VELMEX VXM-1 User Manual Download | Manualshive

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8

Pick and Place Using JM-x

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Example #15

Pick

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Pick

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«
...
81
82
83
84
85
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»

Summary of Contents for VXM-1

Page 1: ...Motor Controller This Manual explains the general and advanced operation of the VXM 1 VXM 2 VXM 3 and VXM 4 stepping motor controllers Also included on the CDROM 1 COSMOS utility controller software A user friendly Windows program for easy 2 setup testing and programming of VXM controllers Software examples and software drivers User s Manual Extended Version Models VXM 1 2 3 4 Document VXM UM E5 1...

Page 2: ...mex qualified service personnel CAUTION THE VXM MUST BE SET TO THE EXACT MODEL TYPE MOTOR S BEFORE OPERATING IMPROPER SETTINGS CAN CAUSE SEVERE DAMAGE TO MOTORS AND CONTROLLER Use Velmex COSMOS software to configure VXM before use CAUTION MOTOR S GET HOT WHEN RUNNING Motor s must be mounted to a metal surface to dissipate internal heat Precautions CAUTION Mismatched Motor Settings Damage Motor Con...

Page 3: ...equest Commands Setup Commands Appendix A Appendix B Appendix C Appendix D Appendix E Appendix F Appendix G Complex Profiles Coordinated Motion 4 Appendix H Appendix I Appendix J Appendix K Appendix L Appendix M Appendix N Appendix O Appendix P Appendix Q Appendix R Appendix S Appendix T Editing Debugging Tools 32 Advanced Input Output 34 The Multifunction User Inputs 38 Producing Trigger Outputs ...

Page 4: ...luded external desktop type power supply is UL CE CSA and TUV safety agency compliant One and two motor versions Three and four motor capability with two Controls linked by the VXM bus Backward compatible with Velmex NF90 and VP9000 Step Motor controllers User programmable inputs and outputs 10 bit analog input for external sensor setting speed or for analog joystick control Runs 6 or 8 lead perma...

Page 5: ... Limit Switches for Motor 1 Cable to Limit Switches for Motor 2 Auxiliary Inputs and Outputs Rear Host Computer Controlled Indicating LED Power Switch Press right side is On Power Indicating LED Start Internal Program Stop Interrupt Program Bus connection to second VXM for 3 and 4 motor operation Moves Motor 1 CCW Moves Motor 2 CCW Moves Motor 1 CW Moves Motor 2 CW VXM Stepping Motor Controller ww...

Page 6: ...d for signaling external equipment or waiting for an external signal The front panel button inputs are also available on the I O connector for remote jog run and stop 0V 5V Ain Run I1 I2 I3 I4 0V J1 J1 J2 J2 O1 O2 Function Logic reference ground for inputs and outputs 5VDC for Joystick power and other external logic 75mA max output Analog input for Joystick speed setting or analog sensor Run input...

Page 7: ...with power cables in a common electrical keep Limit Switch and I O cables at least 2 inches from Motor conduit or ducting and Power cables CAUTION Motor cable length or connectors should not be altered without consulting Velmex first Improper wiring can result in poor performance and damage to the VXM Altered cables and resultant damage is not covered by the warranty IMPORTANT The VXM can automati...

Page 8: ...WLRQ 7 The user s routine for outputting measuring etc would be executed by the host 8 A C would be sent from the host to clear the previous Index command from the 9 VXM s memory The process is repeated from step 3 NOTE Communication Methods Programming of the VXM is accomplished by sending commands ASCII characters to the VXM through the RS 232 interface The simplest method to send commands is wi...

Page 9: ...ata when power is turned off program memory can be permanently saved by using the rsm command The ability to retain programs allows the VXM to be used in a stand alone mode In a stand alone mode the operator starts the program by Run button located on the front panel or by using the Run input on the I O connector G Send commands and permanently save them in VXM with rsm command VXM holds program s...

Page 10: ...end a motor 3 It is normal for the Slave not to flash its power light green LED at power up A bus error will occur ËB sent to host and VXM resets if the Master can not find the Slave either because there is not one connected or it is not powered The Master is the VXM that runs motors 1 and 2 communicates with a host and can be started with the Run input and stopped with the Stop input The Slave ru...

Page 11: ...ration commands A command are values from 1 to 127 that are relative to steps sec units Refer to Application Note 106 for more information about acceleration units and move profiles 2 Direction is relative to the device the motor is used on On screw drive actuators like UniSlides and BiSlides positive is the direction moving away from the motor On worm gear type rotary tables like the Velmex B4800...

