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Содержание Compumotor 430

Страница 1: ...underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos I...

Страница 2: ...Compumotor Division Parker Hannifin Corporation l n 88 003360 03 C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 3: ...I Compumotor Operator s manual 430 TROUBLESHOOTING GUIDE PIN 88 006 107 01 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 4: ...a n c e P r o g r a m i n g command list i s provided i n Figure 2 0 f o r an easy r e f e r e n c e 1 1 Test Equipment Before you begin t r o u b l e s h o o t i n g the 430 you should have the f o...

Страница 5: ...voltage lbefore checking wiring I f AC connections a r e c c r r e c t proceed t o next section The 430 Operation Manuals ui t o and including Rev C have indicated AC power wiring configurations f o...

Страница 6: ...a r e on the l e f t side of the c i r c u i t board when viewing the screw terminal end of 430 When checking dipswitches and jumpers make sure each s e t t i q z i s e i t h e r completely ON o r OFF...

Страница 7: ...ection 2 3 2 2 3 1 No Motion LED Green 2 3 1 1 Holding Torque Attempt t o turn motor s h a f t with power applied t o determine i f f u l l torque is present I f no holding torque i s present check th...

Страница 8: ...high t r u e go t o 431 functional t e s t Otherwist see Section 2 3 2 3 2 3 1 5 431 Functional Test To check t h i s s e t the 431 pn the low t r u e end and put a 9999 on the rhumbwheels Now check...

Страница 9: ...i n the direction of the l i m i t t h a t is grounded but w i l l n o t move i n the direction of the ungrounded l i m i t I f t h i s seems t o be the case go t o the l i m i t switch section fof a...

Страница 10: ...uence successfully This also indicates t h a t t h e 430 s storage i n t o memory and a u t o r e c a l l on power up i s functioning properly I f you need t o erase a l l contents i n the EEPROM t h...

Страница 11: ...ntact the factory a t 1 800 358 9068 f o r a return materials authorization number RMA number 4 Package u n i t i n o r i g i n a l package o r equivalent protection f o r shipment Include a note i n...

Страница 12: ...upply D E l e c t r i c a l n o i s e D Return u n i t E Processor f a u l t F Return u n i t NO MOTION IMPROPER MOTION See S e c t i o n 2 3 1 See Section 2 3 2 A Limit switches A T e s t program B R...

Страница 13: ...120 VAC LINE NEUT GND AC LINE 240 VAC BL A t NEUT h HITE AC CIiD GREEN 240 VAC Figure 1 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 14: ...Ah D J U W E R S CIRCUIT BOARD CONTAIKING INTERKAL D I P S V I T m E S Ah D 0 0 0 AC P O T R IKPUT JUHPER BLOCK I d AC PROTECTIVE S H I E L STATUS INDICATOR figure 1 4 Artisan Technology Group Quality...

Страница 15: ...OFF OFF OFF OFF OFF OFF OFF OFF ON OFF OFF OFF OFF ON OFF ON OFF ON OFF ON OFF OFF OH OFF OFF Setting OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ON OFF ON OFF OFF ON OFF OFF OFF...

Страница 16: ...999 L B I T S V O L T A G E S 431 S e t t i n g 8 6 6 6 6 I BITS 1 2 3 4 r 5 6 7 B 9 1C 1 1 12 13 14 1 V O L T A G E S JJ Jlf 2J 2iJio 10 3 f5 Figure 1 6 Figure 1 7 Artisan Technology Group Quality In...

Страница 17: ...1200 BAUD 8 DATA BITS 2 STOP BITS 0 PARITY a3 i E 2 LBSOLDIg AND READY M Y NEED TO BE SWITCHED I HOST I igure 1 8 c 2 45 5 VOLfS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOU...

Страница 18: ...m rrno oout sn a610 L m unn r m ZERO 1 8 1 sn TIQ r m m r m n m 1 5 rsvrvrr rrro 00501 c u m mnrrwm m m w511 mmz rruoI m A N nnrrenrL mvr IWYI r u c m L N M I Iu usarm m r 1 5 3 1 m m r nmm rm rrel cn...

