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Basic Programming Guide
This section uses examples of simple programs as an introduction to programming and
explains the use of the command language.

The system configuration is a stepper motor. The address select switch has been set for unit
1. The motor starting position is 8000 steps CW from the home position.

+24V SUPPLY

CONTROL
SIGNALS

POWER
SUPPLY

DRIVE

POSITIONER

ISOLATED
AC MAINS
SUPPLY

STEPPER MOTOR

CONTROLLER

(RS232 TERMINAL

OR COMPUTER)

+LIMIT

-LIMIT

HOME

+24V

Figure 7-4. System Used in Example Programs

Example 1

In this simple example the requirement is to cause the motor to perform two revolutions in a
CW direction and stop.

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Summary of Contents for PDHX-E Series

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...

Page 2: ...na Close 5500 Business Park Drive Suite D Poole Dorset Rohnert Park CA 94928 England BH17 7DX USA Direct Lines for Technical Support Telephone 800 358 9070 Tel 01202 699000 Fax 01202 695750 Fax 707 58...

Page 3: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 4: ...TY WARNING High performance motion control equipment is capable of producing rapid movement and very high forces Unexpected motion may occur especially during the development of controller programs KE...

Page 5: ...eable parts inside Symbols used on the PDHX E Series of drives have the following meanings Refer to the accompanying documentation Risk of electric shock Hot surface Protective conductor terminal Alte...

Page 6: ...Directive 92 31 EEC The product is intended for use in the Commercial Light Industrial and Industrial Environments as defined in the relevant EMC standards This product is compliant with the Low Volta...

Page 7: ...ies of stepper drives it should be read in conjunction with the X150 X150E Software Reference User Guide Part Number 1600 221 01 which provides details of individual commands User Guide Change Summary...

Page 8: ...n phases and between any phase and earth If a wiring fault occurs the drive fault LED will be lit up see Maintenance and Troubleshooting The drives can be used as stand alone units with separate contr...

Page 9: ...2 PDHX E SERIES DRIVE USER GUIDE Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 10: ...listed on the drive serial plate Ship Kit Table Part Description Part Number PDHX E Drive See drive identification below PDHX E User Guide 1600 209 XX Drive connectors and ferrite absorber kit PDHXE F...

Page 11: ...ease note the following The motor should be securely clamped to the test bench before any power is supplied Minimum RS232 Connections You will need to make a connection between a terminal and the driv...

Page 12: ...3 5 6 8 1 6 5 9 Power Fault Test Standby Resolution Drive bit switch Motor connector Main I O conn Motor current AC input EMC Compliant Stepper Motor RS232 Control Pull up the STOP input to enable th...

Page 13: ...sting the PDHX E System 1 Ensure a link is made between Vs pin 1 and Stop pin 5 on the 23 way main controller connector 2 Make the RS232 connection between the terminal and controller as detailed abov...

Page 14: ...motor fails to rotate re check all connections If you do not discover the cause of the problem refer to the Maintenance Troubleshooting section 9 At the end of testing remove power from the drive Arti...

Page 15: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 16: ...ck to the drive This may require mounting the connector on a sub panel insulated from the cabinet or using a connector having an internal screen which is insulated from the connector housing Within th...

Page 17: ...d The specification of a suitable absorber is given below Fit the insulated cover supplied with the drive over the motor connector to protect any exposed wires and screw terminals MOTOR CONNECTOR A A...

Page 18: ...er they give no physical protection to the absorber Figure 3 2 Motor wiring installation Motor Selection To maintain EMC compliance the wiring guidelines given in the previous section must be followed...

Page 19: ...s a power dump with a continuous rating of 15 watts 170 watts peak You will need the PDHX15E D in the following situation Metric formula if the deceleration time t J 2 0 1 where t is the deceleration...

Page 20: ...150 90 motor with its windings connected in parallel The motor is viewed from the terminal box end with the end plate removed 1 2 3 4 7 8 5 6 A A B B Motor casing earth connection Cable gland which co...

Page 21: ...ad Grn Wh Grn Red Red Wh White Black N C 8 lead Black Orange Red Yellow Link Wh Blk Wh Org Link Wh Red Wh Yel T box 6 5 8 7 Link 1 3 link 2 4 Digiplan Compumotor 4 lead Internally wired in parallel OE...

