TIME 2mS The binarv D D o E c 1 Convert the hexadecimal response to binary form 2 Complement the binary number 3 Add 1to the binary result 4 Convert the binary result to decimal value with a minus sign placed ahead of the decimal value SEE ALSO wl PR The com uter aDDr0ach Subtract the hexadecimal num...

Page 162: ... the current in the motor the greater the percentage of out of phase 3rdharmonic you would want Empirical determination of the best sine wave for a given motor and load is the best means for selecting a waveform DEFAULT 5 SYNTAX a WVn Y W a v e f o r m I of ofrd Harmonic I EXECUTION TIME 2mS I SEE ALSO None Example UNITS N A l2Qmmd P e s c r l m l 1W V 1 Waveform 1 is selected RANGE n 1 9 Artisan ...

Page 163: ...S SEE ALSO XD XE SYNTAX aXC Command ResDonse 1 X C 149 UNITS N A Description This command begins sequence definition for a specific sequence AU the commandsbetween the XD command and the SequenceTermination XT command will be defined as a sequence The sequences will automaticallybe saved when the XT command is issued If a sequenceyou are t r y i n gto define already exists you must erase that sequ...

Page 164: ...ted XE 1 P r o g r a m m i n g Sequence Erase VALID S o f t w a r e V e r s i o n E2 DescriptIon This command allows you to delete a sequence The sequence that you specify n will be deleted when you issue the command As a good practice you should delete a sequence before defining it ATTRIBUTES B u f f e r e d N e v e r Saved I Example SYNTAX a XEn See example for XD command EXECUTION TIME 2ms UNIT...

Page 165: ... select inputs to be executed on power up Control will then be passed to the RS 232C interface UNITS N A A value of 9 for n will cause the sequence whose number appears on the Sequence Select inputs to be executed on power up When the first sequence is finished in XP9 mode the AX will scan the Sequence Select inputs again and execute the next sequence whose number appears on the inputs This cycle ...

Page 166: ...uence Interrupted Run Mode ATTRIBUTES B u f f e r e d S a v a b l e i n Sequence The interrupted run mode is cleared at the start of execution of a sequence VALID S o f t w a r e V e r s i o n E2 EXECUTION TIME 2ms SEE ALSO XD XE XT XZ XI SYNTAX a XQn Example Command X E 1 XD1 L D 3 XQ1 XT X P 9 UNITS N A s c r D m Erase sequence 1 Define sequence 1 Disable CW CCW limits Sets interrupted mode on E...

Page 167: ... like a GOT0 not a GOSUB Ifusing continuous mode the velocity must be 0 rps when calling another sequence An XR command placed within a loop will be ignored ATTRIBUTES Buffered Savable in Sequence I Example EXECUTION TIME 2mS SEE ALSO xE xD xT XRP SN Command XE1 XD1 A 1 0 v 5 D 2 5 6 0 0 G XT XR1 SYNTAX a XRn Erase sequence 1 Define sequence 1 Sets accelerationto 10 rev sec2 Sets accelerationto 5 ...

Page 168: ...mple ATTRIBUTES Buffered Savable in Sequence I Command XE5 XD5 A1 0 v 5 D 2 5 6 0 0 G XT XRPS C Pescri tion Erases Sequence 5 Defines Sequence 5 Sets accelerationto 10 rev sec2 Sets velocity to 5 revlsec Sets distance to 25 600 units Executesthe move Go Ends defining Sequence 5 Runs Sequence 5 with a pause Indexer executes Sequence 5 DEFAULT None SYNTAX a XRPn EXECUTION TIME 2ms Upon issuing XRP5 ...

Page 169: ...RIBUTES B u f f e r e d N e v e r S a v e d I 0 Download O K I 1 A sequence already exists with the number you have specified DEFAULT N A SYNTAX a X S D 2 Out of memory The sequence buffer is full 3 EEPROM write error UNITS N A The XSD command is useful for verifying that the last sequence definition attempt was successful RANGE N A Example Command l3mX Ee 1XSD 1 This response indicates that you n...

Page 170: ...onse 1XSP 3 indicatesthat sequence number 3 if it exists will be executed upon power upor reset RANGE N A SYNTAX a X S P p TI S t a t u s UNITS N A Sequence Run Status I RESPONSE TO a X S R IS n VALID S o f t w a r e V e r s i o n E2 Description This command allowsyou to check whether or not the last sequence you issued was executed successfully without hitting limits Stop S or Kill K The valid va...