Page 12: ...nning of the current program Loop from beginning or Loop to marker x 1 times x 2 to 65 535 when the loop reaches its last count the non loop command directly preceding will be ignored Loop from beginning or Loop to marker x 1 times alternating direction of motor 1 when the loop reaches its last count the non loop command directly preceding will be ignored Loop Always from beginning or Loop to mark...

Page 13: ...bsolute position registers Kill operation program in progress and reset user outputs Clear all commands from currently selected program Decelerate to a stop interrupts current index program in progress Enable On Line mode with echo on Enable On Line mode with echo off Run save memory saves setup program values to nonvolatile memory Verify Controller s status VXM sends B to host if busy R if ready ...

Page 14: ...ip next command if input 1 is high Skip next command if input 2 is high Skip next command if input 1 is low Skip next command if input 2 is low Wait for a front panel button to jump to a program or continue Motor 1 Jog button to jump to program 1 Motor 1 Jog button to jump to program 2 Run button to proceed in current program User output 2 low reset state User output 2 high Optional User output 3 ...

Page 15: ...Backlash compensation setting Read Indicate limit switch setting Read mode version Read Joystick Deadband setting Read first range Jog Speed for motor m for Joystick range setting Read second range Jog Speed for motor m for Joystick range setting Read mode of limits for motor m Read Pulse Every x Steps value for axis m Read Pulse width used by setPmMx and U7 only on ver 1 24 up Read operating mode...

Page 16: ...it When sending commands that require a value the commands must end with a carriage return Enter key or Return on most keyboards comma or a period Set steps to incremental Index move motor CW positive Slider Carriage will move away from motor end Rotary Table will rotate CCW motor 1 2 3 4 x 1 to 16 777 215 The cr is a carriage return character Enter key on most keyboards Command characters are in ...

Page 17: ...sition for motor 1 absolute zero IA1M 0 cr This example makes the present position for motor 2 absolute zero IA2M 0 cr Move positive until the positive limit switch is encountered Home to Positive LimiW m motor 1 2 3 4 If the limit switch input was disabled in setup the limit switch input will be re enabled for the duration of this command The Index will end if the limit switch is not encountered ...

Page 18: ...mple sets the speed of motor 2 to 3000 steps sec at 100 power SA2M3000 cr With acceleration set to 2 default increase speed until motor stalls use 75 of this speed as the maximum speed Motor and Controller surface temperatures become hot when running motors continuously Only use 100 command motor power if maximum torque is required For maximum efficiency when lifting heavy loads vertically use the...

Page 19: ...Example This example selects program 1 for the current program cr command will select program x as the current program and delete all commands from this program Memory usage 0 bytes This command is immediate not stored Example This example selects program 0 and erases all commands within it cr PM PMx x hold 256 bytes of commands The default program number is 0 Program 3 can be interactive with use...

Page 20: ...ed Memory usage 3 bytes Example This example sets a loop to repeat any previous commands 100 1 times alternating motor 1 direction every repeat while repeating the directly preceding non loop command 100 2 times L 100 cr RRS Oways from beginning or Loop to marker of the current program x 1 times 2 to 65 535 Maximum 10 nested loop commands per run allowed Memory usage 3 bytes Examples This example ...

Page 21: ...s maximum of 5 together is possible by using a jump command as the last command to make a jump to a different program All looping commands in program x will be local to this program only Memory usage 2 bytes Example This example will jump to program 1 J1 cr Example This example will jump to program 3 and return cr L Loop once from the beginning or Loop to marker of the current program reversing in...

Page 22: ...nput 1 I O 5 to satisfy this input The input level must be high for at least 1 ms to be a valid input This command is best used when interfacing to other solid state logic devices refer to the U50 command Appendix B for push button switch input Memory usage 2 bytes 22 3DXVH WHQWKV RI D VHFRQG OWHULQJ WKH VWDWH RI RXWSXW WR VHF SDXVH ZKHQ 7KH XVHU RXWSXW 2 ZLOO JR WR 9 IRU WKH GXUDWLRQ RI WKH SDXVH...

Page 23: ... after receiving the K command lear all commands from the currently selected program All setup values motor position values and the state of user outputs ecelerate to a stop interrupts current index in progress default function of Stop button too When the VXM receives the single character D while it is indexing a motor that motor will be decelerated to a stop at the set deceleration The motor posi...

Page 24: ...position and status requests Refer to the section Communication Methods p 8 for more information the single character after completion of the save CAUTION When using the command power should not be interrupted otherwise data loss may occur The host should always wait for the before sending another command The Send position of motor 1 to the host When the VXM receives the single character Y it will...