Page 22: ...E 6 lead Grn Wh White Red Black Grn Red N C 8 lead Black Or Red Yel Wh Or Wh Blk Wh Yel Wh Red T box 3 6 1 5 4 8 2 7 Digiplan Compumotor 4 lead Red Black Green White OEM Series 8 lead Red Yellow Green...

Page 23: ...S QM 57 51S 1 2 0 088 0 48 S QM 57 51P OFF OFF OFF 2 3 S QM 57 83S 1 5 0 234 1 28 S QM 57 83P OFF ON OFF 3 1 S QM 57 102S 1 7 0 32 1 75 S QM 57 102P ON ON OFF 3 5 S QM 83 62S 2 2 0 64 3 50 S QM 83 62...

Page 24: ...inimum drive current too high for motor X Unsuitable motor drive combination 106 42 size motors must use PDHX15E D option regenerative power dump Table 3 5 PD E Series Current Drive Settings for Digip...

Page 25: ...ection of the encoder inputs Bit ENC must be set to 0 to use the encoder inputs 5 Main I O connector 23 way two part screw terminal connector All the user programmable inputs and outputs as well as re...

Page 26: ...s 110 240V 50 60Hz Vs LMT LMT STOP AUX I 1 I 2 I 3 I 4 I 5 I 6 I 7 I 8 I 9 I 10 O 1 O 5 O 2 O 3 O 4 O 6 GND HOME Ext Enc RS232 RP240 RS232 RS485 Status 1 23 1 2 3 5 6 8 Power Fault Test Standby Resolu...

Page 27: ...1 5V RP240 5V DC 150mA max mini DIN 2 0V RP240 3 RxB RP240 4 n c 5 RxA Terminal RS232 Receive E 6 TxB RP240 7 Screen 8 TxA Terminal RS232 Transmit E RS232 RS485 1 Rx RS485 Receive J 9 way D type 2 Tx...

Page 28: ...Table 3 7 Controller Signals Continued Signal Types Signal Types identified by letters A B C D E F G and I in Table 3 7 are defined below Input Circuit Conventions Inputs may be configured to be acti...

Page 29: ...d to 0V pull down 5V or 24V pull up Table 3 8 defines the required settings for 5V and 24V operation and the different input characteristics between the two settings 5V Operation 24v Operation Signal...

Page 30: ...n the external voltage Vs The characteristics of each output type are listed in Table 3 9 NPN PNP Output Characteristics Circuit configuration Output current max Max OFF signal voltage Mode Common emi...

Page 31: ...ddress of the drive is set using an internally mounted bit switch The switch may be accessed via the ventilation slots on the top of the drive see Figure 3 8 Address selection is described in Communic...

Page 32: ...ent temperature within specification Installation Considerations The drive should be installed vertically Air vents on the top and bottom panels allow convection cooling At least 50mm minimum clearanc...

Page 33: ...ermine the step resolution of the drive as defined in Table 3 11 Note cycle the power for switch settings to take effect SWITCH SETTINGS RESOLUTION IN STEPS REV 4 5 ON ON 400 ON OFF 1000 OFF ON 2000 O...

Page 34: ...to the software section for further explanation Caution Possibility of damage to the TM8 module THE TM8 REQUIRES A 5V SUPPLY THE ICON COMMAND MUST BE USED TO SELECT A PULL UP LEVEL OF 5V OTHERWISE DA...

Page 35: ...s defined as data input 1IN10W Input 10 is defined as sign bit 4 Set 1OUT3J Output 3 is defined as data strobe 1OUT4J Output 4 is defined as data strobe 1OUT5J Output 5 is defined as data strobe The t...

Page 36: ...onfigure as previously described Output 6 is used to select which thumbwheel is to be read SET 1OUT6A Programmable output Enter the following commands Command Description OXXXXX0 Output 6 is low TM8 m...

Page 37: ...Module 5 G I5 I4 I3 I2 I1O5O4O3O2O1 Lmt Lmt Stop Aux I 2 I 3 I 5 I 6 I 8 I 9 O 1 O 2 O 4 O 5 Gnd OPTIONAL SIGN BIT TM8 Module 1 TM8 Module 2 Main I O Connector Figure 3 10 Connections to Dual TM8 Thu...