Page 171: ...XE XT UNITS n sequences RESPONSE TO a x s s n IS n XT Programming RANGE N A RANGE 1 7 SYNTAX a XT I DEFAULT I ATTRIBUTES I Sequence Termination UNITS N A I N A I Buffered Never Saved I VALID Software Version E2 EXECUTION TIME SEE ALSO XD XE XR I DescrlptIon The XT command is a sequence terminator This command flagsthe end of the sequencecurrently being defined Sequence definition is not complete s...

Page 172: ...UTES Buffered Never Saved I NOTE When using a daisy chain this command must be used cautiously as the contents of the sequence will go to a U controllers in the loop between the indexer that i s uploading and the host TheF command may be useful in this context to turn off communication on units you are not uploadingfrom EXECUTION TIME SEE ALSO XD XE XT F Example DEFAULT N A SYNTAX aXUn Command P e...

Page 173: ...are active in this error state In testing externally controlled sequences it can also be used to disable continuous run sequencing followedby a Z command to reset the indexer The main difference between the XZ command and the XP command is that XZ is executed immediately and XPO is entered into a buffer If you are already running a sequence use this command Set power up Sequence to Zero Example VA...

Page 174: ...re command structure including the Loop L and End Loop N commands Example ATTRIBUTES Immediate Never Saved I Command Descri ti0 L Loops indefinitely A 1 0 Sets accelerationto 10rev sec2 V 5 Setsvelocity to 5 revlsec D 2 5 6 0 0 Sets distance to 25 600 steps T2 Waits 2 seconds G Executes the move Go N Ends loop Y stops loop EXECUTION TIME 2 m SEE ALSO L N CL CN SYNTAX a Y The loop requires the moto...

Page 175: ...ars the command buffer Like the Kill K command the Z command immediately stops output pulses to the motor Any commands entered while resetting are ignored This command sets all position counters to zero None Example Reset VALID S o f t w a r e V e r s i o n E2 ATTRIBUTES I m m e d i a t e N e v e r S a v e d DEFAULT N A SYNTAX a Z UNITS N A RANGE N A Artisan Technology Group Quality Instrumentatio...

Page 176: ...O S U D D I motors actual I Value OF 104 F 0 C 40 C Humidit I Iitemperatwe rise is dependenton duty cycle I 0 95O 0 non condensing 40 F 185 F 40 C 85 C Max casetemD 212 F 100 C for Table 6 1 AX Environmental Specifications An internal thermostat will shut down the drive if the internal drive temperature reaches 149 F 65 C NOTE Cwrent settfngs i nexcess qf4A in high ambienttemperature envhmnents ab...

Page 177: ...f internalair temperature exceeds 158 F 70 C 64 microsteps fullstep 12 800 steps rev with a 1 8 step motor 0 1 999 999 999 steps Absolute or incremental fO O1 50 0 rps 0 6 3 000 RPM 0 01 999 999 rpsr RS 232C three wire Tx Rx GND implementation Required minimum voltage swing on Rx line is f3V Fixed at 9600 baud 8 data bits 1 stop bit no parity Upto 8 AX drives controlledfrom one RS 232Cport connect...

Page 178: ...120 0 42 0 55 0 85 0 48 1 28 1 75 0 088 0 234 0 320 25 25 25 11 32 11 32 11 32 15 15 15 1 6 79 6 79 6 79 0 005 same for all motors 0 013 same for all motors 0 0008 same for all motors 10 same for all motors 1 6 2 4 3 2 0 0167 same for all motors 0 0833 same for all motorsi 0 0014 samefor all motors1 S0 0334 samefor all 41mH lOOmH 74mH NEMA SlZE 34 NEMA SlZE 42 AX AX AX 106 120 106 178 106 205 450 ...

Page 179: ...nd Connectors RS 232C INTERFACE INDEXER MOTOR ENCODER FAN AC POWER Rx Tx COM OPT01 CW CCW HOME OPT02 TRlG 1 TRK 2 TRIG 3 SEQ 1 SEQ 2 SEQ 3 OUT 1 OUT2 A A GND B B 5v DMMON CHA CH A CH CHB CH z CH z SEI SEI SHIELD LlNE NEUT N C LlNE NEUT GND 1 Figure 6 1 AX Drive Pinouts and Connectors Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 180: ...le hasfour twisted pairs 11 2 3 and 4 NOTE Compumotor does not recommend extendfng the encoder cables Ifyou think extending the cables Is necessary contact a Compumotor Applications Engineer fust 1 0 The different types of 110 identified in the following tables are Specifications as follows GR0UND Isolated ground for logic signals R S 232C Standard RS 232C110 Optically isolated inside the drive 12...

