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Danaher Motion B8961, Руководство оператора

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B8961 and B8962 User Manual

Toggle Tuning Stimulus.......................................................................................................46
Monitor Monitor Port .........................................................................................................46

PROGRAMMING YOUR APPLICATION ............................................................47

SMART DRIVE PROGRAMMING OVERVIEW .................................................................................47
CREATING OR EDITING PROGRAMS WITH THE KEYPAD ...........................................................47
COMMAND SUMMARY ..................................................................................................................48
VARIABLES AND ARITHMETIC .......................................................................................................49
VARIABLES ......................................................................................................................................49
LEGAL VERIABLE NAMES ...............................................................................................................49
BUILT-IN VARIABLES .......................................................................................................................50
NON-VOLATILE VARIABLES............................................................................................................52
ARITHMETIC OPERANDS AND EQUATIONS .................................................................................53
BOOLEAN OPERATORS- & (AND), (OR)......................................................................................53
LOGICAL OPERATIONS ON EXPRESSIONS ...................................................................................54
INCREMENTING AND DECREMENTING VARIABLES.....................................................................54
EXPRESSIONS .................................................................................................................................54
MULTI-AXIS OPERATION ...............................................................................................................55
SIMPLE GO COMMANDS ...............................................................................................................55
TYPICAL PROGRAMMING EXAMPLES...........................................................................................58
READING AN ANALOG INPUT .......................................................................................................59
CONFIGURING AN ANALOG OUTPUT ..........................................................................................60

PROGRAMMING COMMANDS ..........................................................................61

PROGRAMMING WITH SERIAL COMMUNICATION ........................................91

SECTION 1:RS-232 PROTOCOL.....................................................................................................91

Making RS-232C Connections to the S6961/2 .....................................................................................

91

Troubleshooting Serial Command Problems

.......................................................................................

92

Daisy Chaining Smart Drives

...................................................................................................................

92

SECTION 2:APPLICATION DEVELOPER SOFTWARE.....................................................................93

Installing  Application De veloper..............................................................................................................

93

Common Installation Er rors and Remedies ........................................................................................

94

SECTION 3:USING APPLICATION DEVELOPER

™

..........................................................................95

Setup Wizar d....................................................................................................................................................

95

Axis Setup .........................................................................................................................................................

99

I/O Setup.........................................................................................................................................................

102

Miscellaneous (Misc) Setup ......................................................................................................................

103

File Men u .......................................................................................................................................................

104

Program Editor ............................................................................................................................................

105

View Configuration ....................................................................................................................................

106

Communications .........................................................................................................................................

106

Run Men u ......................................................................................................................................................

107

SECTION 4:RS-232C IDEAL

™

COMMAND REFERENCE ...............................................................108

Overview ........................................................................................................................................................

108

Sample File ....................................................................................................................................................

108

Command Syntax .......................................................................................................................................

110

Serial Setup Commands ............................................................................................................................

112

Serial Prog ramming Commands ...........................................................................................................

118

Commands Not Used In Host Mode .....................................................................................................

120

Serial Immediate Status Commands

....................................................................................................

122

Serial Supervisory Commands

...............................................................................................................

127

Содержание B8961

Страница 1: ...and B8962 Brushless Servo Smart Drives Operator s Manual P N PCW 4744 Rev 1 9 This manual covers the following IDC Products B8961 1 axis Brushless Servo Smart Drive B8962 2 axis Brushless Servo Smart...

Страница 2: ...LP Menus 16 At the Main Menu 16 At the Menus and Sub Menus 16 In the Editor 16 COPY Menus 16 PROG Copy a Program to Another Program 16 TO PAD Upload Memory to Keypad 17 FROM Download Memory to Control...

Страница 3: ...OUTPUT 60 PROGRAMMING COMMANDS 61 PROGRAMMING WITH SERIAL COMMUNICATION 91 SECTION 1 RS 232 PROTOCOL 91 Making RS 232C Connections to the S6961 2 91 Troubleshooting Serial Command Problems 92 Daisy C...

Страница 4: ...NAL OFFICES 139 TOLL FREE TECHNICAL SUPPORT 139 CAD LIBRARY 139 WARRANTY REPAIRS 139 INDEX 140 APPENDIX A IDC ACTUATOR RATIOS 143 CONFIGURING INCH MM UNITS ON SMART DRIVES USED WITH IDCACTUATORS 143 M...

