TOL-O-MATIC Axidyne Axiom PV30 User Manual Download Page 140

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For Sales and Support, Contact Walker EMD • Toll-free: (800) 876-4444 • Tel: (203) 426-7700 • Fax: (203) 426-7800 • www.walkeremd.com

TORQUE-LIMIT REGISTERS — Grouped Sequentially

NON-VOLATILE

RAM

HIGH WORD

LOW WORD

HIGH WORD

LOW WORD

ADDRESS

009

41537

1536

41538

1537

41281

1280

41282

1281

010

41539

1538

41540

1539

41283

1282

41284

1283

011

41541

1540

41542

1541

41285

1284

41286

1285

012

41543

1542

41544

1543

41287

1286

41288

1287

013

41545

1544

41546

1545

41289

1288

41290

1289

014

41547

1546

41548

1547

41291

1290

41292

1291

015

41549

1548

41550

1549

41293

1292

41294

1293

016

41551

1550

41552

1551

41295

1294

41296

1295

017

41553

1552

41554

1553

41297

1296

41298

1297

018

41555

1554

41556

1555

41299

1298

41300

1299

019

41557

1556

41558

1557

41301

1300

41302

1301

020

41559

1558

41560

1559

41303

1302

41304

1303

021

41561

1560

41562

1561

41305

1304

41306

1305

022

41563

1562

41564

1563

41307

1306

41308

1307

023

41565

1564

41566

1565

41309

1308

41310

1309

024

41567

1566

41568

1567

41311

1310

41312

1311

025

41569

1568

41570

1569

41313

1312

41314

1313

026

41571

1570

41572

1571

41315

1314

41316

1315

027

41573

1572

41574

1573

41317

1316

41318

1317

028

41575

1574

41576

1575

41319

1318

41320

1319

029

41577

1576

41578

1577

41321

1320

41322

1321

030

41579

1578

41580

1579

41323

1322

41324

1323

031

41581

1580

41582

1581

41325

1324

41326

1325

032

41583

1582

41584

1583

41327

1326

41328

1327

All ModBus 4XXXX register addresses not listed above are considered
“RESERVED”.

1 3 : C O M M U N I C A T I O N / P R O T O C O L

13-18

Summary of Contents for Axidyne Axiom PV30

Page 1: ...ll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 3600 4628_05 AXIOM PLUS PV Series Brushless Servo Controller Drive User Manual TOL O MATIC INC Excellence in Motion ELECTRIC LI...

Page 2: ...drive connections must be suitably guarded to protect against electrical shock hazards Cables Use only Tol O Matic supplied cables or cables deemed suitable for use by a competent person familiar wit...

Page 3: ...i Chapter 1 Safety Potential Hazards 1 1 Your Responsibilities 1 2 Safety Guidelines 1 2 Chapter 2 Theory of Operation Discussion of Drive Technologies 2 1 Three Phase Brushless Motors 2 1 Commutation...

Page 4: ...istor Use and Sizing 10 1 Chapter 11 Final Checkout and Tuning Online Tuning and Diagnosis 11 1 Command Menu Online Tuning Diagnosis Mode 11 1 Indexer Status Fault I O 11 2 Oscilloscope 11 3 Encoder F...

Page 5: ...tionality Analog Register 13 11 ModBus Communication Setting 13 12 Addressing of Slave Axiom Plus Devices 13 13 Mapping 13 14 Axiom Plus Registers into Modbus Registers 13 14 Axiom Plus Discrete I O a...

Page 6: ...utputs B 2 Connectors B 2 Environmental B 3 Motor Protection B 3 Regeneration Ratings B 3 Power Dissipation B 4 Appendix C Motor Performance Data Motor Drive Performance Curves for MRV Series Motor Dr...

Page 7: ...s Using External Power Supply 9 2 9 4 Axiom Plus Sinking Input Connected to Sourcing Output Using Internal Power Supply 9 3 9 5 Axiom Plus Sinking Input Connected to Sourcing Output Using External Pow...

Page 8: ...ove Window 12 11 12 11 Sequential Instruction Form for Programming of Analog Absolute Position Control 12 13 12 12 Sequential Instruction Form for Programming of Analog Absolute Velocity Control 12 14...

Page 9: ...rves C 2 C 3 MRV 22Y PV10 Single Phase Three Phase Drive Performance Curves C 2 C 4 MRV 23Y PV10 Single Phase Three Phase Drive Performance Curves C 3 C 5 MRV 24Y PV10 Single Phase Three Phase Drive P...

Page 10: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com viii...

Page 11: ...ns Protective Conductor terminal Earth ground Chassis terminal Not a protective ground Risk of Electrical Shock symbol The use of the following symbols and signal words is based on an estimation of th...

Page 12: ...ety Failure to ground the shield of a shielded power cable could result in potentially lethal voltages being present on the shield and anything connected to it DANGER The DC bus capacitors may retain...

Page 13: ...circuitry This circuit must remove power from the system in case of improper operation The drive enable is not adequate for this purpose as it does not remove supply voltage from the unit and may not...