Page 181: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 182: ...lated inputs Nomally high or ON Require normally closed contact to Opto Gnd to disable Limits may also be disabled over RS 232 interface 3 4 I 5 6 7 8 I Non valid sequence Table 6 7 Sequence SelectionTable 110 Wiring Diagrams R x Tx C O M OPTO 1 cw CCW HOME OPTO 2 TRlG 1 TRlG2 TRlG3 SEQ 1 SEQ 2 SEQ 3 OUT 1 OUT 2 External Power Supply 5 to 12VDC Tiigers can use N O or N C switches dependingon how t...

Page 183: ...OUT 1 OUT 2 N O NormallyOpen Switch N C orm malty cbed swna 5v COM Figure 6 3 1 0 Wiring Diagram Testing Only AX 5v 1 C O M 2 CHA 3 CHA 4 CH 5 CHB e CHZ 7 CHZ 8 SEI s SEl lo ENCODER SHIELD 11 Figure 6 4 Encoder 1 0Wiring Diagram Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 184: ...RE REFERENCE 1 7 3 I10 Circuits Encoder Connector 14 PIN GNO GND j7 GNO GND Figure 6 5 AX Encoder Connector 1 0Circuit Diagram Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 185: ...ing leads B and B NO7E Verify that there i s continuity between the j3 and B leads Proceed to the Terminal Connections section below Determine with an ohm meter which three of the six motor leads are common onephase Label each one of these three motor leads A Using the ohm meter verifjr that the remaining three leads are common Label the other three leads B Set the ohm meter range to approximately...

Page 186: ...umentation label the motor leads as shown in Figure 6 6 Then use the following proceduresfor parallel or series configurations Connect motor leads labeled A1 and A3 together and relabel this common point A Connect motor leads labeled A2 and A4 together and relabel this common point A Connect motor leads labeled B1 and B3 together and relabel this common point B Connect motor leads labeled B2 and B...

Page 187: ...segnnuui wim then youmust add one Youmagconnect this wimto the motor a t oneo f themounting holes withagroundlqg Thegrvund w i n must thenbe nmwith therest o f themotor leads t othe motor connector STEP 2 Connect phase A motor lead to motor terminal pin 1 STEP 3 Connect phase A motor lead to motor terminal pin 2 STEP 4 Connect phase B motor lead to motor terminal pin 4 STEP 5 Connect phase B motor...

Page 188: ...5 set to the OFF position NOTE A X D r i v e systems ordered with Compumotor Motors are shipped with the current DIP switches set to the accompanying motor I AXL I OFF ON ON ON OFF ON OFF ON OFF OFF ON OFF OFF ON ON DIP Switch Settin s s I Not Recommended 1 Parallelconnect motors Table 6 9 Current Settings for Compumotor Supplled Motors NOTE The current values in Table 6 9 are approximate settings...