Страница 5: ...tepper system IDC s IDeal Smart Drives provide excellent value when your application calls for any of the following A small 1 2 axis machine controller A motion node to a master PLC or PC A cost effec...

Страница 6: ...veloper program follows a standard Windows dialog box structure to make configuring and programming the Smart Drive control straight forward This section also covers RS232 command syntax and definiti...

Страница 7: ...onnect the B8000 Series Smart Drive to 120VAC using the supplied AC power cable and connector The AC power input terminals are labeled and located at the top of the Smart Drive When power is applied t...

Страница 8: ...supplied limit switch wiring schematics After all motor and encoder cables are firmly connected reapply power and continue on with the Quick Star t directions Jog the Motor 1 Press RUN Press JOG F2 2...

Страница 9: ...3 Press the or to turn the output ON or OFF 4 Press ESC to leave this menu The outputs will return to their state prior to entering the test mode Please use caution when manually toggling outputs con...

Страница 10: ...f this chapter Keypad Features defines the basic function of each button on the keypad The second section Menu Structur e gives the programmer a broad overview of how the keypad s setup and programmin...

Страница 11: ...s and Scroll through menu options setup choices and programs in the editor Also used to move an axis in jog mode Decimal Point Used to enter fixed point numbers Comma Used in multi axis controls to se...

Страница 12: ...tentiometer This is used to adjust the contrast on the LCD display If the Smart Drive and keypad were purchased together this adjustment has been made by IDC Some adjustment may still be needed to acc...

Страница 13: ...Menus which are accessible from the Main Display by pressing RUN EDIT HELP COPY and DEL keys NOTE ESC backs up one menu in SETUP and returns the user to the Main Display elsewhere B8961 and B8962 Use...

Страница 14: ...ill also jog Axis 1 on a single axis unit Change between Low and High speeds with the F1 and F2 keys Jog speeds and accelerations can be changed in the JOG SETUP menu Jog an incremental distance by 1...

Страница 15: ...n the output on and off Please use caution when connected to live devices The Outputs will revert to their original state when ESC is pressed NOTE The OPTO position default to Inputs They must be conf...

Страница 16: ...EDIT sub menus called LIST TUNING and TEACH Access the PROG SETUP POS LIST TUNING and TEACH sub menus by pressing the appropriate function key See descriptions of each of these sub menus below PROG Cr...

Страница 17: ...to preferred user units BKLASH Electronic backlash compensation VEL Speed units VMAX Critical speed limit ACCEL Acceleration units I O INPUTS Input functions OUTPUTS Output functions OPTOS OPTO modul...

Страница 18: ...tes of memory you still have available 4 Displays the number of bytes being used by each of your programs TUNING Servo Tuning The following shows the structure of the TUNING menu See Configuring Your...

Страница 19: ...t of time when programming your Smart Drive The keypad has its own non volatile memory which allows you to upload the memory motion programs set up and tuning parameters of one Smart Drive reconnect a...

Страница 20: ...ore information on using Application Developer DEL Menu The DEL key lets you delete any motion program currently in your Smart Drive Press 1 DEL 2 Enter the number of the program to delete Or if you w...

Страница 21: ...ure and step by step keypad instructions Application De veloper and RS 232C users will want to refer to this chapter for detailed explanations of configuration parameters Details on how to use IDC s A...

Страница 22: ...he type of rotary servo motor connected to the B896X SmartDrive and the operating voltage level The motor parameters used for drive configuration have been specifically tailored for IDC supplied rotar...

Страница 23: ...quadrature encoder resolution D RES can be set at the users discretion 1 Use and keys to select an axis 2 Use the and ENTER keys to select from a list of drive resolutions available 200 400 1000 2000...

Страница 24: ...is displayed on the keypad All moves are based on the commanded OPEN LOOP position and stall detection is enabled CLOSED LOOP PM The encoder position is displayed on the keypad All moves are based on...

Страница 25: ...meric keys to enter a new position maintenance gain and press ENTER then ESC to register Configuring Position Max Velocity PV Default 1 RPS Range 0 005 9999999 The position maintenance maximum velocit...

Страница 26: ...s reason IDC fixes the encoder resolution for our servo motors Consult the factory if your application requires using another motor or resolution encoder 1 Use and keys to select an axis 2 Use the and...