Page 38: ...bsolute limits 47 to 63Hz Better than 0 9 over input voltage range and output power range 300VA 3A rms max 3A MCB type C characteristics Output current range Standby reduction 2 5A 5A 350mA steps 50 o...

Page 39: ...o ordinate System Incremental or absolute Operating Modes Preset preset with speed change continuous registration electronic gearbox following preset following Motion Program Storage Memory Type Memor...

Page 40: ...y using the optional sign D 6000 or D 6000 or it can be defined separately with the H command H or H Absolute Preset Moves A preset move in absolute mode MPA command will move the shaft of the motor t...

Page 41: ...be made during a preset move The speed changes can be triggered at a set distance using the TRD command or by an input using the TRE command Registration Moves A move may be programmed to end a specif...

Page 42: ...sets the minimum distance at which the system will recognise the registration pulse The TRR command TRR1440 This command sets up the registration mode and the registration distance the distance the ax...

Page 43: ...specified distance This is due to a defined velocity that is low a defined acceleration that is high a move distance that is long or a combination of all three For example if the acceleration is set t...

Page 44: ...2 allowing the superimposing of indexer moves d Software scaled encoder following SIM3 e Software scaled encoder following with direction reversal SIM4 f Preset following index mode SIM 5 For SIM1 and...

Page 45: ...G is 1 00ms to accept already profiled follower inputs The input pulses are buffered or stored at the input resolution the actual number being stored at any particular instant being termed the followi...

Page 46: ...e PDHX E The PDHX E can use Position Maintenance to correct for positional errors at the end of a move If a 4 000 step move is made the motor will attempt to go 4 000 steps or 1 rev At the end of the...

Page 47: ...lue of CPE will be in motor steps and should not be set less than 40 steps in 4000 step rev mode This is to allow for rotor lead lag during acceleration and deceleration If the motor becomes desynchro...

Page 48: ...ition error CPE maximum allowable position error a stall condition exists if stop on stall is enabled the motor will stop If DPE position error DW deadband window position maintenance will occur A val...

Page 49: ...en the switch is OFF will result in the following error message being displayed 15 BACKUP RAM IS WRITE PROTECTED Motion Program Selection The system may be set up so that no sequence is executed at po...

Page 50: ...remembered until power down It is not necessary to keep re stating the same parameter value When you power up the positioner all parameters are assigned default values which the 1DR command will show...

Page 51: ...in up to 32 axes Individual drive addresses are set with the Controller DIP switches see Table 6 1 When daisy chained the units may be addressed individually or simultaneously You should establish a u...

Page 52: ...n immediate status command until the host receives a buffered command status response If this is not followed the command responses will be intertwined rendering the data useless If you enable the Int...

Page 53: ...o be sent individually rather than as strings You should not use the simple BASIC INPUT statement as this hangs the link without time out if an error causes no carriage return character to be received...

Page 54: ...ck of the transmitted characters or characters returned by interrogation commands or a combination of the two The command buffer is 256 characters long When it has filled up the interface will echo a...

Page 55: ...rom being transmitted to axes further down the chain so should be used with care The fact that a routine that breaks some of these rules works is irrelevant Worst case communication response condition...

Page 56: ...F Don t address a non existent axis Don t rubout a device address Type carefully None of the above conditions is an error so the status LED on the Controller will not indicate a fault and the axis ma...

Page 57: ...he current cursor location on the LCD display For example A user wishes their operator to see the message ENTER THE CYCLE COUNT The user wants this message placed on line two starting after two spaces...

Page 58: ...erator to enter information The numbers as entered will be displayed at the current cursor location Once the ENTER key is pressed the number will be accepted by the Controller Step 4 Issue the VAR1 NU...

Page 59: ...parts Step 8 DCLR0 command is issued Cursor Location Step 9 Issue the DPC105 command line 1 position 05 Cursor Location Step 10 Issue the DTXT WHICH PART DO YOU WANT TO RUN command Cursor Location WH...

Page 60: ...stored in variable 1 to be used as the cycle count The following is a command example Command Description D2400 Set distance to 2400 steps V1 Set velocity to 1 rps L VAR1 Loop the number of times as s...

Page 61: ...following the command that was stopped with the STOP key Sample Program This section provides an example of an RP240 application program Refer to the Software Reference Guide for a more detailed desc...