Page 189: ... AX DRIVE USERGUIDE Table 6 10 Motor Current Settings Full ange Address Settings Table 6 11 Device Address Settings Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 190: ...REFERENCE 1 7 9 Dimensional Drawings AX Drive and Fan Dimensions r 47 11 94 Typ OptionalFan Klt Figure 6 7 AX Dimensional Drawing Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 191: ...A SIZE 23 FRAME 6 32 UNC 28 Thread 4 Equally Spaced on 1 865 47 37 BC Model A AX 57 51 2 0 50 8 1 118 28 40 AX 57 83 3 1 78 4 D i a LwB Figure 6 8 NEMA Size 23 Motor Dimensions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 192: ...d x 25 6 50 Deep 4 Spacedon 2 952 74 98 BC NEMA SIZE 34 FRAME M e l X 83 62 X 83 93 x83 135 A 2 5 63 5 3 7 93 98 5 2 132 08 x 050 1 27 Deep BoreMin igure 6 9 NEMA Size 34 Motor Dimensions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 193: ... View I 4 75 120 65 Max Max 4 2q107 44 Dia Max I 0 32 x 38 9 65 DP MountingHolesat 120 on 3 00 76 20 BC 3 7 Figure6 1 0 NEMA S i z e 42 AX 106 1 2 0 Motor Dimensions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 194: ...iew lo 32 x 38 9 65 DP Mounting Holesat 120 on 3 00 76 2 BC 3 4 2 186 55 52 Dia x6 32 UNC 2 8 Thread x 25 6 50 DP 2 952 74 98 BC P 000 DetailView l2 27 4 291 739 2 7 T k 404 Woodruff Figure 6 11 NEMA Size 42 AX 106 178 Motor Dimensions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 195: ...IDE NEMA SIZE 42 FRAME AX106 205 4 Holes 1 Y 2 23 rn ShallDia See Detail View C Figure 6 12 NEMA Size 42 AX 106 205 Motor Dimensions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 196: ...X Drivewith an Torque oz in m AX 57 102 Motor W AX Drivewith an Torque or in m AX 83 62 Motor AX Drivewith an Torque oz in m AX 83 93 Motor HP 300 2 12 3 0 240 1 68 24 180 1 26 18 120 84 12 60 a M 0 0 0 8 12 18 24 30 Speed UPS AX Drivewith an Torque 02 in m AX 83 135 Motor Speed UPS Speed RPS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 197: ...onf AX Drivewith an AX Drivewith an Torque AX 106 120 Motor Torque AX 106 205 Motor W Speed RPS Torque AX Drivewlh an AX 106 178 Motor Speed RPS Speed RPS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 198: ...anel you may rewire the motor in Series l onnectin an AX106 205in Series 1 Connecting an AX106 205in Parallel Jumper 6 3 Table 6 12 AX 106 205Motor Series and Parallel Connections Series Parallel R PHASE A B 5 3 8 G 2 I PHASE B Figure 6 1 3 Wiring Diagram 106 205Motor Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 199: ...motor in Parallel connectingan AX106 178 in Series IIJumper2 6 1 Connecting an AX106 178 in Parallel Jumper 3 6 Jumper 5 8 Table 6 13 AX 106 178Motor Series and Parallel Connections PHASE A PHASE B I Parallel PHASEA PHASE B Figure 6 14 Wiring Diagram 106 178 Motor Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 200: ...enance The following system components require periodic maintenance The Motor The Drive Spare Parts Table Table 7 1provides a Iist of recommended spare parts to use with the AX system Part Description Choice of two drives AXH AXH DRIVE 1 AXL IIAXL DRIVE I lFan Kit standardon AXH Drives l IAFK I MechanicalScrews 6 32x 114 Universal MountingBracket 5 Position Terminal Connector Phoenix Table 7 1 Rec...

Page 201: ...cur with your AX Drive Problem When your system does not function properly oras you expect k0lati0n it to operate the first thing that you must do is identify and isolate the problem When you accomplish this you can effectively begin to eradicate and resolve the problem Try to determine if the problem is mechanical electrical or software related Can you repeat or re create the problem Do not attem...

Page 202: ...its are disabled LD3command The load isjammed You should hear the drive attempting to move the motor Remove A C power fromthe drive and verify that you can move the load manually away from the point of the jam Indexer parameters are incorrectly set up If certain parameters are out of range or are missing the motor will not move when you issue the Go G I command Use R RA RB and RS status commands t...

Page 203: ...on ramp may be too steep The load inertia and motor inertia may be grossly mismatched Lower acceleration may be required If the motor stalls during the constant velocity portion of a move the shaft and or coupler may be damaged or binding due to improper coupling or excessive motor load A stall may occur if the DIP switch setting for the motor current selection is incorrect The motor may not be re...

Page 204: ... the load is not coupled properly If you are having problems using the Trigger TR Home GH commands and the Mgger Home CW CCW and Sequence Select inputs you must first check your wiring for proper installation Use an Ohm meter to verQ proper connection of the switches and inputs If the hardware connection seems correct you can manually change the input switches and use the IS command to verily if t...

Page 205: ...y also need to install noise suppression devices if you have multiple drives attached to the sameAC power source Figure 7 1 shows some recommended suppression devices for most small loads For best results install these devices as close as possible to the inductive load 1 Can be savedfor bothAC and DC circuits 2 Use500 1000 ohm for R and 0 1 0 2 microF 2oov DIODE For DC circuit only VARISTOR MOV I ...

Page 206: ...ansmittedand power line noise The AX Drive is capable of delivering 6 amps on a 170V rail to the motor This is pulse width modulated at a 20 kHz rate consequently the AX Drive must be considereda source o f electrical noise POWER LINE Power line noise is usually easy to resolve due to the wide NOISE variety of line filtering equipment that is available to the motion control industry Only the most ...

Page 207: ...ed to Earth AC power ground As a rule it is preferable to have the indexer signal ground or DC common floating with respect to Earth This prevents sources of electrical noise that are grounded to Earth from sending noise into the indexer When you cannot float the signal ground you should make the Earth ground connection at only one point In many cases optical isolation may be required to completel...

Page 208: ...m to occur most often in systems where a control computer is using RS 232C communication Symptoms like garbled transmissions and intermittent operation are typical The problem occurs in systems where multiple Earth ground connections exist particularly when these connections are far apart Suppose an AX is controlling an axis and the limit switches use an external power supply The AX is controlled ...