Страница 27: ...move if the DIST units are changed from Steps to Inches If steps is chosen the control automatically fixes the RATIO see below The RATIO option is used to scale DI and DA moves to your preferred dist...

Страница 28: ...ETUP MECH BKLASH Backlash BK Default 0 0 Distance Units Not yet implemented Axis One Backlash 25 0 steps BKLASH allows your Smart Drive to compensate for the backlash in each axis of your mechanical s...

Страница 29: ...s to select an axis 2 Use the numeric keys to set the maximum velocity in VEL units EDIT SETUP MECH VMAX Maximum Velocity MV Default 50 velocity units Axis One Max Vel 50 0 inch sec EDIT SETUP MECH AC...

Страница 30: ...n refer to Chapter 5 Applying the Product and Chapter 6 Programming Command Reference in this manual The function of each input and output in your system is easily configured in the I O SETUP menus On...

Страница 31: ...est numbered input becomes the least significant selection bit i e input 1 is less significant than input 2 The act of configuring an input as a program select input also enables the BCD program selec...

Страница 32: ...een Advanced Interrupt handling can be achieved using the INT98CRTL and ARM INT98 variables The INT98CTRL variable determines whether Interrupts can be disabed or not The ARM INT98 variable allows you...

Страница 33: ...a discrete input and prevents the input signal from being misinterpreted Analog signals are read into input variables AI9 through AI16 corresponding to OPTO positions 9 through 16 See Programming Your...

Страница 34: ...d the number of wires required for selecting programs by one half W Warm Boot System Reset Resets the Smart Drive clearing the RAM Buffer and resetting the control to its power up state Programs and s...

Страница 35: ...D specifies axis 1 d specifies axis 2 The Direction Output indicates the direction of motion for a given axis The output remains set until motion begins in the reverse direction F Fault The fault outp...

Страница 36: ...plication for more details on using analog I O modules P Programmable Unassigned outputs default to programmable and can be used in OT commands S Stall The output goes low if the control detects a mot...

Страница 37: ...couple Input 100 to 924 C P PCB 1224 RTD Thermocouple Input 73G ITR100 100 Ohm More information on available OPTO modules is available from the Opto module manufacturer or your local distributor Confi...

Страница 38: ...ED and press ESC to register JOG Jogging Configuration Your IDeal Programmable Smart Drive s keypad gives the programmer and the machine operator if desired a convenient way to jog the motor The param...

Страница 39: ...to pre vent operators from accessing them 1 Use and keys to select an axis 2 Use and keys to enable and disable the function HOME Homing Configuration Your IDeal Programmable Smart Drive has a built i...

Страница 40: ...ffset value for each machine It helps reduce start up time since your home limit switch can now be almost anywhere It also reduces the time necessary to get a system back up and running should your ho...

Страница 41: ...rogram The selected program is executed run when your Smart Drive is powered up or reset If a value of 0 is entered in this menu or if the specified program does not exist no program is run Use the nu...

Страница 42: ...racters received by the control s serial port will not be re transmitted ECHO must be enabled in daisy chaining applications Use the keys to enable or disable the ECHO This option is used to set the u...

Страница 43: ...ommanded velocity CUR1 Axis 1 current in Amps B896X only CUR2 Axis 2 current in Amps B896X only INPUTS Discreet input status 0 off 1 on OUTPUTS Discreet output status 0 off 1 on OPTOS OPTO input and o...

Страница 44: ...C to exit Defined Passwords Menu Accessibility ORATR only RUN EDIT COPY DEL ADMIN only RUN EDIT COPY DEL OPRATR with ADMIN RUN only All RUN functions except TEST ADMIN with OPRATR RUN EDIT COPY DEL If...

Страница 45: ...ratios up to about 15 to 1 Most applications in fact over 80 require NO ADDITIONAL TUNING The B Series Smart Drives also allow you to monitor the performance of the drive during machine integration E...

Страница 46: ...tuning process is non iterative The loops are tuned from the inside out The torque loop is motor bus voltage dependent and is tuned at the factory 1 Tune the velocity loop using a velocity toggle 2 Tu...

Страница 47: ...Gain TOGGLE TORQUE Torque toggle magnitude and period VELOCITY Velocity toggle magnitude and period POSITION Position toggle magnitude and period MONITOR MODE Configures monitor output function RANGE...

Страница 48: ...moving CAUTION The toggle generates instantaneous torque velocity and position commands The amplifier and motor will not be damaged but your mechanics may be damaged by these ver y aggressive moves M...