Page 25: ...The value will be 0 to 256 followed by cr carriage return List commands in current program to host ASCII format Returns program number and memory remaining prior to listing commands Example listing getMmM Get motor type size selected for axis m m axis 1 2 3 4 Value returned will be a number between 0 and 6 Refer to the table below for value to motor model cross reference Setup Commands These comma...

Page 26: ...nd a Z is a motor 3 Index Numbers shown in the diagrams represent Loop count values The following examples can be keyed into the VXM with a terminal program like HyperTerminal in Microsoft Windows or the Velmex COSMOS software Another method to send commands is with commercially available languages such as VisualBASIC C LabVIEW etc Example 1 Example 2 Motors run Motors run RAM used RAM used On Lin...

Page 27: ...peating Index Function Repeating Index pausing 1 second between Indexes return to start 1 14 end end start 1 2 3 4 5 6 7 8 9 1 0 P P P P P P P P P P 4 3 Example 7 Motors run RAM used Function Home to Limit 1 15 start Home Motor 1 to Positive Limit Switch and move 200 steps from Limit Switch and zero position STOPPED BY LIMIT SWITCH CAUTION Positioning may be unreliable and limit switches may be da...

Page 28: ...ion Raster Scan 2 23 end start Raster scan with 1 sec pauses and waiting for G at the end then run backwards through raster scan 1 2 3 4 5 6 7 P P P P P P 7 6 5 4 3 2 1 P P P P P P P P P P P P U P P P P P P P P P P P P 1 2 3 4 5 6 7 P P P P P P 7 6 5 4 3 2 1 P P P P P P U P P P Þ P P P Ý Ý Ý Ü Þ 1 4 2 3 3 2 4 1 Ü out back 1 2 3 4 5 6 7 7 6 5 4 3 2 1 1 2 3 4 5 6 7 7 6 5 Ü 4 3 2 1 ...

Page 29: ...er Scans using Loop to marker 2 27 start end 1 2 3 4 1 2 3 Example 11 Motors run RAM used X Y Matrix Function X Y Matrix Moving Z Axis Up then Down at each Position 3 30 1 2 3 4 5 Z Z Z Z Z 1 2 3 Z Z Z Z Z Z Z Z Z Z This would do the entire pattern of the above example 5 times 0 0 0 0 0 0 FU ...

Page 30: ...t attached Power switch not on Circuit breaker tripped white center protruding from breaker VXM not configured for Motor speed too high broken wiring or jammed mechanism motor Limit switches not connected or set for wrong type switches Voltage 28 volts or polarity reversed Wrong motor selected Shorted wiring Wrong motor setting Shorted wiring Controller overheating from lack of ventilation or ambi...

Page 31: ...Basic Models VXM 1 one motor version VXM 2 two motor version one motor operates at a time Operating Temperature 35 95 F 2 Velmex COSMOS Software The COSMOS software for Windows is the easiest way to configure program and become familiar with the features of the VXM controller COSMOS has the following capabilities Test serial port for communications 1 2 3 4 Retrieve and update setup information Dis...

Page 32: ... will be 1 to 4 followed by cr carriage return Revised Command listing only on VXM firmware versions 1 21 up 32 3XW WKH RQWUROOHU RQ ROG VLQJOH VWHS WKURXJK SURJUDP KHQ WKH 9 0 UHFHLYHV WKH VLQJOH FKDUDFWHU WKH ROG ODJ ZLOO EH VHW LWK WKH ROG ODJ VHW D UXQQLQJ SURJUDP VWRSV EHIRUH HDFK FRPPDQG DQG VHQGV D IROORZHG E WKH OLVWLQJ RI WKH FRPPDQG WR WKH KRVW KHQ VWRSSHG WKH DQG 7 FRPPDQGV FDQ EH XVHG ...

Page 33: ...le below In response to this command the VXM sends a single character equal to the above 8 bit value Get State of User Outputs Each Output represents one bit of a binary value The value the VXM sends is represented in the table below In response to this command the VXM sends a single character equal to the above 8 bit value NOTE NOTE NOTE Bit 7 6 5 4 3 2 1 0 Decimal Value 128 64 32 16 8 4 2 1 Deci...

Page 34: ...gram to continue to the next command Memory usage 2 bytes Wait for a low to high transition on the user input 1 A high is a voltage between 1 5VDC and 5VDC applied to I O 5 A simple pushbutton or toggle switch can be used between 0V I O 1 and input 1 I O 5 to satisfy this input The input level must be low less than 0 8V for at least 1 ms and go high for at least 1 ms to be a valid input This comma...

Page 35: ... 1 high 5V while waiting A high is a voltage between 1 5VDC and 5VDC applied to I O 5 User output 1 I O 14 will go to 5V for the duration of the wait A simple pushbutton or toggle switch can be used between 0V I O 1 and input 1 I O 5 to satisfy this input When a push button switch is pressed the switch s electrical contacts will bounce off each other a few times before settling into their final po...