Page 209: ... Earth Isolate remote signals Solid state relays or opto isolators are recommended Filter the power line Use common F U filters isolation transformer for worst case A noise problem must be identified before it can be solved The obvious way to approach a problem situation is to eliminate potential noise sources until the symptoms disappear as in the case of ground loops When this is not practical u...

Page 210: ...CTS usuallypins 4 and 5 and DSR to DTR usuallypins 6 and 20 Refer to your computer or terminal user guide for exact instructions Configure the host and peripheral to the same baud rate number of data bits number of stop bits and parity If you receive double characters forinstance if you type A and receive AN your computer is set to half duplex Consult your computer or terminal emulator user manual...

Page 211: ... unit failed i e installing the unit cycling power starting other equipment etc How was the product configured indetail What if any cables were modifled and how With what equipment is the unit interfaced What was the application What was the system sizing speed acceleration duty cycle inertia torque friction etc What was the system environment temperature enclosure spacing unit orientation contami...

Page 212: ... Z Channel Input ReferenceEdge of Home Switch Position Report Pause PX PZ 18 Q0 Q1 R RA RB RC RM RS RV S SC SCA SN SSA SSD SSG SSH ST sv T TEST TR TS U v VC W1 W3 WV xc XD XE XP XQ XR XRP XSD XSP XSR XSS XT X U xz Y z Report Absolute Encoder Position PositionZero Quote Exit Velocity Profiling Mode Enter Velocity Profiling Mode Request lndexer Status LimitSwitch Status Report Loop Pause Shutdown Tr...

Page 213: ... DLE DC1 l x 2 DC3 DC4 NAK SYN ETB CAN EM SUB ESC FS GS RS US SPACE I 0 1 2 3 4 5 6 7 8 9 116 74 t 117 75 u 118 76 v 119 77 w 120 78 x 121 79 y 122 7A z 123 78 124 7C I 125 7D 126 7E 127 7F DEL Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 214: ...ts and signal flow through a system Bode Plot A graph of system gain and phase versus input frequency which graphically illustratesthe steady state characteristics of the system Break Frequency Frequency ies at which the gain changes slope on a Bode plot Break frequencies correspond to the poles and zeroes of the system Byte A group of 8 bits treated as a whole with 256 possible combinations of on...

Page 215: ...e larger the torque that is required to accelerate or decelerate it lnertia is a function of an object s mass and its shape Inertial Match For most efficient operation the system coupling ratio should be selected so that the reflected inertia of the load is equalto the rotor inertia of the motor Limits Properly designed motioncontrol systems have sensors called limits that alert the control electr...

Page 216: ...haracter transmissions beginwith a bit which signalsthe receiverthat data is now being transmitted Static Torque The maximum torque available at zero speed Step Angle The angle the shaft rotates upon receipt of a single step command Stiffness The ability to resist movement induced by an appliedtorque Is often specified as a torque displacement curve indicating the amount a motor shaft will rotate ...

Page 217: ...s 12 Dead Band ix Dead Band Window DW command 38 58 Defeating Noise 198 Delays 61 Delimiter ix Developing Your Application vii Device Address Settings 178 Device specificCommand 31 Dimensional Drawings 179 DIP Switch 6 15 DIP Switch Settings 7 16 192 Drive ix Drive Functions 6 Drive Maintenance 190 Drive Mounting 18 Drive Output Current 16 Drive Specifications 166 Earth Ground 196 EEPROM 64 65 Ele...

Page 218: ... Dimensions 180 dotor Failsto Move 191 Aotor Fails to Run at High Speeds 192 Motor is Jerky or Weak 193 Motor Maintenance 190 Motor Mounting 17 Motor Overheating 193 Motor Resonance 78 Motor Shaft Wear 193 Motor Specifications Compumotor Supplied 167 Motor Stall Detection 38 Motor Stalls 192 Motor Wire ResistanceValues 24 Motor to EncoderRatios 54 MOV s 195 Move Completion Signal 63 Move Profiles ...

Page 219: ...rocedures 15 Ship Kit 5 Short circuit ix Signal Polarity 35 Single Loops 62 Single Axis Control 69 Sources of Electrical Noise 195 Spare Parts 189 Special Motor Wiring 187 Stall Detect Function 38 Standby Current Feature 193 Status Commands 81 Stop S command 53 Stop On Stall 39 57 Stop on Stall Function 39 Surge Suppression 198 System Pinouts 23 System Pinouts and Connectors 168 System Response 83...

Page 220: ...quipment 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 documentation Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate representative or authorized distributor for any manufacturer listed herein We re here to make your life easier How...

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