Страница 19: ...ual ADDENDUM 4 3 0 NEW COMMANDS PIN 88 006 140 02 Rrlor Hannlfln Corpontion Conpnmr Division 1179 N MCcOaell Blvd W u m a C494952 US4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Страница 20: ...Supplement to Colapumotor Model 430 Operator s Manual Nev Commands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 21: ...and is listed below Some of the default parameters listed are read from teh internal configuration switches some are stored in permanentmemory Each except Ba input polarity may be altered by the comna...

Страница 22: ...s which s e r v o algorithm i s used t o cal c u l a t e position correction v e l o c i t y See Section 6 8 11 7 MAX C O R R VEL This parameter determines the maximum l i m i t on position cor r e c...

Страница 23: ...n the encoder response before t h e indexer determines t h a t t h e motor has s t a l l e d See Section 6 8 10 18 ROTOR TEETA This parameter provides information on motor c h a r a c t e r i s t i c...

Страница 24: ...nd a c c e l e r a t i o n i n t h a t order See Section 6 4 27 CURRENT V 6 A This parameter indicates the current r a t e s f o r subsequent defined moves o r the d e f a u l t move including v e l o...

Страница 25: ...eration Deceleration Range 2 5 2 4 Analysis of Your Application 2 6 2 4 1 Analytic Approach 2 8 2 4 2 Experimental Approach 2 8 2 5 Equipment Configuration Alternatives 2 9 2 5 1 Simplest Configuratio...

Страница 26: ...8 3 33 3 7 7 GO HOME Direc tion SW5 1 3 34 3 7 8 Open Loop HONl Limit Signal Edge SW5 2 3 34 3 7 9 Open Loop HOFE Limit Signal Polarity SW5 3 3 34 3 7 10 B i t 0 t o 16 Polarity SW5 4 3 34 3 7 11 Posi...

Страница 27: ...5 2 5 2 2 S e r i a l I n t w f a c e Inputs 5 4 5 2 3 P a r a l l e l Interface Input8 5 4 5 2 4 Discrete Inputs 5 4 5 2 6 Motor Drive Outputs 5 7 5 2 7 U t i l i t y Outputs 5 7 5 3 Basic Methods o...

Страница 28: ...6 6 2 Single Move Definition and Execution Commands 6 30 6 6 3 Execute Predefined Move Commands 6 32 6 6 4 Continue Commands 6 34 Stop o r Pause Commands 6 35 6 7 1 Stop and Wait Commands 6 36 6 7 2 S...

Страница 29: ...cal Index of 430 BCD Commands 6 71 Appendix A Programming t h e Model 430 with t h e Model 431 A 1 Appendix B Diagnostic Program B 1 Appendix C Jumper Location And 1dentifica tion C 1 LIST OF TABLES T...

Страница 30: ...n 3 15 Model 431 Model 430 Interconnection 3 18 Typical Programmable Controller Connection 3 20 Wiring f o r S e r i a l Communications 3 22 Typical Model 430flncoder Interface 3 24 Optically Isolated...

Страница 31: ...t i c u l a r Compumotor motor drive used a s i n g l e r e v o l u t i o n can be subdivided i n t o 1 000 4 096 21 600 25 000 25 400 36 000 o r 50 000 i n d i v i d u a l steps Using t h e Indexer y...

Страница 32: ...POWER INPUT JUMPER BLOCK AND SHIELD INPUT OUTPUT ERMINAL STRIP Figure 1 1 Model 430 Indexer 1 2 FUSES STATUS INDICATION Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www ar...

Страница 33: ...i c a l l y d e s i g n e d f o r i n d u s t r i a l a p p l i c a t i o n s in noisy e l e c t r i c a l environments The u n i t is mounted i n a rugged enclosure A l l connections and ind cators a...

Страница 34: ...15 sequences Different input l i n e s see section 3 6 a r e used to s e l e c t preprogrammed moves and sequences A sequence consi sts of a combination of moves and o t h e r com mands such as loops...

Страница 35: ...conneat t o t h e Indexer p a r a l l e l i n t e r f a c e 1 4 SPECIFICATIONS Performance e l e c t r i c a l environmental and mechanical s p e c i f i c a t i o n s a r e p r e s e n t e d i n T a...

Страница 36: ...Figure 1 2 Model 431 Input Panel 1 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 37: ...y 100 130 VAC i n p u t 220 240 VAC i n p u t 50 60 Hertz 0 8 Amps maximum 0 4 Amps maximum Table 1 2 430 S e r i e s Mechanical and Environmental S p e c i f i c a t i o n s Parameter S i z e Height...