Page 36: ...tion will go to 0V This is the state of the user output 3 on power up This command is used in conjunction with the command Memory usage User output 3 high The user output 3 Optional Connection will go to 5V This command is used in conjunction with the U16 command Memory usage 2 bytes User output 4 low The user output 4 Optional Connection will go to 0V This is the state of the user output 4 on pow...

Page 37: ...ram 2 Run button to proceed in current program User output 2 low reset state User output 2 high Optional User output 3 low reset state Optional User output 3 high Optional User output 4 low reset state Optional User output 4 high Wait for a front panel button to jump to a program and come back or continue Motor 1 Jog button to jump and return to program 1 Motor 1 Jog button to jump and return to p...

Page 38: ...inary switch would be attached to inputs 2 and 3 for program selection Following the program selection the user would press activate the Run input button See truth table below for function of each input 38 Bit 7 6 5 4 3 2 1 0 Decimal Value 128 64 32 16 8 4 2 1 Decimal Value Capture Motor Position on Input 4 trigger 0 disable bit 1 will be 0 Program Select with Inputs 2 and 3 0 disable bit 2 will b...

Page 39: ...ex with pulse output This command is used when it is desirable to make several Indexes on one axis without stopping or slowing between each Index Instead of stopping a positive going pulse will appear on user output 2 I O 15 at each Index distance This pulse would be used to trigger measurement sampling equipment The or command must be used as the last command to decelerate to a stop from the last...

Page 40: ...inuous Index in conjunction with the U7 or U8 commands This command will start the motor into a deceleration to a stop an equal time and distance it took to get to the present speed Memory usage 2 bytes U7 U91 End of Continuous Index This command is similar to the U9 except it creates an index move in the program for decelerating to a stop When the VXM sees this command it will change it into a U9...

Page 41: ... if n is an odd value the extra step to produce a pulse will be in the positive direction pulse at the integer of 1 2 n going negative and pulse at the integer of 1 2 n 1 going positive Example This example is will pulse on output 2 for every 4 steps of Motor 1 0 0 0 0 P P P P P P P P P P P P P P 0RWRU SRVLWLRQ HURHG RU VHW3P0Q FRPPDQG Graphic Representation Graphic Representation Graphic Represen...

Page 42: ...0Q DQG 8 FRPPDQGV WR 0 microseconds setPA4 6 1 default Units are 10msec increments 10 x 10 seconds NEW COMMAND available only on VXM firmware versions 1 24 up Example This example will set the pulse width to 4 Example This example will set the pulse width to 2 milliseconds setPA200 0 000040sec 0 002 sec 5V 5V 5V 0V 0V 0V Output 2 Output 2 Maximum Speed n x HIGH LOW 1 LOW HIGH Pulse width value x I...

Page 43: ...he position where deceleration started D D D Asterisk Request motor position when the last deceleration occurred This position can be from a normal index decelerating to a stop or an interrupted index from a D Decelerate to a stop command or Stop input button User input 4 Below is what the host would receive if the last motor indexing started it s deceleration at position negative 14901 0014901 cr...

Page 44: ...s the VXM returned when the was sent at positions 521 919 and 1149 while motor 1 was indexing y Request captured motor 2 positions from FIFO buffer all 4 positions NOTE buffer data is automatically zeroed at the start of every run 0002004 0000000 0000000 0000000 Example This example shows the values the VXM returned when the was sent at position negative 2004 while motor 2 was indexing See Also X ...

Page 45: ...ome clearances between mating parts Whenever such a device is commanded to reverse direction there can be some lost motion The VXM has the following command to overcome this situation Bx DFNODVK RPSHQVDWLRQ FRPSHQVDWLRQ LV VWHSV ZKHQ RII ZKHQ default Desired number of comp steps can be input directly x 2 to 255 The VXM can compensate for mechanical backlash by ending every index in the positive di...

Page 46: ...host needs to know if a positioner s travel has been exceeded due to a motor stall or an index es that are too long When Indicate Limit Switch Over travel 1 the VXM transmits the single character O to the host when an indexing motor activates it s limit switch input this command is immediate and uses a reserved memory location Home to limit switch commands never stop the program but the O will be ...

Page 47: ...ce the pulse on user output 2 Memory usage 2 bytes U99 End of Continuous Index with no deceleration This command is similar to the U9 command without the deceleration move after the last index Memory usage 2 bytes CAUTION The motor speed should be below 800 steps second when the VXM executes this command to prevent an excessively hard stop that may cause a mechanical overshoot of intended position...