Страница 49: ...e uses a sequential interpretive command processor This means that commands in a program are executed one at a time and that the action called for in one command must complete before the next command...

Страница 50: ...Description Command Description AC Acceleration IV Input Variable BR Break LP Loop DA Distance Absolute LU Loop Until DC Distance to a Change LW Loop While DE Deceleration MC Move Continuous DI Dista...

Страница 51: ...ive variable names as opposed to V1 V2 etc Variables can be up to 14 characters but the first 10 characters must be unique They can contain other printable ASCII characters such as numbers underscores...

Страница 52: ...on volatile limited use user system variables Read Limited Write FKEY Value of Function Key pressed Read Only LASTKEY Value of last Function key pressed Read Write TERM Sends variable out RS 232 port...

Страница 53: ...l return one of the following values AROWREL 0 One of the arrow keys is being held down AROWREL 1 The arrow key has been released AROWREL will return key status for the 4 arrow keys only If any other...

Страница 54: ...tem variables were originally developed for use in batch manufacturing applications where a number of variable setup parameters must be entered at the start of each part run These same setup parameter...

Страница 55: ...t of the decimal place 32 bit storage of fractional decimal number Instead enter X 1 X X 2 or X 2 X X 3 or X 3 and Length Total 3 125 Multiply by the significant figures Length Length 01 Then move the...

Страница 56: ...e Variable Name Increments a variable value by 1 Variable Name n Increments a variable value by n Variable Name Decrements a variable value by 1 Variable Name n Decrements a variable value by n Expres...

Страница 57: ...of the AC DE VE and either DI or DA command These four parameters completely define the commanded motion profile The last parameter used by an axis is stored in a table The GO command uses the last DI...

Страница 58: ...le 2 below GP uses the last distance value for each axis to determine the end points of the linear move The two examples below result in identical GP moves Example 1 Example 2 AC2 3 AC2 VE4 10 VE4 DE...

Страница 59: ...different i s for each axis allows you to start one axis and wait for an input on another or start both based on different inputs See the examples below for more clarification Examples GO Moves all t...

Страница 60: ...owmany Writes string beginning at character 1 top line IV12 PIECES Waits at 12th character for the of pieces MS1 Clears the display MS1 Howlong Writes string beginning at character 1 top line IV12 LEN...

Страница 61: ...input values are updated every 16 milliseconds If your program needs to display this value in units such as VOLTS you will need to scale the value to VOLTS in your pro gram The scale number you use wi...

Страница 62: ...ble AOn n 9 16 The value of n corresponds to the OPTO position of the analog output To configure an OPTO position as an analog output 1 Configure the position as an output using EDIT SETUP I O OPTOS 2...

Страница 63: ...m the EDIT SETUP MECH menu n a if no units Range unit scaling dependent n a if no range Default If the command has a default it will be listed here n a if there is no default DI specifies a move dista...

Страница 64: ...Amplifier EB End of Block EN End of Routine FK Function Key GH Go Home GI Go Immediate GO Go Start a Move GP Go Point GS Gosub GT Go To IF If Then IV Input Variable LP Loop LU Loop Until LW Loop Whil...

Страница 65: ...and deceleration to 2 DE 5 VE12 DA6 GO Accel stays at 2 decel changes to 0 5 VE20 DA0 GO Acceleration and deceleration remain at 2 and 0 5 AC4 DA2 GO Acceleration and deceleration become 4 DE3 AC1 DI3...

Страница 66: ...hange the velocity or change the state of one or more outputs The DC command must follow a DA or DI command which specifies the total move distance The DC distance is interpreted as an absolute positi...

Страница 67: ...VE2 5 is a valid segment Examples of DC move profiles AC 05 DE 05 VE10 DA4 DC1 OT100 DC2 OT010 DC3 OT001 GO While moving to an absolute position of 4 units turn on output 1 at 1 unit output 2 at 2 un...

Страница 68: ...the EDIT SETUP MECH menu Range unit scaling dependent Default n a DI specifies a move distance relative to the current position Such moves are called incremental moves as opposed to the absolute zero...

Страница 69: ...if defined The EN command can be used anywhere in a program to stop command execu tion Example IF2 1 EN EB DI2 GO If input 2 is on stop the program or return to the calling program If not move 2 unit...