Страница 38: ...otor drive o p t i o n s ranging from 1 000 t o 50 000 s t e p z r e v f o r y o u r a p p l i c a t i o n B o t h t h e s i z e and t h e r e s o l u t i o n o f t h e Compumotor motor drive must be...

Страница 39: ...o w o p e r a t i o n w i t h i n t h e t o r q u e l i m i t s of t h e motor A margin of 50 t o 100 percent of normal load t o r q u e r e q u i r e m e n t s is recommended I f t h e s e l e c t e...

Страница 40: ...CITY I f DESIRED VELOCITY HIGH RATE FOR LIGHT LOADS LOW INEXTIA HEAVY LOADS HIGH INERTIA t I I TIME TO REACH l j FULL SPEED TIME B INDEXER CAPABILITY F i g u r e 2 1 Velocity Buildup Artisan Technolog...

Страница 41: ...DECELERATE SHAFT ROTATIONAL VELOCITY t TIME A TRAPEZOIDAL MOTION PATTERN TIME B TRIANGULAR MOTION PATTERN Figure 2 2 Motion P r o f i l e s 2 4 Artisan Technology Group Quality Instrumentation Guarant...

Страница 42: ...t h e a o t o r d r i v e used w i t h t h e Indexer Table Table 2 1 Resolution Per Step Motor Resolution s t e p s h e v Equivalent Value Per Step p a r t of rev min o f a r c Rounded v a l u e s 2 3...

Страница 43: ...o p e r p o s i t i o n i n g of t h e load d e s p i t e any gear play o r f r i c t i o n e f f e c t s o f t h e mechanical t r a n s m i s s i o n between t h e motor and t h e load b You can use...

Страница 44: ...CTION MOTOR SHAFT COUPLING MOTOR S I Z I N G ACCELERATION DECELERATION MAX VELOCITY ANGULAR P O S I T I O N MOTION MODE MOTION PATTERN Figure 2 3 Basic Elements t o Be Analyzed Artisan Technology Grou...

Страница 45: ...c e l e r a t i o n v e l o c i t y and p o s i t i o n y o u r a n a l y s i s m u s t i n c l u d e a d e f i n i t i o n of any g e a r play coupling e f f e c t s t r a n s m i s s i o n e l a s t...

Страница 46: ...erformance 2 5 1 SIMPLEST CONFIGURATION The simplest conf1guratio n Figure 2 6 consists of a b a s i c Indexer and a Compumotor motor drive connected t o a load 2 5 2 LIMIT SWITCHES L i m i t s w i t...

Страница 47: ...ple lasume d t n t a l 23 000 steps t total 2 75 second3 Figure 2 4 Velocity and Acceleration Triangular Move P r o f i l e 2 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOUR...

Страница 48: ...Velocity s e t t o 3 75 rev sec r d Di3tancc set to 19 65 revolution ta 3 75 seconds Vav A v e n g e velocity i n period ta 3 75 2 1 875 t x Vavg 3 75 x 1 875 7 03125 revolution td ta thcrerore distan...

Страница 49: ...ONTROLS CONTROL INPUTS v AC BASIC POWER INDEXER OUTPUT PULSES AC I DRIVER I POWER 7 I I I I I 1 I I PULSES I I I I v COUPLING I I I I I h I I I MOTOR DRIVE MOTOR YECHANICAL Artisan Technology Group Qu...

Страница 50: ...INDEXER MOTOR DRIVE I I I I COUNTER I CLOCKWISE I CLOCKWISE CW LIMIT Figure 2 7 Limit Switch I n p u t Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 51: ...OLS E l MECHANICAL T INCRFMENTAL OPTICAL ENCODER F i g u r e 2 8 A d d i t i o n of P o s i t i o n Tracking 2 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisant...

Страница 52: ...a l l e d 2 5 5 MULTIPLE FUNCTION ASSEMBLIES Multiple f u n c t i o n a s s e m b l i e s a r e a l s o a v a i l a b l e Some s p e c i f i c examples a r e a Basic Indexer plus power supply plus d...