Page 48: ... all programs in the Master to all the programs in the Slave except for program number in the Slave will run the same time when a program in the Master is run x 0 1 2 3 4 Disable Master Slave Program association default x Programs numbers exceptx See Also U7 U8 U9 U91 U92 Appendix D There are special Excel spreadsheet files on the CDROM to create the VXM commands for producing sinusoidal motion tr...

Page 49: ...2000 mentioned above is settable by command Additionally there is a second jog speed setjmM0 getjmM getJmM Disable jog input for motor This command will deactivate the jog buttons for motor and the corresponding auxiliary I O jog inputs m m m Set primary maximum jog speed x 1 to 6000 sps default 2000 m motor 1 2 3 4 motor 1 2 3 4 Set secondary maximum jog speed When input 2 is low I O 6 this speed...

Page 50: ...th x Depth x Height 1 6 bottom of enclosure to top of joystick lever The digital joystick has a button switch connected to Input 2 for toggling between the primary and secondary settable jog speeds The default primary and secondary speeds are by default both set to 2000 It is possible to disable remove the button switch if Input 2 is needed for a function other than jog speed selection To disable ...

Page 51: ...mple of what the host would receive when Motor 1 is at absolute 201 Motor 2 is at absolute 1294010 Motor 3 is at absolute 0 and Motor 4 is at 80000 X 0000201 cr Y 1294010 cr Z 0000000 cr 7 FU Enabling Jog When a Program is Running U2 U3 Enable Jog while waiting for an input This command will allow motor jogging with the jog button inputs during the following wait commands U0 U1 U30 U31 U50 U51 or ...

Page 52: ...margin for conversion circuitry error External potentiometers should be between 2K and 10K ohms CAUTION NOTE Internally Ain has a 100K ohm resistor to the 5VDC and a 100K ohm resistor to 0V There is also a 100 ohm resistor between the converter and Ain Read user analog input value Ain I O 3 The value returned will be a number between 0 and 1024 1 2 3 4 5 6 11 12 13 14 15 21 22 23 24 31 32 33 41 42...

Page 53: ... 6000 51 5000 6000 Table for analog assigned motor speed lst is stored in a program the original x value will be kept with the command However when the command is used to list the program the x value displayed will be the steps sec speed converted from reading Ain This feature allows viewing the actual derived speed the VXM is going to use NOTE When a SmM x 5V I O 2 0V I O 1 Ain I O 3 2K to 10K Oh...

Page 54: ...time This command will deactivate the joystick 10 when VXM and joystick ordered the same time m Set primary joystick speed range x 1 to 24 See table at right to determine actual range of speed m motor 1 2 3 4 NOTE Factory set to Disable joystick for motor for motor m default m motor 1 2 3 4 Set secondary joystick speed range x 1 to 24 When input 2 is low I O 6 this speed range is used by the joyst...

Page 55: ...to 100 default 40 Setting x to a low value makes it difficult to move just one axis without inducing motion on the opposite axis Setting to a high value produces a noticeable delay when changing direction Get Joystick Deadband value Value returned is a number between 20 to 100 default 40 x x By default the joystick operates motor 1 of the Master VXM and motor 1 of the Slave VXM If the VXM controls...

Page 56: ... speeds There is also a second button switch connected to Input 3 for alternating between motors 1 and 2 The default primary and secondary speeds are by default both set to 0 disabled joystick NOTE It is possible to disable remove the button switch es if Input 2 and Input 3 are needed for another function To disable remove the button s with the button in the out position use pliers to pull the but...

Page 57: ... NOTE It is possible to disable remove the button switch es if Input 2 and Input 3 are needed for another function To disable remove the button s with the button in the out position use pliers to pull the button cap off the switch actuator The switch actuator should now be below the surface enough to prevent unintended input An alternate method to disable the button switches is by clipping off pin...

Page 58: ...facing VXM controllers to other devices is not covered under the warranty As a minimum precaution against electrostatic discharge ESD damage follow these guidelines 1 Provide the shortest conductive path possible to earth ground from user designed panels or enclosures that have switches or buttons the operator will come in contact with 2 Use metal panels and enclosures to house buttons or switches...

Page 59: ...ons can be made to all 15 I O connections using the screw type terminal blocks Wire size 26 to18 AWG Boot material PVC Boot dielectric strength 700 V mil Specifications 0 984 1 738 2 40 1 30 Ø0 120 1 0V 2 5V 3 Ain 5 678910 11 15 14 13 12 4 Cable with all 15 through Protective Boot Wire Access Hole Optional 2 Pin Name 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0V 5V Ain Run I1 I2 I3 I4 0V J1 J1 J2 J2 O1 O...