Страница 70: ...am Program 20 SCREEN 1 Name the main program MS1 Clears keypad screen MS3 Select a Part Writes a Message MS21 Part A Part B Part C Writes a message above function keys FK1 2 3 17 18 Wait for selected...

Страница 71: ...reference depends upon the values of your EDIT SETUP HOME parame ters edge level final approach direction and offset and whether or not you have specified open or closed loop moves in the EDIT SETUP...

Страница 72: ...homing routine will not move to the next phase Shuttle Move or Low Speed Move until both axes have completed the cur rent phase If type H and h outputs At Home 1 and At Home 2 are being used they wil...

Страница 73: ...has completed For example VE1 DA100 GI OT1 1 DA0 GI IF1 1 MS1 All moves done TD5 EB In this program one may expect to see the message All moves done immediately after the DA100 move begins In reality...

Страница 74: ...move will be commanded how ever since the program will continue executing input 1 may still be asserted on the next loop iteration This will cause a second GI move to be commanded which may be undesir...

Страница 75: ...O Immediate Move IF8 1 If Input 8 is on OT10 1 Turn on Output 10 TD 1 Time Delay of 0 1 seconds OT10 0 Turn off Output 10 EB End of If Block WT 2 Wait for Axis 2 to Stop Moving TD 5 Time Delay of 0 5...

Страница 76: ...ofile using buffered parameters 05 unit Accel and Decel Ramp speed 50 5 unit incremental move and then executes it AC 05 DE 05 VE50 DI5 GO2 When input 2 is activated immediate execution of the motion...

Страница 77: ...er units with resolution 8000 DA189 812 5311 189 812 5311 User units with resolution 25000 DA60 740 0099 60 740 0099 Commanding moves larger than X2 Y2 231 1 2 will produce unpredictable results The D...

Страница 78: ...bles section Allows the conditional execution of a block of commands based on the evaluation of an expression or input state If the expression or input state is TRUE the com mands between the IF and t...

Страница 79: ...and will not accept inputs from outside this range When a value outside the range is entered one of the following messages is displayed on the keypad Input below minimum Press ESC to resume Input abov...

Страница 80: ...itional result The syntax for LU which is identical to the IF com mand is as follows Syntax LUi xx LUxx LU Mathematical expression or expressions 2 where i starting input number 1 8 SmartStep 1 16 Sma...

Страница 81: ...al or logical expression Note An End of Block EB command must be used with every LW command LW will continue to iterate while the specified condition is true LW checks the condition at the beginning o...

Страница 82: ...er anotherVE is commanded the ESC Key is pressed or an End Of Travel Kill Motion Interrupt or Stop Input is activated A commanded velocity of zero VE0 stops an MC move Motion will also stop if you ent...

Страница 83: ...f axis 1 to the new speed GT OneAxis MC Repeat Example 3 Demonstrates how to prompt an operator for speed changes on a two axis SmartDrive TwoAxis MC MS1 Enter the XVelocity Prompt the operator IV23 V...

Страница 84: ...bles VX and VY the X andY velocities Deadband 15 Set desired zero speed deadband of joystick Neg Deadband 15 Max RPS 5 Set desired full deflection speed Scale Max RPS 28137 Scale factor based on Max R...

Страница 85: ...riable on the dis play beginning at the nth character The above variations to MS will disable the default position and I O display until program execution stops MS can be used to restore the default a...

Страница 86: ...type is ONn GTx or ONn GSx where n is the event type and x is the interrupt program number or name n L On End of Travel Limit The syntax for clearing a previously defined event conditional is ONn 0 w...

Страница 87: ...your OT statements For example assume you configured output 3 as a FAULT output Programming like OT01F10 can help remind you that you are already using output 3 Example OT4 1 Turn on Output 4 OT2 0D1...

Страница 88: ...ction of move velocity and the Position Capture Delay reaction time and can be calculated with the following equation Capture Window RG Position Capture Delay Velocity Steps Sec The Capture Window val...

Страница 89: ...lt n a The SQ command calculates the square root of a number and returns the result in a user defined variable The n parameter in the syntax can be a number or a vari able parameter however the second...

Страница 90: ...and calculate commands but it will wait at the next GO command until the ST input changes The motor is stopped at the deceleration rate specified in the Stop Decel Rate setup parameter Once issued St...

Страница 91: ...used with GI moves This command waits for the specified condition to be true before continuing execution of a program Either digital or analog input conditions may be used To increase flexibility theW...