Страница 53: ...R OR COMPUTER I INDEXER MOTOR DRIVE I COMBINED INTO ONE ASSEMBLY ON SOME MODELS F i g u r e 2 9 Indexer C o n t r o l l e d by P r o g r a m a b l e C o n t r o l l e d C o m p u t e r Artisan Technol...

Страница 54: ...o n s i b l e f o r in t r a n s i t damage Unpack t h e shipping c a r t o n and i n s p e c t t h e Indexer f o r any damage c r a c k s b r o k e n p a r t s o r damaged c a b l e s S a v e t h e p...

Страница 55: ...upplied with t h e motor drive and proceed a s follows I n s t a l l t h e c a b l e l e a d s on t h e Indexer t e r m i n a l s p e r Figure 3 1 Connect t h e c a b l e s h i e l d t o c h a s s i s...

Страница 56: ...ANEL 7 NOTE DRAWING NOT TO SCALE D R I V E R COLOR P I N NO R E 0 61 B 0 GREEN A Figure 3 1 Connection of Indexer to Motor Drive 3 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Страница 57: ...setting Remove p r o t e c t i v e cover Figure 3 1 over the AC jumper block Connect a l i n e cord t o the AC jumper block a s i n Figure 3 1 Place t h e protect ive cover Figure 3 1 over the AC jum...

Страница 58: ...o r 240 V A C operation Adding t h e jumper f o r 100 o r 220 VAC o p e r a t i o n does nothing NOTE THIS APPLIES TO UNITS WITH SERIAL NUPEERS 553 AND HIGHER DO N O T USE THE 100 220 JUKPER ON UNITS...

Страница 59: ...h e v e l o c i t y a c c e l e r a t i o n and d i s t a n c e v a l u e s a c h i e v e d may be d i f f e r e n t from t h o s e d e s c r i b e d i n S e c t i o n s 3 5 1 th rough 3 5 4 3 5 1 PO...

Страница 60: ...TAINING INTERNAL D I P SWITCHES AND JUMPERS AC POWER INPUT JUMPER BL OCK STATUS INDICATOR If your 430 has jumpers and not switches refer t o Appendix C Figure 3 3 Model 430 Indexer I n t e r n a l D I...

Страница 61: ...Table 3 1 Model 430 Factory DIP Switch and Jumper Settings REV C 3 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 62: ...t h e same speed reached i n Test 1 3 5 4 TEST 3 PRESET MOVE a Move t h e temporary c o n n e c t i o n from Terminal 36 t o Terminal 37 PRESET b Momentarily ground t h e START t e r m i n a l The mo...

Страница 63: ...or c i r c u i t s e x h i b i t t h e proper c u r r e n t s i n k i n g c h a r a c t e r i s t i c s The 430 i n p u t s can be d r i v e n by s w i t c h i n g them t o ground o r s i n k i n g a...

Страница 64: ...d by high f o r a t l e a s t 2 m i l l i s e c o n d s GROUND JOG JOG O U T DISABLE SHUTWWN STOP GO H O M E START H O M E LIMIT DIRECTION PRESET ABSOLUTE TRIGGER 2 TRIGGER 3 Low f o r a t l e a s t 2...

Страница 65: ...PLY MAXIMUM VOLTAGE FOR LOW 0 6 VDC MINIMJM VOLTAGE FOR HIGH 3 0 VDC Figure 3 4 O p t i c a l l y Isolated I n p u t s 3 12 I 5 VOLTS TERMINAL 45 I I I I BLOCKING I DIODE 7 4 7 Artisan Technology Grou...

Страница 66: ...T 0 through BIT 15 when t he input goes a c t i v e A response l a g of up t o 2 m i l l i s e c o n d s is possible T e r m i n a l 29 OUT DISABLE Causes t h e f o u r 430 o u t p u t s t a t u s b i...

Страница 67: ...M O V E with that number assigned is stored i n working memory a low s i g n s 1 on t h i s i n p u t w i l l i n i t i a t e t h a t PREDEFINED NOVE I n t h i s mode t h e s t a t e of T e r m i n a...

Страница 68: ...MOUNTING FLANGE Figure 3 5 Direction of Rotation Determination 3 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 69: ...m p o r a r y jumpers i n s t a l l e d on Terminals 42 and 43 A h i g h s i g n a l on one o f t h e s e i n p u t s w i l l p r e v e n t r o t a t i o n i n t h e i n d i c a t e d d i r e c t i o...