Page 60: ...ta PK245 1 2A 40 60 80 100 120 140 160 180 Torque oz in 1 200 500 1000 2000 3000 4000 5000 6000 Speed Speed Slo Syn M091 4 7A 0 5 1 25 2 5 5 0 7 5 10 12 5 15 rev sec steps sec Torque measured at 100 power settings 40 60 80 100 120 140 160 Torque oz in 1 200 500 1000 2000 3000 4000 5000 6000 Speed Vexta PK266 03 0 5 1 25 2 5 5 0 7 5 10 12 5 15 rev sec steps sec ...

Page 61: ... 12 5 15 rev sec steps sec Torque measured at 100 power settings 20 40 60 80 100 120 140 160 180 Torque oz in 1 200 500 1000 2000 3000 4000 5000 6000 Speed Vexta PK268 03 0 5 1 25 2 5 5 0 7 5 10 12 5 15 rev sec steps sec 90 Vexta PK264 03 40 50 60 70 80 Torque oz in 1 200 500 1000 2000 3000 4000 5000 6000 0 5 1 25 2 5 5 0 7 5 10 12 5 15 rev sec steps sec ...

Page 62: ... 90 100 Torque oz in 1 200 500 1000 2000 3000 4000 5000 6000 Slo Syn M061 3 8A 0 5 1 25 2 5 5 0 7 5 10 12 5 15 rev sec steps sec 0 5 1 25 2 5 5 0 7 5 10 12 5 15 rev sec steps sec 40 60 80 100 120 140 160 Torque oz in 1 200 500 1000 2000 3000 4000 5000 6000 Speed Speed Slo Syn M063 4 6A ...

Page 63: ...rque Curves continued Torque measured at 100 power settings 6 0 5 1 25 2 5 5 0 7 5 10 12 5 15 rev sec steps sec 40 60 80 100 120 140 Torque oz in 1 200 500 1000 2000 3000 4000 5000 6000 Speed Slo Syn M062 4 7A ...

Page 64: ...set motor type size selected for axis m and applies 100 power to motor in jog mode normally 70 power axis 1 2 3 4 Value for x should be a number between 0 and 6 Refer to the table below for the proper value to use The 100 motor power setting only applies to operation in jog mode Under program control the S and SA speed settings set power to motor m NOTE CAUTION THE VXM MUST BE SET TO THE EXACT MOD...

Page 65: ...re permanent magnet step motor 2 Motor rated at a unipolar per phase current of 0 4 to 4 7 Amps If the motor you want to use does not meet the above requirements STOP The motor is not compatible with the VXM When determining the VXM value x from the table below the motor must be within both the current range and the IxL product CAUTION THE VXM MUST BE SET CORRECTLY BEFORE OPERATING IMPROPER SETTIN...

Page 66: ...ome switch works and what programming procedure to use to get a high degree of precision and accuracy obtainable by these switches Repeatability of 1 motor step is achievable if the proper procedures are followed when referencing to a home switch The most common home switch used on rotary tables is a magnetic reed type sensor The magnetic sensor is usually connected directly to the positive and ne...

Page 67: ...HW PRYH WR OLPLW FRPPDQG P0 RU P0 3LFN D GLUHFWLRQ WR PRYH WR WKH KRPH VZLWFK OZD V XVH WKLV GLUHFWLRQ WR PDLQWDLQ DFFXUDF 127 LI WKH WDEOH LV DOUHDG LQ WKH DFWLYH DUHD RI WKH VZLWFK WKH WDEOH ZLOO QRW PRYH 6WHSV DQG EHORZ ZLOO FRPSHQVDWH IRU WKLV VLWXDWLRQ 4 This example homes motor 1 moving negative direction into home switch and zeroes position setL1M 2 rsm cr 3 Run the command to permanently s...

Page 68: ...ction 1 x Default 0 0 0 0 0 0 0 1 1 Emulate older NF90 0 0 0 0 1 0 0 1 9 getDM set operating mode of VXM The value for x is a number between 0 and 255 that can be derived from the table below Example This example would invert the direction of motor 1 from the standard Get operating mode of VXM The value returned is a number between 0 and 255 see table below default 1 setDMx TFU Always 1 Use this f...

Page 69: ...at XX XX XX month day year Returns 2 if system is a single VXM returns 4 if VXM is a Master with a detected Slave G QDEOH 2Q LQH PRGH ZLWK HFKR RII URXSLQJ D FU FDUULDJH UHWXUQ ZLWK WKH A 2 FKDUDFWHU UHVSRQVHV 7KLV FRPPDQG KDV WKH IXQFWLRQDOLW RI WKH FRPPDQG H FHSW D FU ZLOO EH DSSHQGHG WR 7KH A 5HDG SURPSW DIWHU ILQLVKLQJ D SURJUDP WKH 5 UHVSRQVH WR D 9 FRPPDQG DQ 2 UHVSRQVH WR LPLW 6ZLWFK 2YHU W...