Страница 92: ...ssions Summary of Operators Functions and Expressions Name Program Name Variable Logical AND Logical OR Logical NOT Not Equal Add Subtract Multiply Divide Equal Greater Than Less Than Greater Than or...

Страница 93: ...ion of Application De veloper Section 3 covers Using Application De veloper to setup and program SmartDrive systems Section 4 provides details on all of the RS 232C setup commands that Application De...

Страница 94: ...the host or the drive 3 Many serial ports require handshaking Jumper RTS to CTS and DSR to DTR see table 4 Configure the host to the identical baud rate number of data bits number of stop bits and par...

Страница 95: ...ion 6 Status commands require addressing Please call IDC if you need to daisy chain more than 99 drives The hardware configuration below shows how to connect the daisy chain Section 2 Application Deve...

Страница 96: ...nual 94 Common Installation Errors and Remedies There are no known installation problems with Application Developer Please call the IDC Applications Department at 815 226 2222 if you need assistance i...

Страница 97: ...load Project To begin immediately with a drive select Upload Project and then the controller type Com Port setting will be confirmed before uploading from the drive or key pad depending on controller...

Страница 98: ...you are configuring an B8961 you will only be configuring one axis The Wizard Navigator left of photo allows you to quickly locate your cur rent position at any time during the setup process The colum...

Страница 99: ...ry easy if you are using IDC systems Select the Mechanical System and Part you intend to control with this axis and the Wizard will calculate the rest Select Non IDC Mechanics if you are using a non I...

Страница 100: ...ur basic system setup parameters have been configured by the Setup Wizard and though the system is functional your application will probably require further con figuration and fine tuning The remainde...

Страница 101: ...descriptions of setup parameters Axis Each axis of your system must be configured separately 1 Select the axis to be configured 2 Configure parameters for each axis as it applies to your application...

Страница 102: ...be defined based on the motor selected The mode is fixed to Servo Closed Loop The Resolution and Mode cannot be changed All others will have defaults and shouldn t be changed unless using tuning soft...

Страница 103: ...of the output revs using the Distance Ratio as the gear ratio rps is in terms of the motor revs Jog Menu The parameters which control your jog operation are configured using the Jog menu shown below...

Страница 104: ...nged in this menu Default gains are input based on the motor selected It is not recommended to change these values unless using the tuning software Clamping Menu The Break Velocity and Clamping units...

Страница 105: ...led in Chapter 5 Diagnostic Display Format Allows default display to be changed to position velocity blank current inputs out puts OPTOs status axis or system or user defined text Program a Sets the S...

Страница 106: ...ending serial reset command or asserting a Warm Boot defined input File Menu Applications programs and configuration files may be stored on disk as DOS files The default suffix is idc The other select...

Страница 107: ...re file is downloaded to the SmartDrive these program numbers cor respond to the program numbers the controller uses for binary and BCD program selections Program comments are placed between brackets...

Страница 108: ...update the status window once Communications All Communications functions may be accessed from the main menu bar Send All Receive All and IDC Terminal are selectable on the Toolbar as shown here Send...

Страница 109: ...ee RS 232C Protocol earlier in this chapter for hardware information on daisy chain wiring Setup Password An operator password or administrator password may be set or erased from this window Setup Com...

Страница 110: ...xecution This category of commands is identical in syntax and functionality to the equivalent keypad command These run time RS 232C commands are listed in the RS 232C Command Reference but the full de...

Страница 111: ...109 Chapter 7 Programming with Serial Communication...

Страница 112: ...r or space sp character The commands that follow define IDC s command syntax A brief command description is given here but the full command definition is found in Chapter 5 This listing is intended on...

Страница 113: ...ce the control strips off these comments when a program file is downloaded Letter or Symbol Description n Unit address number is optional with RS 232C and the command is sent to all units if no addres...

Страница 114: ...Windup Disabled default 1 Anti Inertial Windup Enabled Not recommended to change unless using tuning software See tuning software help file for further info BV Clamp Break Velocity n BVr r CU Clamp Cu...

Страница 115: ...olution based on motor type see MT command ET End of Travel Switch Polarity n ETi i Selects the polarity of EOT End of Travel switches i 0 NORM OPEN i 1 NORM CLOSED FA Accel Feed Forward Gain n FAn n...