Page 62: ...NIF XT Sequence 23 Sequence 23 asks you to make a selection via the function keys Control is passed to a sequence based upon the function key pressed XE23 XD23 1DCLR0 1DPC101 1DTXT JOG I O TEACH MAKE...

Page 63: ...VAR3 1 NWHILE REPEAT VAR1 FUN UNTIL VAR1 6 SB T0 3 VAR1 FUN UNTIL VAR1 0 V0 MN XT Sequence 25 Sequence 25 provides input status information and changes the state of LEDs XE25 XD25 1DCLR0 1DPC100 1DTX...

Page 64: ...mode for moves XE26 XD26 MPA MN VAR30 1 VAR29 1 VAR28 33 REPEAT 1DCLR0 1DTXT HOW MANY MOVES TO TEACH _x 1DPC200 1DTXT MAXIMUM OF THREE MOVES 1DPC125 VAR30 NUM UNTIL VAR30 0 AND VAR30 4 L VAR30 PZ 1DC...

Page 65: ...VAR2 0 1DCLR0 1DPC215 1DTXT OUT OF RANGE T2 1DCLR2 VAR30 1 NIF IF VAR30 0 1DCLR0 1DPC112 1DTXT FEED LENGTH 1DPC125 1DVO2 2 1 0 1DPC202 1DTXT YES 1DPC236 1DTXT NO VAR22 FUN NIF IF VAR22 1 1DCLR0 1VAR30...

Page 66: ...T OUT OF RANGE T2 1DCLR2 VAR30 1 NIF IF VAR30 0 1DCLR0 1DPC113 1DTXT OF CUTS 1DPC124 1DVO4 3 0 0 1DPC202 1DTXT YES 1DPC236 1DTXT NO VAR22 FUN NIF IF VAR22 1 1DCLR0 VAR30 1 NIF UNTIL VAR30 0 1DCLR0 1DP...

Page 67: ...LR0 1DPC213 1DTXT JOB COMPLETED T1 5 1DCLR0 XG23 XT Short service sequences used to set up distances in the self learn mode XE33 XD33 VAR6 POS XT XE34 XD34 VAR7 POS XT XE35 XD35 VAR8 POS XT XE40 XD40...

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Page 69: ...rogram available from Digiplan for use with IBM PC s and compatibles is suitable for this purpose X Ware is supplied with the product Individual Commands An individual positioner command controls a si...

Page 70: ...us Stop commands that clear the command buffer and various Status Request commands that have no effect on the command buffer Buffered Commands Commands that are identified as Buffered are received by...

Page 71: ...mming Modes Normal Mode The command MN selects normal mode In this mode moves are set by the D command Within normal mode there are two options absolute mode and incremental mode Absolute Mode The com...

Page 72: ...es to be made during a preset move The speed changes can be triggered at a set distance using the TRD command or by an input using the TRE command Example 3MQ Set MQ mode for axis 3 3A50 Set axis 3 ac...

Page 73: ...parameter commands can be used If only G is entered the positioner will repeat the previous motion pattern For example a string of Go commands G G G G would instruct the positioner to move the motor t...

Page 74: ...velocity zero at the last used acceleration The S command clears any remaining commands in the command buffer unless prevented from doing so via the SSH command NOTE Normally the motor is decelerated...

Page 75: ...st commands must be conducted in an orderly fashion Commands should only be issued when the host is ready to read the response New commands should not be sent until the response is received In particu...

Page 76: ...ce 1 else execute sequence 2 XR1 Execute sequence 1 ELSE ELSE command XR2 Execute sequence 2 NIF End of IF REPEAT Repeat command VAR5 POS Set variable 5 to current indexer position XR5 Execute sequenc...

Page 77: ...nd this point but you can locate the home position accurately by then using the commands MPA D0 G The GH command always makes the home position zero The SP command can be used after homing to change t...

Page 78: ...oming from side of home switch Figure 7 2 Positive Homing Negative homing from side of home switch Home switch Start Home switch Start Limits Negative homing from side of home switch Figure 7 3 Negati...

Page 79: ...osition is 8000 steps CW from the home position 24V SUPPLY CONTROL SIGNALS POWER SUPPLY DRIVE POSITIONER ISOLATED AC MAINS SUPPLY STEPPER MOTOR CONTROLLER RS232 TERMINAL OR COMPUTER LIMIT LIMIT HOME 2...