Страница 70: ...p u t may be used i n c o n j u n c t i o n wlth t h e Encoder Z channel index signal i f necessary t o s e l e c t one of multiple index s i g n a l s of the Encoder Refer t o section 6 8 6 f o r add...

Страница 71: ...t The 16 d a t a i n p u t s c o n s t i t u t e a d a t a word The s t r o b e i n p u t s which a r e always a c t i v e low a r e used t o e n t e r a word i n t o 430 memory The o p t i o n a l Mo...

Страница 72: ...BIT 4 5 B I T 5 1 BIT 6 3 BIT 7 1 B I T 8 1 0 B I T 9 I1 B I T 1 0 I 2 BIT 11 13 B I T 1 2 1 4 B I T 1 3 15 B I T 14 1 6 B I T 1 5 17 m W N D STROBE 18 DATA STROBE 1 1 9 DATA STROBE 2 O DATA STROBE 3...

Страница 73: ...owe ver t h e I n d e x e r is n o t a b l e t o r e c e i v e t h e commands at t h e maximum r a t e b I n t e r n a l p r o c e s s i n g o f command l i n e s r e q u i r e s a minimum delay o f 1...

Страница 74: ...6 8 B I T 1 P B I T 8 0 B I T e i S I T 10 I BIT I 1 1 S I T I 1 i B I T I1 5 B I T 1 6 b BIT I S I m o srraac I 8 DATA S M I L 1 1 9 D A A i n 0 8 L I ZO OAT ITXOBL I Z I O A s n o u L 1 2 c om F i...

Страница 75: ...ce is configured i n the f u l l duplex mode transmitted characters w i l l n o t be d i s p l a y e d u n t i l they a r e echoed from t h e I n t e x e r T h i s s e r v e s a s a u s e f u l indica...

Страница 76: ...lTEAND READY HAY NEED T O BE SWITCHED M O D E L 430 INDEXER 430 22 c m 28 READY 33 STOP 35 START 38 ABSOLUTE 45 5 VOLTS 46 PULLUPS Figure 3 8 Wiring f o r S e r i a l Communications REV C Artisan Tech...

Страница 77: ...e START and STOP inputs t o GROWD see section 3 6 2 1 A t t h i s point the Indexer w i l l echo characters t h a t a r e sent t o it E x i t i n g t h e Serial I n p u t node To e x i t t h i s mode...

Страница 78: ...INDEXER I CHANNEL Z I COMMON I SHIELD I 7 I MODEL 4 3 0 TERMINAL TO 45 RED YELLOW o r BROWN WHITE YELLOWo r WHITE BROWN BLUE or GREEN WHITEjBLUE o r WHIT GKEE ORANGE BLACK GREEN Figure 3 9 Typical Mo...

Страница 79: ...xternal devices regulated DC I Open collector 40 V max 100 mA w i t h no pull lp sink Pulse width lhese a r e used is g r e a t e r than 10 t o drive non microseconds when Compumotor stepper operated...

Страница 80: ...UNCTION 1 r F1 P I N 71 snp 1 Connect to 430 chassis FAULT RESET BLUE WKITE 11 BOOST BLACK 62 STEP RETURN dHITE 64 15 DIR RETURN 65 1 1 1 SHUTDOWN 1 YELLOW 66 SHUTDOWN RTN YELLOW WHI BOOST RTN REV C A...

Страница 81: ...There is an 80 microse ond delay between the time the e r r o r occurs and the time the KRROR o u t u t becomes active Terminal 28 READY When active low indicates t h a t the Indexer is ready t o a c...

Страница 82: ...5 VOLTS TERMINAL 46 INTERNAL 5 VDC SUPPLY EXTERNAL CIRCUITS INDEXER Figure 3 10 Optically 1 solated Outputs Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 83: ...power up d e f a u l t values f o r a number of operating parameters see Figure 3 3 Remove the left hand s i d e cover of the 430 4 screws t o a c c e s s t h e DIP s w i t c h e s and jumpers DIP s w...

Страница 84: ...es are described i n sectionis 3 7 3 through 3 7 1 8 i n the same order as the l i s t i n g presented i n Table 3 4 REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www...