Page 70: ...limit is encountered m motor 1 2 3 4 Set Speed of motor 70 power m motor 1 2 3 4 x 1 to steps sec is 100 power Acceleration deceleration m motor 1 2 3 4 x 1 to 127 Loop continually from the beginning or Loop to marker of the current program Sets the Loop to marker at the current location in the program Resets the Loop to marker to the beginning of the current program Loop from beginning or Loop to...

Page 71: ...nt program User output 2 low reset state User output 2 high Optional User output 3 low reset state Optional User output 3 high Optional User output 4 low reset state Optional User output 4 high Skip next command if input 1 is low Skip next command if input 2 is low Wait for a front panel button to jump to a program and come back or continue button to jump and return to program 1 Motor 1 Jog button...

Page 72: ...re captured by the command or Input 4 trigger Send last 4 positions of motor 2 to host that were captured by the command or Input 4 trigger Request Memory available for currently selected program Request the number of the currently selected motor Request the position when the last motor started decelerating shows position when D command or Stop User input 4 used Read state of limit switch inputs f...

Page 73: ...k motor power to 70 setMAmMx is 100 power Set Pulse Every x Steps on output 2 for axis m Set Pulse width used by setPmMx and U7 x 1 to 255 Set operating mode of inputs Set RS 232 Baud rate 9 9600 19 19200 38 38400 Run save memory saves setup program values to nonvolatile memory Index motor m to absolute zero position D VP9000 Commands not supported by VXM i3 i1 i1 i2 setDMx setDAx setjmM setjAmM s...

Page 74: ...XM 1 2 3 4 By 2nd VXM linked with VXM bus Size 17 to size 34 0 4 to 4 7 amp 400 1 to 6000 5 RAM FLASH 0 to 32 767 185 0 2 rev sec 200 5 rev sec 340 10 rev sec Run Active Low In 1 Active Low In 2 Multifunction In 3 Multifunction In 4 Stop Interrupt In A Analog Out 1 Out 2 Optional Out 3 Optional Out 4 5VDC x2 for Linked VXMs AC DC Power Limit Switch Optically Isolated Motor 6 wire Unipolar RS 232 T...

Page 75: ...Outline Dimensions Appendix Q 7 2 24 57 0mm T SLOTFOR 4ORM4NUT 4PLACES 1 80 45 7mm 6 59 167 4mm 3 29 83 6mm 0 25 6 4mm 4 36 110 7mm VXM ...

Page 76: ...7 1 57 39 9mm 5 14 130 6mm 2 72 69 0mm Power Supply ...

Page 77: ...e about how we can accommodate your special requirements Possible Options 1 2 3 4 5 6 7 8 9 Half U enclosure Din rail mountable version Din rail power supply Lower voltage or battery operation Integrated input device See website for options Custom programming Special cables or connectors Higher power or lower power Synchronized motor operation ...

Page 78: ...Rack Panel 1 Motor Rack Panel 2 Motor Rack Panel 3 Motor Rack Panel 4 Motor ...

Page 79: ...rarily be the current program all commands will be executed starting from the first one that was previously entered into program x The VXM will record motor 1 and 2 absolute indexes while in program x When program x ends the VXM will look ahead to the next incremental index combining this index with the return distance of the recorded absolute index of the same motor The other motor index recorded...

Page 80: ...BC QBSU 1SPHSBN JT NBJO QSPHSBN 4FMFDU BOE DMFBS QSPHSBN BLF UIJT MPDBUJPO FSP 4UBSU 0VUQVU PO UP BDUJWBUF SJQQFS 1BVTF TFD UP MFU HSJQQFS HSBC QBSU PWF GSPN QJDL MPDBUJPO UP QMBDF 4FU MPPQ NBSLFS IFSF MPPQT XJMM CSBODI IFSF 0VUQVU PGG UP VOHSJQ QBSU VNQ SFUVSO UP QSPHSBN UP HFU BOPUIFS QBSU EWBODF UP OFYU QMBDF MPDBUJPO P GSPN MPPQ NBSLFS Y OE XJUI QBSU OPU HSJQQFE 1 6 6 1 1 1 6 1 6 6 Motors run ...