Страница 116: ...n Range window in motor steps Default 0 Not recommended to change unless using tuning software IT In Range Time B896X only n ITi i Sets In Range time limit within In Range Window in milliseconds Defau...

Страница 117: ...110V 0 5 36 3806 220V 5 8 B23 110V 1 2504 220V 0 5 37 3806 110V 1 9 OTHER 1 2506 110V 10 38 3806 220V 1 10 B12 110V 10 2506 220V 10 39 3806 110V 0 5 11 B22 110V 11 2506 110V 5 40 3806 220V 0 5 12 B22...

Страница 118: ...O First four configured as inputs last four as outputs PG Position Maintenance Gain n PGi i Sets position maintenance correction gain i 1 to 32 767 Not used by B8961 2 Fixed at 0 PU Power Up Program n...

Страница 119: ...rogram select scanning on this condition Example SN 0111111 all input conditions except pressing the ESC key stop program select line scanning See also ID SR Stop Deceleration Rate n SRr r Example SR1...

Страница 120: ...DAr r DC Distance to a Change Example DC20 DC r r DE Deceleration Example DE 2 DE r r DI Distance Incremental Example DI 3 42 DI r r EA Enable Axis i 0 disable drive i 1 enable drive i 2 standby Examp...

Страница 121: ...O motor will decelerate to a stop or remain stopped if input 4 is activated ST0 disables the input TD Time Delay TDr Example OT1 1 TD 12 OT1 0 Turn Output 1 on for 120 msec TERM Output Variable with S...

Страница 122: ...generated and downloaded to the SmartDrive by this host device such as a computer or PLC The following commands are provided so that the host can verify the status of the SmartDrive before commanding...

Страница 123: ...OPTO inputs Kill n K Issues immediate halt to current and pro grammed motion Model Number n MN Returns unit model number over RS 232C Output States n OS Real time status of discrete and OPTO outputs C...

Страница 124: ...h the input condi tions shown in this table Your computer program will have to decode the hexa decimal number to determine the state of any each input n IS K Kill Issuing the K command causes the cont...

Страница 125: ...report specifically com manded or encoder position when PAa n is used a Commanded Position E Encoder Position i 1 2 axis Examples PA2 Returns axis 2 position PAC 1 Returns axis 1 commanded position S...

Страница 126: ...steps were sent with out an amp fault following error or hitting an End of Travel limit 0 Reset to zero at the beginning of each move Home Successful 5 1 The last homing move was successful 0 At power...

Страница 127: ...wer up and after reset Thermal Fault 3 1 Thermal fault in the motor or drive requires reset to clear 0 At power up and after reset RMS Over current B8961 2 only 4 1 RMS current limit exceeded requires...

Страница 128: ...power up 0 Non volatile memory checksum OK Program Running 3 1 Running a program 0 Not running a pre defined program FK Active 4 1 Paused waiting for a function key 0 Not waiting at a FK command WT Ac...

Страница 129: ...e new unit issue an AA command from the new unit with the address of the new unit as the AA parameter i e AAi n AA or AAi DP Delete Program Erases a program from memory where i is the program number T...

Страница 130: ...inate a LA n EX LA Load All Sent to the SmartDrive before downloading a long list of setup parameters and programs This command will disable the non addressed units so that each setup parameter doesn...

Страница 131: ...er only The RN command does not support the optional pro gram names Example RN25 n RNi SW Software Firmware Version SW returns firmware version SW1 returns DSP FPGA and firmware versions n SW UA Uploa...

Страница 132: ...B8961 and B8962 User Manual 130...

Страница 133: ...le airflow appears marginal The fan kit adds 1 05 in to the depth of the B896n if mounted in the Minimum Depth Configuration It adds 1 05 in to the width if mounted in the Minimum Width Configuration...

Страница 134: ...gh voltage power resistors a heatsink and a cooling fan They are accessories to IDC s B Series controls The RPACK 1 has a 110VAC fan while the RPACK 2 has a 220VAC fan Please note that unlike a fan ki...

Страница 135: ...s Isolated Pull Up 5 24Vdc 100 mA max current per output 250 mA max current available from 12Vdc supply Diagnostic Monitor port 5 4 5Vdc analog centered at 2 5V Variables of vel pos vel error OPTO com...

Страница 136: ...B8961 and B8962 User Manual 134 B8961 and B8962 Hardware Connections...

Страница 137: ...135 Chapter 8 Hardware Reference B8961 and B8962 Input and Output Schematics...