Page 14: ...3 426 7700 Fax 203 426 7800 www walkeremd com Caution If the cabinet is ventilated use filtered or conditioned air to prevent the accumulation of dust and dirt on electronic components The air should...

Page 15: ...ents a Flux Vector or field oriented current control algorithm This allows for precise high bandwidth current control in each individual motor phase and minimizes torque variations due to slight phase...

Page 16: ...han traditional sinusoidal commutation drives State of the art Flux Vector Motor Current Control Allows higher bandwidth control of torque producing current than traditional Sinusoidal approach Flux V...

Page 17: ...al regeneration capacity Motor and Drive thermal protection Auto Phasing Requires no Hall Effect switches for phasing or commutation RS 232 communications including ASCII and Modbus RTU protocols Wind...

Page 18: ...Vac analog input range ANALOG INPUT 14 bit 10 volt differential Scale and offset adjustments 2 LSB s accuracy over full scale input range AC INPUT POWER Axiom Plus units are powered directly from a s...

Page 19: ...hical interface that communicates through the drive s RS 232 serial communications port Windows 95 98 NT and XP are supported The software allows easy selection of any Tol O Matic MRV series brushless...

Page 20: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com xviii...

Page 21: ...Fire Mechanical Stored Energy These hazards must be controlled by suitable machine design using the safety guidelines which follow There are no chemical or ionizing radiation hazards VOLTAGE POTENTIA...

Page 22: ...should know where the First Aid equipment is kept and the identity of the official First Aid personnel These safety notes do not represent a complete list of the steps necessary to ensure safe operat...

Page 23: ...System documentation must be available and observed at all times All non qualified personnel should maintain a safe distance from the equipment The system must be installed in accordance with local re...

Page 24: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 S A F E T Y 1 4...

Page 25: ...ngs are wound on the stator rather than the rotor armature much better heat transfer occurs between the heat generating windings and the outside environment This allows a more powerful motor to be bui...

Page 26: ...manent magnet s magnetic field is what causes motor shaft rotation The necessary switching of current between the motor windings to cause this magnet field rotation is what is referred to as commutati...

Page 27: ...tage vectors applied the field rotates in steps This means its magnetic field is not at a right angle to the rotor magnet s field at all times This causes the torque to vary as the motor rotates This...

Page 28: ...se microcontroller or DSP Digital Signal Processor technology to implement their control loop filters digitally This eliminates potentiometer tuning and problems associated with analog circuit drift a...

Page 29: ...e at higher speeds additional motor heating and torque variability with current ripple Some of the most modern sine commutation drives attempt to solve these problems by taking individual current phas...

Page 30: ...ore speed at a given torque than the theoretical maximum possible with sine commutation Furthermore as a Vector Drive all Axiom PV and DV series drives provide closed loop motor control of torque prod...

Page 31: ...ic recommends the unit be carefully inspected for any signs of physical damage If any damage is detected contact the purchasing agent to make a claim with the shipper If any improper performance is de...

Page 32: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 3 U N P A C K I N G I N S P E C T I O N S T O R A G E 3 2...

Page 33: ...this level of protection 2 Size enclosure to provide the following spacing around the unit Above and Below 5 1 cm 2 in Sides 1 25 cm 0 5 in Front 7 6 cm 3 in Caution If the cabinet is ventilated use...

Page 34: ...N R S T L3 L2 L1 C O M M ENCODER OUT ENCODER FOLLOWER ENC 5V A A B B I I COM SHLD MOTTEMP 24Vdc 24Vdc RTN COM 1 6 INPUT 1 INPUT 2 INPUT 3 INPUT 4 INPUT 5 INPUT 6 COM 13 15 INPUT 13 INPUT 14 INPUT 15 T...

Page 35: ...EGEN COM EXT REGEN INT REGEN ENC 5V A A B B I I COM SHLD MOTTEMP TOL O MATIC HAMEL U S A WARNING VOLTAGE EXISTS UPTO 2 MIN AFTER POWER IS REMOVED J 2 J 1 J 5 ENCODER OUT ENCODER FOLLOWER 24Vdc 24Vdc R...

Page 36: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 4 P H Y S I C A L M O U N T I N G O F T H E D R I V E 4 4...

Page 37: ...les Tinned cables may loosen in screw terminal connections over time General Wiring Guidelines It is always best to keep power wiring separate from control wiring Properly terminated shielded cables f...

Page 38: ...ed Refer to Appendix B for information on drive inrush ratings and specify circuit breakers accordingly Axiom Plus units are designed for direct connection to an ac power main No isolation transformer...

Page 39: ...motor Caution Do not tin solder the exposed leads on cables Tinned leads will loosen in time and may come loose from their screw terminal connections General Wiring Guidelines It is always best to kee...

Page 40: ...hasing is necessary for proper motor operation The following color codes apply to Tol O Matic cables Figure 6 2 PV10 20 30 Motor Encoder Connections COM 5V J7 MRV11 I B I B A A Black Red Brown Green O...

Page 41: ...m the drive to the motor The drive remains powered so that it maintains its phasing information Failure to disable the Axiom output BEFORE physically breaking the connection with the motor can cause d...

