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VELMEX VXM-3, User Manual

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VELMEX VXM-3 User Manual Download Page 81

8

Pick and Place Using JM-x

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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

U4

U4

U4

U4

U4

8

7

6

5

4

3

2

1

U4

U4

U4

U4

U4

U4

U4

U4

1

2

3

4

5

6

7

8

U4

U4

U4

U4

U4

U4

U4

U4

U5

Position

0

1600

7200

¯

¯

1

2

1200

3

2400

Summary of Contents for VXM-3

Page 1: ...otor 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...

Page 2: ...ex 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 softwar...

Page 3: ...quest 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...

Page 4: ...uded 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 compati...

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...

Page 6: ...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...

Page 7: ...ith 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...

Page 8: ...RQ 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...

Page 9: ...ta 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 op...

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 B sent to host and VXM resets if the Master can not find the Slave either because the...

Page 11: ...ation 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 rela...

Page 12: ...ning 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 beginni...

Page 13: ...solute 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...

Page 14: ...p 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 con...

Page 15: ...acklash 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...

Page 16: ...t 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...

Page 17: ...ition 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 Limi...

Page 18: ...ple 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 Contro...

Page 19: ...xample 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 imm...

Page 20: ...d 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 1...

Page 21: ...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...

Page 22: ...put 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 comm...

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...

Page 24: ...osition 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 int...

Page 25: ...he 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 get...

Page 26: ...d 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 t...

Page 27: ...eating 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 L...

Page 28: ...d Function 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...

Page 29: ...r 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...

Page 30: ...tached 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...

Page 31: ...asic 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 co...

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 FKDU...

Page 33: ...e 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 i...

Page 34: ...ram 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 toggl...

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 be...

Page 36: ...ion 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...

Page 37: ...am 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...

Page 38: ...nary 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 inpu...

Page 39: ...x 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...

Page 40: ...nuous 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 byte...

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 ex...

Page 42: ...Q 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 wi...

Page 43: ...e 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...

Page 44: ...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 zer...

Page 45: ...me 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 RPSHQV...

Page 46: ...ost 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...

Page 47: ...e 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 u...

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 a...

Page 49: ...000 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 cor...

Page 50: ...h 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...

Page 51: ...ple 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...

Page 52: ...argin 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 al...

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 d...

Page 54: ...ime 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...

Page 55: ...o 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 direct...

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...

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...

Page 58: ...acing 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 pa...

Page 59: ...ns 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 0 120 1 0V...

Page 60: ...a 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 po...

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 1...

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 1...

Page 63: ...que 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 M...

Page 64: ...et 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...

Page 65: ...e 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 t...

Page 66: ...me 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 a...

Page 67: ...W 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...

Page 68: ...tion 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 T...

Page 69: ...t 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 U...

Page 70: ...imit 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 o...

Page 71: ...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 nex...

Page 72: ...e 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 Reque...

Page 73: ...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 19...

Page 74: ...M 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 Multif...

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: ...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 Integrat...

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

Page 79: ...arily 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...

Page 80: ...C 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...

Page 81: ...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...

Page 82: ...XPS 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...

Page 83: ...U 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...

Page 84: ...N 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...

Page 85: ...lly 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 exter...

Page 86: ...ble 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...

Page 87: ...roduct 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...

Page 88: ...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 In...

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