Страница 85: ...u e I 5 3 D 1 o l d r t O N l i k tr e ncr l u r m D 5 t o 8 Least S i g n i f i c a n t D i g i t P o s i t i o n Data 1 t o 4 2th D i g i t P o s i t i o n Data 5 t o 8 3th D i g i t P o s i t i o n...

Страница 86: ...n The d e c i m a l v a l u e o f t h e d i g i t i s t h e sum of t h e DIP switch v a l u e s For example assume t h a t DIP switches 1 1 1 2 1 3 a n d 1 4 d e f i n e a BCD d i g i t and a r e s e...

Страница 87: ...ELERATION DATA LSD M S D POSITION DATA LSD 2nd Digit 3rd D i g i t 4th Digit 5th Digit 6th Digit M S D BCD Digit 1 DIP Switch Assignments ues 8 4 DIP 1 SW1 1 1 1 5 SW2 1 SW 5 I 1 SWL 1 sws 5 SW5 5 SWd...

Страница 88: ...g Selected Value 1 ON 1 2 OFF 0 4 OFF 0 8 ON 8 Total 9 3 7 3 DEFAULT VELOCITY D A T A SW1 5 M 8 SW2 1 T O 8 SW3 1 T O 4 velocity x multiplier Equal t o t h e sum of f o u r IiCD d i g i t s d4 d3 d2 d...

Страница 89: ...n s t e p s s e c s e c ACCELERATION DATA X ACCELERATION RANGE Settings a r e as follows Acceleration S W 3 Settings 3 7 6 ACCELERATION D A T A SW4 1 t o 8 x10 xl00 1 0 0 0 1 0 0 0 0 Equal t o t h e s...

Страница 90: ...5 3 ON o r l o w t r u e SW5 3 OFF Refer t o s e c t i o n 6 5 2 f o r d e t a i l s 3 7 10 BIT 0 TO 16 POLARITY SW5 6 S i n g l e DIP s w i t c h t o s e l e c t h i g h t r u e 91 15 4 ON o r l o w...

Страница 91: ...9 3 S i n g l e DI P switch used t o s e l e c t h i g h t r u e SW9 3 ON o r low t r u e SW9 3 OFF Refer t o s e c t i o n 6 3 2 3 7 15 RESERVED JUMPERS Kl 1 t o JU 5 Should be s e t a s follows JU 1...

Страница 92: ...is used are a Encoder referenced positioning b Encoder position serving c Dynamic s t a l l detection d Move termination on s t a l l e Output s i g n a l ON Except f o r item e implementation of the...

Страница 93: ...d motor s t e p s t o Encoder s t e p s would be changed a s shown below Encoder Direct 10 l Reducer between Mounted t o Mot or Motor and Encoder Number Encoder s t e p s seen revolution by Indexer pe...

Страница 94: ...a d e s i g n a t e d Encoder position I n t h i s mode i t w i l l r e s i s t any spontaneous change i n i t s position when a t r e s t I f external forces cause the Encoder position t o change t...

Страница 95: ...of a motor s t a l l I f the Encoder position deviates excessively from the desired position i n the course of a move the Indexer assumes the motor has s t a l l e d REV C Artisan Technology Group Qu...

Страница 96: ...efault value is 0 The deadband compensation f e a t u r e allows mechanical systems with backlash i n the gear t r a i n t o use the S t a l l Detect and Position Loss Detection features I f a nonzero...

Страница 97: ...ground Slowly r o t a t e t h e Encoder The v o l t a g e a t Channel A should switch between 0 and 5 volts Transfer the oscil loscope t o Channel B and repeat s t e p C I f any o f t h e t e s t p o...

Страница 98: ...e c t i o n 4 3 Three programmed moves and one preprogrammed s e q u e n c e w e r e l o a d e d i n t o t h e Indexer a t t h e factory These moves and sequences which can be changed by t h e user a...

Страница 99: ...i t s w i t c h i n p u t s a r e grounded b Turn on AC power t o t h e Indexer and t h e motor drive c S e t t h e BCD thumbwheels t o 0255 t o s e t up t h e d a t a word Note I f t h e Model 431 I...

Страница 100: ...command has been used t h a t e r a s e d the program from permanent memory Moves 2 4 and 8 c a n be run a s p a r t of Sequence 8 s e c t i o n 4 3 2 o r i n d i v i d u a l l y s e c t i o n s 4 3...