Page 42: ...r EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 6 M O T O R E N C O D E R P O W E R C O N N E C T I O N S 6 4 Figure 6 4 Drive Remains Powered TB2 PHASE 2 PHASE 1 EART...

Page 43: ...A personal computer running Microsoft Windows 95 98 NT or XP A hard disk with 10 MB of free disk space CD ROM drive Installation 1 Close all Windows programs 2 Insert the Tol O Motion disc in the CD...

Page 44: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 7 S O F T W A R E I N S T A L L A T I O N 7 2...

Page 45: ...ation screen to perform your initial checkout please follow the steps below 1 Recheck power motor and encoder connections to make sure all are correct 2 Apply power to the Axiom Plus If the unit has N...

Page 46: ...Indexer Setup Config Figure 8 2 Set Up and Configuration Screen The Setup and Configuration screen is divided into seven sections which are labeled as follows 1 Commands Setup and Configuration Mode...

Page 47: ...n Tol O Matic motor please contact the sales representative from whom this unit was purchased Retrieve Parameters from Disk File This allows the user to bring a previously saved set of parameters into...

Page 48: ...umber of your motor is not displayed in the dropdown list it is not compatible with the drive choice you have selected in the section above Please verify that you have chosen the correct drive and if...

Page 49: ...ot need to use the Configuration function If you wish to change to user units you can do so as follows Click the Configure Button to open the Register Precision Configuration screen Figure 8 3 Registe...

Page 50: ...ates to ModBus setup and addressing In order to use this feature the drive must be operating in ModBus Mode Figure 8 4 ModBus Configuration Window Now that you are familiar with the Setup and Configur...

Page 51: ...screen The first time this is done placeholder parameters will be displayed 3 Choose the correct Tol O Matic motor from the list displayed 4 Set Phasing Torque and Phasing Degree as required by your...

Page 52: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 8 I N I T I A L C H E C K O U T 8 8...

Page 53: ...ource or power The power can be provided from the Axiom Plus built in 24VDC 400mA power supply or an external customer supplied 5VDC 24VDC power supply Note that inputs 13 and 14 serve also as inputs...

Page 54: ...Switch Tol o matic Sourcing Hall Effect 24 Vdc 24Vdc RTN COM x y INPUT INPUT INPUT INPUT INPUT INPUT Sourcing Switches Sinking Input AxiomPlus Normally Open Normally Closed Normally Open Normally Clos...

Page 55: ...ut Using External Power Supply 24 Vdc 24Vdc RTN COM x y INPUT INPUT INPUT INPUT INPUT INPUT COM 0 7 OUT 7 OUT 6 OUT 5 OUT 4 OUT 3 OUT 2 OUT 1 OUT 0 0 VDC VDC Neutral Line Sinking Input AxiomPlus Sourc...

Page 56: ...ally Closed Push Button COM x y 0 VDC VDC Neutral Line Sourcing Input AxiomPlus Forward Limit Form C Reed Switch Normally Closed Contact Reverse Limit Form C Reed Switch Normally Closed Contact Home S...

Page 57: ...uts Using External Power Supply 24 Vdc 24Vdc RTN COM x y OUT 0 OUT 1 COM 0 7 OUT 7 OUT 6 OUT 5 OUT 4 OUT 3 OUT 2 0 VDC VDC Neutral Line INPUT INPUT INPUT INPUT INPUT INPUT Sourcing Input AxiomPlus Sin...

Page 58: ...log input option is not needed The front panel overlay of the Axiom products indicates which inputs are available for dual use Figure 9 10 Front Panel Overlay showing Analog Input and General Purpose...

Page 59: ...impedance proper operation of inputs 13 and 14 will require 2 2kOhm pullup pulldown resistors if used with outputs that are single ended Figure 9 12 Pullup Pulldown Wiring COM 13 15 J6 OUT 0 OUT 1 CO...

Page 60: ...onversion range 7782 Effective resolution 15564 Absolute accuracy 2 LSB s Analog input impedance Analog input to analog input 40 kOhms Either input to analog common 40 kOhms Signal common mode range 5...

Page 61: ...current when the output is on Caution The maximum voltage between and pair of and output terminals is 24VDC Never connect AC voltages to the output terminals Maximum current is 20mA per output Since...

Page 62: ...rcing Output Connected to Sinking Input Using External Power Supply 0 VDC VDC Neutral Line 24 Vdc 24Vdc RTN IN 1 IN 0 IN 2 IN 3 IN 4 IN 5 IN 6 IN 7 DC COM OUT OUT OUT OUT Sourcing Output AxiomPlus Sin...

Page 63: ...y Figure 9 17 Axiom Plus Sinking Output Connected to Sourcing Input Using External Power Supply 0 VDC VDC Neutral Line 24 Vdc 24Vdc RTN OUT OUT OUT OUT IN IN IN IN IN IN IN VDC COM IN Sinking Output A...

Page 64: ...22 Solid State Relays Figure 9 19 Axiom Plus Power Off Holding Brake Connection BRAKE BRAKE T B 1 EXTERNAL SUPPLY BRAKE COIL 3 3 3 3 4 4 4 4 2 2 2 2 1 1 1 1 24 Vdc 24Vdc RTN 2 3 4 5 6 7 8 9 2 3 4 5 6...