Страница 138: ...B8961 and B8962 User Manual 136 Connecting IDC Limit Switches to the B8961 2...

Страница 139: ...its This mode can also be used to document your machine s torque safety margin More details are available in the Servo Tuner manual or from Servo Tuner Help The following table will help you isolate s...

Страница 140: ...tch active level set Change home switch active level from the very slow don t incorrectly SETUP HOME SWITCH menu follow commanded velocity Final homing position Homes to the Z channel on the motor Mov...

Страница 141: ...gear motor CAD drawings in a DXF format are available to save you valuable design time and prevent transcription errors These are located on website and on the IDC CD Rom Warranty Repairs Danaher Cor...

Страница 142: ...17 menu structure 10 remote mounting 9 Keypad Hardware Features 9 keypad operation 5 7 L Limit Switch Stop rate 40 Load Configuration 100 M Math 48 memory 15 Monitor Port 46 Motor configuration 20 Mo...

Страница 143: ...and outputs 28 jogging 36 menu structure 14 Motor 20 procedure 20 RS 232 40 Specifications 133 Stop rate 41 System variables 49 T Test move 12 output 12 program trace 12 timer 48 88 Tuning 15 43 44 ga...

Страница 144: ...le the velocity and acceleration numbers when user units sec or units sec2 have been selected from the velocity or acceleration menus Until now since each actuator has its own revs per inch ratio data...

Страница 145: ...o 1 100 to 254 N 255 2 5 5 12 5 125 to 10 1250 to 2540 N 315 3 125 5 15 625 250 to 16 2500 to 4064 N 355 3 571 5 17 85714 250 to 14 2500 to 3556 N 605 6 5 30 30 to 1 300 to 254 N 1205 12 5 60 60 to 1...

Страница 146: ...ng Motor Screw Overall Ratio EDIT SETUP MECH RATIO menu Reduction Pitch Mtr Turns Inch Ratio for Inches Ratio for mm R2 10T 1 0 33333 0 33333 1 to 3 10 to 762 R2 15T 1 5 0 33333 0 5 1 to 2 10 to 508 R...

Страница 147: ...3 508 5 037 8 40 2963 212160 to 5265 21216 to 13373 R3 1008 10 000 8 80 80 to 1 800 to 254 R4 Series Smart Drive Mechanical Ratio Setting Motor Screw Overall Ratio EDIT SETUP MECH RATIO menu Reduction...

Страница 148: ...dividing by the same 6 25 2 54 cm in factor you would to convert inches to your preferred user unit 2 4606 4 Convert Decimal Ratio to Ratio of Two Integers A Multiply by the power of ten required to m...

Страница 149: ...bles are usually the primary cause for high levels of noise in this frequency range The grounding and cabling recommendations in this appendix give detailed instructions for limiting this radiated noi...

Страница 150: ...s In some applications EMC regu lations may be met without implementing all these suggestions In others more extensive shielding and filtering may be needed As always it is the responsibility of the p...

Страница 151: ...ise in the frequency range in question Another way in which EMC shielding differs from traditional shielding is in the connection of the shield to ground A solid 360 connection to ground rather than a...

Страница 152: ...s the broadband noise their switching conducts back on to the AC input line There are a couple of ways to reduce the magnitude of the noise on the AC line The first is to reduce the switching speed of...

Страница 153: ...onnected at the motor AND the cabinet ground as close to the drive as possible for best results Removing the paint around the bottom drive mounting tab and using this bolt as the shield termination ge...

Страница 154: ...B8961 and B8962 User Manual 152 DECLARATION OF CONFORMITY For declaration of conformity please contact the factory 1 800 227 1066 or 1 603 893 0588...

Страница 155: ...it needs additional cooling Ambient temperature Air flow Duty cycle Power delivered the RMS current output Number of axis per control Regenerative energy returned from the load Bus voltage B Series A...

Страница 156: ...B8961 and B8962 User Manual 154...

Страница 157: ...internally and in extreme cases externally using our model RPACK 1 or RPACK 2 Our drive s LEDs will even indicated when excessive regenerative energy is present in your application An RPACK allows you...

Страница 158: ...ion 4301 Kishwaukee Street Rockford IL 61109 815 226 2222 FAX 815 226 3080 E mail customer support danahermotion com World Wide Web http www idcmotion com B8961 B8962 Operator s Manual PCW 4744 Rev 1...

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