Page 81: ...U PO PME QBSU PWF GSPN QJDL MPDBUJPO UP QMBDF 4FU MPPQ NBSLFS IFSF MPPQT XJMM CSBODI IFSF 0VUQVU PGG SPQ QBSU VNQ SFUVSO UP QSPHSBN UP HFU BOPUIFS QBSU EWBODF UP OFYU QMBDF MPDBUJPO P GSPN MPPQ NBSLFS Y EWBODF UP OFYU SPX P SPXT OE XJUI 0VUQVU PGG SPQ QBSU 1 6 1 6 6 6 Motors run Example 13 Pick and Place Function Pick from common point and place in 3 rows 2 Pick start end 1 2 3 4 5 6 7 8 U4 U4 U4 ...

Page 82: ...MXPS WR SURJUDP WR GR URZ OHDU RXW DEVROXWH VDYHG PRYHV IURP 0 PRYH PRWRU RYHU QH W URZ GYDQFH DQRWKHU URZ URZV DQG UHSHDW 0RWRUV KRPH HW JR ZLWK JULSSHU 5IJT 1JDL BOE 1MBDF FYBNQMF NPWFT 9 BYJT NPWFT USBZ PG QBSUT UP BEWBODF OFYU SPX 1MBDJOH QBSUT Y JO SPXT 5IF DPNNPO QJDL TUBSU MPDBUJPO JT TFU UP FSP BCTPMVUF 0VUQVU JT VTFE UP TJHOBM BO FYUFSOBM HSJQQFS 1 6 1 1 6 1 U5 P1 6 Motors run Function Ex...

Page 83: ...VU PO UP HSBC QBSU QBVTF UPP BWF QBSU OPX OEFY VQ 1 6 1 6 1SPHSBN JT NBJO QSPHSBN BGUFS TUBSU PWF PVU UP TU QMBDF MPDBUJPO KVNQ UP QSPHSBN UP EP SPX MFBS PVU BCTPMVUF TBWFE NPWFT GSPN 9 NPWF NPUPS PWFS OFYU SPX EWBODF BOPUIFS SPX SPXT BOE SFQFBU IPNF 8BJU GPS PQFSBUPS UP DIBOHF USBZ QSFTT 3VO 4UBSU BHBJO MPPQ GPSFWFS 1 1SPHSBN JT TUBSU TFUVQ QSPHSBN BLF UIJT MPDBUJPO FSP 4UBSU 4 4 4FU TQFFET BDDFM...

Page 84: ...BN BLF UIJT MPDBUJPO FSP 4UBSU 4 4 4FU TQFFET BDDFMT 4 4FU TQFFE BDDFM 4FU MPPQ NBSLFS BMM MPPQT XJMM CSBODI IFSF KVNQ UP QSPHSBN UP EP SPX PWF CBDL UP PNF TUBSU PG SPX NPWF NPUPS PWFS OFYU SPX P SPXT IPNF 5IJT 1JDL BOE 1MBDF FYBNQMF NPWFT 9 1BSUT BSF 1JDLFE Y JO SPXT 1MBDFE BU POF QPJOU Motors run Function Example 16 Pick and Place Pick from rows and place at common location Y axis moves tray of ...

Page 85: ...ally set to run program 4 after stopping See Appendix C and Appendix K for more information and other stop settings Conditional Branching Branching jumping to a specific part of a program when an external event occurs is a way to produce an alternate function from a user input There are three different ways the VXM can perform conditional branching 1 U13 and U23 commands wait for a front panel but...

Page 86: ...able on VXM firmware versions 1 30 up Motors run Example 17 Change Speed Function Speed will be set to 2000 if input 1 is low or 4000 if input 1 is high 1 4FMFDU BOE DMFBS 1SPHSBN 4LJQ OFYU DPNNBOE JG OQVU IJHI 4FU 4QFFE UP 4LJQ OFYU DPNNBOE JG OQVU MPX 4FU 4QFFE UP OEFY PVU PSXBSE OEFY CBDL 3FWFSTF 1 6 4 6 4 Motors run Example 18 Change Program Function Changes to program 1 if input 2 is low Prog...

Page 87: ...product The above warranty is the only warranty authorized by Velmex Velmex shall in no event be responsible for any loss of business or profits downtime or delay labor repair or material costs injury to person or property or any similar or dissimilar incidental or consequential loss or damage incurred by purchaser even if Velmex has been advised of the possibility of such losses or damages Inasmu...

Page 88: ...x com and www bislide com Velmex Inc 7550 State Route 5 2 0 Bloomfield NY 14469 USA Copyright 2002 Velmex Inc All rights reserved Velmex the Velmex logo UniSlide and BiSlide are trademarks of Velmex Inc All other trademarks are the property of their respective owners Contact Information Document VXM UM E5 12 29 04 ...

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