Page 65: ...s provide for connection of a high wattage external resistor pack to accommodate the most severe applications Since the internal resistors of the Axiom Plus PV series can dissipate the full peak load...

Page 66: ...EXT REGEN Permanent unit damage will result WARNING If external regeneration resistance is necessary use a resistor of the desired Watt rating and with a resistance value within the range specified in...

Page 67: ...e application s load to achieve desired performance Online Tuning and Diagnosis In order to perform final checkout and tuning of your Axiom Plus you will need to use the Online Tuning and Diagnosis fu...

Page 68: ...on is the INACTIVE mode and will be activated by selecting the button The functionality displayed in the center of the screen will change accordingly Exit Tuning and Diagnosis Returns the user to the...

Page 69: ...disables the slider feature The slider allows accurate readings of the traces Display Selections This area has four choices Position Error Torque Acceleration and Velocity Boxes checked will be displ...

Page 70: ...n a rising or falling slope A rising slope would correspond to a CW step command ENCODER FEEDBACK SECTION This small section at the bottom of the screen allows the user to evaluate the raw count chang...

Page 71: ...Stage Tuning Screen There are essentially three sections in this window and these function as follows Drive Interface Section The left most portion of this screen allows the user to select the source...

Page 72: ...to manually adjust eight different tuning parameters allowing for fine tuning of the servo control These parameters are used as follows Pp gain Position proportional gain increases stiffness by increa...

Page 73: ...tomatic Tuning 4 Make sure the system is enabled As discussed previously the drive may be software disabled from this screen but cannot be enabled unless the Enable input is active via the PLC 5 Use t...

Page 74: ...on Caution Motor movement will occur Make adjustments to the gains until the desired response is achieved It is usually best to start with a relatively low value of proportional Pp gain and adjust the...

Page 75: ...terminals together to force an input of zero volts Adjust the offset for a displayed reading of 0 000 volts Apply a fixed voltage of 9 to 10 volts would be applied positive and adjust the gain so tha...

Page 76: ...ta The diagnostics screen also displays the analog input reading with gain and offset applied when the analog input calibration function is not active The value is then displayed live at the lower lef...

Page 77: ...motion By combining the functionality of these two threads complex control programs can be written that would be difficult or impossible with a PLC or sequential motion controller alone As the name im...

Page 78: ...in progress in a given editor The sequential program prg and PLC program plc can be saved as separate files or saved together using the Save Project command All comments within a PLC and or sequentia...

Page 79: ...ation will overwrite any sequential program that is resident in the programming workspace If you need to keep the program currently in the workspace for future use you will need to utilize the Save fu...

Page 80: ...Register Display Screen I O FLAG TABLE Display a list of the I O and PLC bit flags and allows comments to be inserted here The double star icon in the USED Column indicates that this I O or flag is b...

Page 81: ...menu replaces the Program Menu User Units Encoder Counts Unit and Jog Default Parms configuration information boxes replaced with the Debug Menu and Drive Status and Jog Control boxes The next instruc...

Page 82: ...he drive to move as long as the button is down This jog control initiates a jog move using the settings for Jog1 The Drive Status box the current program line and the watch window if present are updat...

Page 83: ...perating in quadrature equaling 4000 counts rev Example A 2 turns per inch screw has 2 x 4000 8000 counts inch A negative value i e 8000 counts inch would reverse the polarity for programmed motion a...

Page 84: ...QUENTIAL PROGRAM LISTING Figure 12 7 Sequential Program Listing Screen A single program instruction consists of the following four parts Icon An icon is a visual representation of the type of instruct...

Page 85: ...of edit operations The user then may choose the desired operation and click on its button The following is a description of those operations VIEW EDIT INSTRUCTION PARAMETERS View or edit an existing...

Page 86: ...ITION MOVE Allows the user to define a move that will end at a defined distance from the zero point The Axiom Plus defines motor rotating CW facing the shaft as the positive direction and CCW as the n...

Page 87: ...rings up the Motion Event Trigger Parameters window The user then selects the source of the trigger either an absolute position reached or a PLC flag physical input The next step is to define the acti...

Page 88: ...es in the command analog input Maximum speed can be assigned to a velocity register as well ANALOG POSITION CONVERSION FACTOR This allows the user to set the gain applied to analog voltage to determin...

Page 89: ...this instruction will terminate motion tracking of the analog input will stop and the system will decelerate to a stop Execution of the next sequential instruction will then commence ANALOG INPUT VELO...

Page 90: ...ition is made motion will decelerate to a stop and execution of the next sequential instruction will start Figure 12 12 Sequential Instruction Form for Programming of Analog Velocity Control The veloc...

Page 91: ...l range ANALOG DEADBAND This parameter allows the user to enter a voltage range around the setpoint which will correspond to a command of zero velocity In the figure a value of 0 100 volts is programm...

Page 92: ...block of flags of 8 or 16 in the drive Any flags that are set or cleared in this instruction those changes take place simultaneously The blocks of flags available are shown in figure 12 13 To use thi...