Page 80: ...ute zero 1D32000 Set move to abs position 1600 8 revs CW G Move to position 1600 1 rev CW from starting position 1PR Report absolute position Description Commands 2 6 cause the motor to go to the home...

Page 81: ...s are configured in 3 banks of 5 inputs allowing each bank to be programmed independently The three banks are BANK 1 BANK 2 BANK3 IN1 LMT IN6 IN2 LMT IN7 IN3 HOME IN8 IN4 STOP IN9 IN5 AUX_IN IN10 If y...

Page 82: ...24V dc This is achieved using the ICON command as follows ICON 11111110 All bank 1 2 and 3 inputs are programmed to 24V DC sense active low Vs is set to 24V and a motor mounted encoder if used is conn...

Page 83: ...T command The user definable outputs are labelled OUT1 to OUT6 on the front panel All output functions have been assigned a letter refer to the OUT command in the software section To program an output...

Page 84: ...as NPN or PNP open collector outputs The circuit arrangement shown in Figure 7 7 is used Output voltage levels will be determined by the value of the external voltage Vs and the value of the connected...

Page 85: ...ut 03 Function B Output 04 Function A Output 05 Function T Output 06 Function A Sequences Introduction A sequence is a series of commands that is executed in order whenever the sequence is run Immedia...

Page 86: ...d by sequence identifier number 1 to 64 and a delimiter must be entered An XT command ends the sequence The save command SV should be used to store the sequence into the positioner s non volatile memo...

Page 87: ...ern is configured on the inputs corresponding to the decimal sequence number On a logic 0 to 1 transition of the sequence strobe input the sequence corresponding to the binary pattern will be executed...

Page 88: ...mand is issued Examining the Contents of a Sequence If the operator wishes to check the contents of the sequence he would enter 1XU1 This would cause the positioner to send the contents of sequence nu...

Page 89: ...Erases sequence 1 XD1 Begins definition of sequence 1 A10 Acceleration is 10 rps2 V5 Velocity is 5 rps L5 Loop 5 times GOSUB3 Jump to sequence 3 N Ends the loop XT Ends the definition of sequence 1 St...

Page 90: ...ace mode enter the following command Command Description XTR0 Exits Trace mode Single Step Mode You can debug your program with another level of debugging using the Single Step mode Single Step mode a...

Page 91: ...To execute more than one command at a time follow the sign with the number of commands you want executed Command Description 3 Executes 3 commands then pauses sequence execution To complete the sequen...

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Page 93: ...as blown return the drive for repair Warranty is void if the case is opened Troubleshooting Fault LED The red LED indicates one of the following fault conditions 1 Motor wiring short circuit either ac...

Page 94: ...and the motor shaft still fails to move here are some possible causes The load is jammed You should hear the drive attempting to move the motor Remove power from the driver and verify that you can mov...

Page 95: ...the Drive Fault LED should also be on Please refer to Fault LED earlier in this section Code 3 Changed memory map factory use only Code 4 not applicable to the PDHX15 E Code 5 Checksum error This ind...

Page 96: ...ever sent the system will hang 3 You may type CTRL S by mistake This condition can be cleared by cycling the power 4 The E command is the enable RS 232 command which can easily be mis typed as the F c...

Page 97: ...for repair should NOT be returned directly to Digiplan without prior authorisation Repairs will be carried out by Digiplan but will be processed via your supplier Digiplan may at their discretion auth...

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Page 99: ...absorber specifications 10 Ferrite absorbers installation 11 FSC command 39 Fuses 32 Handshaking 43 Human interactive mode 61 Identification of drive type 3 Immediate Commands 62 Input circuit 73 Inpu...

Page 100: ...s 23 Signal type E inputs 24 Signal type F inputs 24 Signal type G inputs 24 Signal type I inputs 24 Signal type J inputs 24 Signal types 21 Software Scaling 37 Specification 32 Specification 31 Stall...

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Page 102: ...the flashing will stop Check the mechanics and system parameters to correct this error Note When SSK 0 the STOP input will stop the drive but keep it energised flashing 4 When SSK 1 the STOP input wi...

Page 103: ...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...

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