Page 93: ...ic 1 true or logic 0 false CALL SUBROUTINE Causes an unconditional subroutine call When a subroutine is called the program executes the instructions starting with the subroutine label The last instruc...

Page 94: ...uses the sequential program to branch to another label based on the comparative value of either actual or commanded position against a user defined value or a register value The user can define the co...

Page 95: ...value and lastly enter the branch label Figure 12 16 Branch on Register Compare START REPEAT LOOP Placed at the beginning of a block of instructions that need to be repeated a defined number of times...

Page 96: ...ctions changes various internal parameters from within the sequential motion program This type of instruction is divided into the following instructions Figure 12 17 Parameter Value Change Window MAXI...

Page 97: ...n effect until they are re defined elsewhere in the sequential program AXIS HOMING ROUTINES ABSOLUTE POS FEEDBACK Use this group of instructions to choose homing routines This type is divided into the...

Page 98: ...ator to match the Actual position as determined by encoder feedback As a result following error is zeroed out ABSOLUTE POSITION FEEDBACK ANALOG This sequential instruction allows switching position fe...

Page 99: ...nch CAUTION It is important that the sign of these parameters provides for the same polarity i e if the analog feedback polarity does not match the equivalent position feedback from the incremental en...

Page 100: ...no offset added Figure 12 19 Absolute Position Feedback Mode The scale factor and offset parameters provide for flexibility in assigning an absolute position range to the analog range provided by any...

Page 101: ...orce a switch back to incremental position feedback NOTE If this instruction is executed position feedback switches back to incremental per the encoder but the absolute position reference is unchanged...

Page 102: ...program ASSIGN REGISTERVALUE This command allows the definition of a register value for either Position Velocity or Torque These values can be stored in RAM or non volatile registers see above and can...

Page 103: ...203 426 7800 www walkeremd com Figure 12 21 Increment Decrement Count Register SAVE ANALOG INPUTVAULE TO REGISTER This instruction saves the current value of the analog input to a register Select the...

Page 104: ...Main Menu screen A screen will appear consisting of an editing window with a menu of buttons on the right labeled PLC Menu These buttons are used to select the desired action Figure 12 22 PLC Menu and...

Page 105: ...LOAD Uploads the PLC program stored in the Axiom Plus drive to the PC DOWNLOAD Downloads the currently displayed PLC program to the Axiom Plus drive OPEN FILE Open a PLC program file previously saved...

Page 106: ...ither a new rung template or the selected rung Figure 12 23 PLC Programming Form Screen Any rung location with a valid operation already in place is displayed in blue The open locations are gray and d...

Page 107: ...s either inputs or outputs A rung can have multiple inputs logical operations that it evaluates but a rung can only have a single output The first five vertical columns of a rung are designated for in...

Page 108: ...m There are twelve different operations available depending on whether you are working on an input or an output The functions of these are as follows INPUT OPERATIONS NORMALLY OPEN CONTACT Operation i...

Page 109: ...t is true for one complete program scan The remaining rungs in the current scan will see the output and the associated One Shot flag bit as true and the rungs above it will see it as true in the next...

Page 110: ...manded values Figure 12 27 Register Comparison Screen OPEN NULL CONNECTION This simply inserts an open circuit always false at the current rung location This cannot be used as the only input location...

Page 111: ...r timer types can be selected On Delay the timer output flag bit goes true the selected amount of time after the rung is true The timer flag bit will stay true until the rung goes false Off Delay the...

Page 112: ...ll be true and stay true until the counter is reset to zero by the counter reset coil going true After the counter is reset the output bit flag will be false The counter can also be reset to zero at a...

Page 113: ...chosen operation type will be displayed Figure 12 30 Operand Display Selection Comment Screen The functions on this screen perform as follows COMMENTS Each operand may have a comment with up to eight...

Page 114: ...unctions First Scan SPL001 This bit flag is true on the first PLC scan after power up it is false otherwise Logic One SPL002 This bit flag in always true Logic Zero SPL003 This bit flag is always fals...

Page 115: ...order to monitor the status of the controller Following is a list and description of these bits Drive output enabled status ICS001 This bit flag is true when the controller is enabled and not faulted...

Page 116: ...gic states through multiple rungs They can also be used as either an operand for a coil or a contact When used as a contact if allows the state of its output coil PLC TO SEQUENTIAL PROGRAM FLAGS PTS T...

Page 117: ...are that the drive is enabled and cycle stop is false Cycle Stop Command ICC003 Stops the sequential program if motion is in progress the motor decelerates to a stop using the rate entered in Jog Defa...

Page 118: ...jog Jog 2 CW ICC008 The jog 2 CW output coil will cause the motor to move clockwise positive direction at the rate defined in the Jog Default parameters window For the jog to operate the drive needs t...

Page 119: ...nditions that the CCW travel limit switch is connected to When the switch is activated during normal operation the drive will fault and display the limit switch fault L02 on the front panel LED and th...

Page 120: ...e programming software so it can be reloaded if necessary Figure 12 32 Default PLC Program Example The user may need to change the inputs used in the default PLC program to match the field wiring of t...

Page 121: ...if it was in a cycle pause condition IN 6 Jog1 PB This input will cause the motor to jog at the rate defined for Jog 1 in the positive direction if the sequential program is not running IN 7 Jog1 PB...

Page 122: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 2 P R O G R A M M I N G 12 46...

Page 123: ...t as a master and manipulate the slave Axiom with a single serial connection RS232 SERIAL COMMUNICATIONS CHARACTER FRAMING SETTINGS ASCII commands and Axiom Plus software serial communication settings...

Page 124: ...UW83XXXXYYYYYYYY XXXX is register id 1 32 Ascii coded hex YYYYYYYY is 32 bit signed integer to be written to register Ascii coded hex Velocity Ram Registers Read UR85XXXX XXXX is register id 1 16 Asc...

Page 125: ...ow word of 32 bit integer Ascii coded hex Write UW8BXXXXYYYYYYYY XXXX is register id 1 32 Ascii coded hex YYYYYYYY is 32 bit integer with low word being 16 bit value to be written to register Ascii co...

Page 126: ...register id 1 4 Ascii coded hex Returns 32 bit signed integer register value returned as Ascii coded hex Write UW95XXXXYYYYYYYY XXXX is register id 1 4 Ascii coded hex YYYYYYYY is 32 bit signed intege...

Page 127: ...nefeed characters will be stripped and ignored Serial communications settings must be 19200 baud 8 data bits 1 stop bit odd parity No hardware or software handshaking is used READING INDEXER INTERNAL...

Page 128: ...sequential program execution fault non fatal F58 bit 5 drive disabled condition d bit 6 phasing in progress P bit 7 clockwise travel limit active no fault L01 bit 8 counter clockwise limit active no...

Page 129: ...ded hex MANIPULATION OF PLC FLAGS USING ASCII SERIAL PORT COMMANDS Various PLC flags can now be read and or written using serial commands General serial port commands are provided for reading and writ...

Page 130: ...of forcing flag queried Set 1 Flag US03XXXX XXXX is flag id 1 64 Ascii coded hex The identified forcing flag will be set to 1 Returns Nothing Clear 1 Flag UC03XXXX XXXX is flag id 1 64 Ascii coded he...

Page 131: ...is word id 1 only Ascii coded hex Returns a 32 bit integer value returned as Ascii coded hex with bits 0 10 representing logic state of indexer status flags 1 12 respectively Indexer Control State Fl...

Page 132: ...osition from 0 to 5 XXXX decimal shift of 0 XXXX 0 decimal shift of 1 XXXX 00 decimal shift of 2 XXXX 000 decimal shift of 3 XXXX 0000 decimal shift of 4 XXXX 00000 decimal shift of 5 If user units an...

Page 133: ...nits and a decimal shift of 1 is selected then a register value of 754 will represent a torque limit of 75 4 of peak configured current torque and the firmware will make the appropriate scaling calcul...

Page 134: ...parison of the analog input to a hard entered value or register value and general comparison of analog register values Analog registers can be assigned values by the sequential program as per other re...

Page 135: ...bination to define the character framing for ModBus RTU communications This selection will be made at configuration and once a configuration is downloaded to the Axiom Plus the chosen settings will be...

Page 136: ...s address 40001 but is actually addressed as 0 in ModBus query messages with register 40002 addressed as 1 etc The ModBus query message identifies the register type so the 4 identifier is not used as...

Page 137: ...2 40054 53 005 40065 64 40066 65 40067 66 40068 67 40069 68 40070 69 006 40081 80 40082 81 40083 82 40084 83 40085 84 40086 85 007 40097 96 40098 97 40099 98 40100 99 40101 100 40102 101 008 40113 112...

Page 138: ...28 40530 529 40273 272 40274 273 018 40531 530 40532 531 40275 274 40276 275 019 40533 532 40534 533 40277 276 40278 277 020 40535 534 40536 535 40279 278 40280 279 021 40537 536 40538 537 40281 280 4...

Page 139: ...6 1025 40769 768 40770 769 010 41027 1026 41028 1027 40771 770 40772 771 011 41029 1028 41030 1029 40773 772 40774 773 012 41031 1030 41032 1031 40775 774 40776 775 013 41033 1032 41034 1033 40777 776...

Page 140: ...41297 1296 41298 1297 018 41555 1554 41556 1555 41299 1298 41300 1299 019 41557 1556 41558 1557 41301 1300 41302 1301 020 41559 1558 41560 1559 41303 1302 41304 1303 021 41561 1560 41562 1561 41305 1...

Page 141: ...HIGH WORD LOW WORD NO ID ADDRESS ID ADDRESS ID ADDRESS ID ADDRESS 001 40137 0136 40138 0137 40009 0008 40010 0009 002 40025 0024 40026 0025 003 40041 0040 40042 0041 004 40057 0056 40058 0057 005 4007...

Page 142: ...s for read and or write access Physical Inputs 1 15 ModBus access read only Physical Outputs 1 8 ModBus access read only PLC Local Flags 1 64 ModBus access read only Indexer Status Flags 1 12 ModBus a...

Page 143: ...001 0000 Physical Input 002 0001 Physical Input 015 0014 RESERVED 0015 0255 PLC Local Flags mapped into ModBus input space 1X references ModBus access read only Axiom Plus Discrete ModBus Address PLC...

Page 144: ...2 0779 RESERVED 0780 1027 Physical Outputs mapped into ModBus coil space 0X references ModBus access read only Axiom Plus Discrete ModBus Address Physical Output 001 0000 Physical Output 002 0001 Phys...

Page 145: ...s interpreted as a potential break between messages with a minimum of 3 5 character times necessary for a valid time space between messages This means that the Axiom Plus firmware monitors serial port...

Page 146: ...Mapping of Axiom Plus discrete I O and Flags into ModBus 0X and 1X reference memory space and Mapping of Axiom Plus registers into ModBus Register Memory Space of this document for listing of support...

Page 147: ...Status Reads the logical 1 or 0 state of discrete inputs physical inputs or flags mapped to ModBus 1X reference addresses Broadcast is not supported This command syntax is similar to that for command...

Page 148: ...ting of logic state of PLC forcing flags Physical outputs cannot be forced The normal response to this command is simply an echo of the query sent once the coil logic state has been forced If the coil...

Page 149: ...eption response will be returned Due to the way in which Axiom Plus registers are mapped to ModBus 4X address space it is possible to write different types position velocity or torque limit of Axiom P...

Page 150: ...al F55 bit 16 _fsflag1 0 velocity regulation fault non fatal F56 bit 17 _fsflag1 1 serial communications fault non fatal F57 bit 18 _fsflag1 2 positive travel limit fault non fatal FL1 bit 19 _fsflag1...

Page 151: ...hree outputs from the external controller connected to three inputs on the Axiom Plus IN 10 11 and 12 to define a binary sequence giving six possible states The Axiom Plus will use the inputs to set s...

Page 152: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com Figure 14 1 PLC Program Listing 1 4 E X A M P L E S 14 2...

Page 153: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com Figure 14 2 PLC Program Listing 14 3 E X A M P L E S 1 4...

Page 154: ...g The sequential program is setup using a main loop that will call the required subroutine based on the state of the PLC to Sequential Flag The sequential program has six conditional subroutine calls...

Page 155: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com Figure 14 4 Sequential Program Listing 14 5 E X A M P L E S 1 4...

Page 156: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 4 E X A M P L E S 14 6 Figure 14 5 Sequential Program Listing...

Page 157: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 14 7 E X A M P L E S 1 4 Figure 14 6 Sequential Program Listing...

Page 158: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 4 E X A M P L E S 14 8 Figure 14 7 Sequential Program Listing...

Page 159: ...code For example L 0 1 indicates the drive is enabled and has reached the CW end of travel limit switch Faults Faults are caused by conditions that make it necessary for the drive to shut down When o...

Page 160: ...ult Drive current regulation out of tolerance Current feedback in saturation for 1 second F05 Drive Over Temperature Fault Drive heat sink over 90 C F06 Motor Over Temperature Fault Motor thermostat p...

Page 161: ...d The drive cannot be enabled until it has been configured FL1 Positive Travel Limit Controller received End Of Travel Limit input FL2 Negative Travel Limit Controller received End Of Travel Limit inp...

Page 162: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 5 S T A T U S F A U L T D I S P L A Y 15 4...

Page 163: ...e Failure to observe this precaution could result in severe bodily injury or loss of life PERIODIC MAINTENANCE Normally the only maintenance required is removal of superficial dust and dirt from the d...

Page 164: ...utions Set to 115 V for 115 Vac operation or 230 V for 208 Vac or 230 Vac operation Symptom Fault Code F02 Bridge hardware fault Possible Causes Motor lead short circuit bus over voltage drive s outpu...

Page 165: ...mechanical problems in system Symptom Fault Code F53 Motor over current fault Possible Causes I 2 time protection based on the motor s peak and continuous rating exceeded Possible Solutions Verify siz...

Page 166: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 6 M A I N T E N A N C E T R O U B L E S H O O T I N G 16 4...

Page 167: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com Appendix...

Page 168: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com...

Page 169: ...R CABLE Tol O Matic offers a pre wired cable for encoder signal connection from the drive to a motion controller This cable is also used to connect to an auxiliary encoder for encoder follower applica...

Page 170: ...rew terminal connections on the drive No special connectors are needed on the drive end All MRV 2x 3x and 5x series brushless servo motors use the same encoder cable connectors Tol O Matic encoder cab...

Page 171: ...e shielded four conductor cable Wire size ranges from 16AWG to 12AWG MRV 5x motors have a different motor power connector and use a different cable Motor cables for MRV 2x and 3x motors used with PV10...

Page 172: ...CONNECTOR MS3116E 14 8S NOT SHOWN MRV 2X 3X Motor MS3102E 20 4P MOTOR CONNECTOR MATING CONNECTOR MS3106E 20 45 NOT SHOWN MOTOR CONNECTOR PINOUT PIN A B C D FUNCTION PHASE R PHASE S PHASE T CASE GROUND...

Page 173: ...nput Frequency 47Hz 63Hz Peak Inrush Current 65 A PV20 Continuous Current Rating 10A peak phase Peak Current Rating 20A peak phase Maximum Input Current Single Phase 25A rms Maximum Input Current Thre...

Page 174: ...A 15 general purpose inputs can be configured to source or sink current Optically Isolated Outputs 8 optically isolated 25Vdc max 20mA max Can be configured to source or sink current Dedicated Relay O...

Page 175: ...his calculation indicates that the motor windings are about to exceed a safe temperature DANGER Always make sure drive has a proper earth ground before operating system A drive with an inadequate eart...

Page 176: ...current rating at 100 duty cycle As such they can be considered as maximum or worst case PV10 28W PV20 47W PV30 65W Maximum power losses are shown to help size a NEMA 12 or equiv alent enclosure and...

Page 177: ...ounce inches TORQUE Newton meters MRV11Y PV10 Drive Single Phase 0 400 800 1200 1600 2000 2400 2800 3200 3600 4000 4400 4800 0 10 20 30 40 50 60 70 80 90 100 110 120 CONTINUOUS 115VAC CONTINUOUS 115V...

Page 178: ...US 115VAC CONTINUOUS 115Vac P E A K 1 1 5 V A C P E A K 1 1 5 V a c P E A K 1 2 3 0 A 1 2 3 0 A C C P E A K 2 3 0 V a c CONTINUOUS 230VAC CONTINUOUS 230Vac 0 1 2 3 4 5 6 7 8 9 10 1 130 1 017 904 791 6...

Page 179: ...00 0 5 10 15 20 25 30 35 3 95 3 39 2 82 2 26 1 69 1 13 57 0 CONTINUOUS 115VAC CONTINUOUS 115Vac P E A K P E A K 1 1 5 V A C P E A K 1 1 5 V a c P E A K 1 2 3 0 A C P E A K 2 3 0 V a c CONTINUOUS 230VA...

Page 180: ...2800 3200 3600 4000 4400 4800 5200 5600 6000 0 5 10 15 20 25 30 35 CONTINUOUS 115VAC CONTINUOUS 115Vac PEAK 115VAC PEAK 115Vac PEAK 1230AC PEAK 230Vac CONTINUOUS 230V 230VAC CONTINUOUS 230Vac 2 26 1 6...

Page 181: ...15VAC PEAK 208Vac PEAK 1230AC PEAK 230Vac CONTINUOUS 230VAC CONTINUOUS 230Vac CONTINUOUS 115VAC C CONTINUOUS 115Vac P E A K 1 1 5 V A C C P E A K 1 1 5 V a c PEAK 1230AC PEAK 230Vac CONTINUOUS 230VAC...

Page 182: ...PEAK 1230AC PEAK 230Vac CONTINUOUS 230VAC C CONTINUOUS 230Vac CONTINUOUS 115VAC CONTINUOUS 115Vac P E A K 1 1 5 V A C P E A K 1 1 5 V a c PEAK 1230AC PEAK 230Vac CONTINUOUS 230VAC CONTINUOUS 230Vac RP...

Page 183: ...00 2000 2200 2400 2600 2800 3000 CONTINUOUS 115Vac CONTINUOUS 115Vac P E A K 1 1 5 V 1 1 5 V a c a c P E A K 1 1 5 V a c PEAK 1230AC PEAK 230Vac CONTINUOUS 230VAC CONTINUOUS 230Vac 0 50 100 150 200 22...

Page 184: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com C M O T O R P E R F O R M A N C E D A T A C 8...

Page 185: ...MRV 21 4 75 120 7 06 MRV 22 5 75 146 1 06 MRV 23 6 75 171 5 06 MRV 24 7 75 196 9 06 1 8 3 2 SQ x 1 00 25 4 Long Key 0 44 11 2 1 50 03 38 1 0 10 2 5 5000 4995 12 700 12 687 1 500 1 498 38 10 38 05 2 25...

Page 186: ...16 SQ KEY X 1 1 2 LONG 9 96 MAX 56 8 96 REF 10 2 063 030 625 624 4 75 4 75 4 500 4 497 3 8 16 UNC 2BTHRU 4 HOLES EQ SPD AS SHOWN ON A 5 875 B C 1 68 REF 2 74 Square 69 6 2 875 2 873 73 03 72 97 3 54 S...

Page 187: ...it for repair Axiom drives are warranted against defects in material and assembly Limitations to warranty coverage are detailed in Terms Condi tions of Sale items 10 Return of Product and 11 Warranty...

Page 188: ...t wording of any messages that appears on your screen How you have tried to solve the problem Distributor Representative Network Tol O Matic has a wide network of distributors that are trained to supp...

Page 189: ...x 203 426 7800 www walkeremd com Copyright 2006 Tol O Matic Incorporated All rights reserved Axidyne Axiom Tol O Matic and Excellence In Motion are registered trademarks of Tol O Matic Incorporated Al...

Page 190: ...upport Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com TOL O MATIC INC 3800 County Road 116 Hamel MN 55340 763 478 8000 Telephone 763 478 8080 Fax http ww...

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