Страница 101: ...h e z e r o p o s i t i o n established a t t h e l a s t Indexer RESET or POWER UP Move a t a velocity of 150 000 steps 6 revs sec and an acceleration of 100 000 steps revs sec sec Sequence No 8 Mov...

Страница 102: ...TBE TEST M W I T I O R a I f t h e move t e s t s above were not successful recheck t h e t e s t setup described i n section 4 2 1 b I f t h e t e s t s e t u p is c o r r e c t r e c a l l t h e t e...

Страница 103: ...n the move i s complete i t can be repeated by grounding t h e START input again 4 3 4 MOVE NO 4 TEST a Transfer the temporary jumper from Terminal 2 t o Terminal 3 BIT 2 b Momentarily ground Terminal...

Страница 104: ...u l t move would be a c a s e where a D i s c r e t e I n p u t was used A s e t o f commands is required t o use a l l of t h e 430 c a p a b i l i t y The term BCD Command is used t o i d e n t i f...

Страница 105: ...f o r p o s i t i o n t r a c k i n g D i r e c t i o n and Z ch anne1 p o l a r i t y can be changed w i t h i n t e r n a l DIP s w i t c h e s s e e s e c t i o n 3 6 3 The f i r s t t w o i n p u...

Страница 106: ...DEXER INDEXER OUTPUTS PROGRAMMING ON OFF 4 OUTPUTS TO COMPUMOTOR MOTOR DRIVES OUTPUTS TO NON COMPUMOTOR STEPPER TRANSLATORS F i g u r e 5 1 B a s i c Command and Cont rol I n p u t O u t p u t F u n c...

Страница 107: ...30 inputs 5 2 4 1 S t a r t a n d S t o p S h a f t Motion START T e r m i n a l 35 and STOP T e r m i n a l 33 REV C I n i t i a t e Default Move I f the s i g n a l s on Terminals 1 t o 16 e q u a l...

Страница 108: ...e w i l l be CONTINUOUS I f i n p u t grounded low t h e motor s h a f t w i l l move a p r e s e t d i s t a n c e whose v a l u e i s s e t by t h e d e f a u l t parameters A B S O L U T E I f ungr...

Страница 109: ...and d a t a i n p u t s Terminals 1 through 16 No a c t i o n w i l l occur i f t h e preprogramed sequence i s not s t o r e d i n working menory 5 2 4 7 GO HOME T e r a t n a l 34 I f i n p u t g r...

Страница 110: ...h 66 c a r r y t h e s i g n a l s t o d r i v e Compumotor motor drives These o u t p u t s may be configured f o r single ended o r d i f f e r e n t i a l o u t p u t s if a Compumotor m o t o r d...

Страница 111: ...med Operation does n o t take f u l l advantage of t h e 430 c a p a b i l i t i e s 5 3 2 PREPROGRAMMED OPERATION The I n d e x e r can be prepr3grammed f o r m u l t i p l e moves Preprogrammed O p...

Страница 112: ...OF TRAVEL LIMIT SWITCH I p LOAD ACTIVATED SWITCHES JOG RUN SEQUENCE STOP MOTOR G0 HOME POWER SUPPLY LIMIT OUTPUT CONTROL ULAY I INPUT SIGNAL RELAY I MACHINE I N C 7 A7 GROUND F i g u r e 5 2 A p p l...

Страница 113: ...executing previously programmed commands Dynamically Programmed Operation a l l o w s f u l l use of t h e 430 c a p a b i l i t i e s and has t h e p o t e n t i a l f o r i n t e r a c t i v e on l...

Страница 114: ...p u t can have o n l y one o f two states such a s csn off o r zero one Each b i t i s assigned t h e value o f z e r o o r OFF when i n a c t i v e OFF and a s p e c i f i c BCD value when a c t i v...

Страница 115: ...s t Automatic Recall S t a t u s Closed Loop Setup Parameters Closed Loop Setup Parameters Jog Acceleration Velocity Jog Acceleration Velocity Go Home Acceleration Velocity I h Home Acceleration Veloc...

Страница 116: ...y t h e 430 t r a n s f e r s t h e c o n t e n t s o f t h e r e g i s t e r s i n t o working memory f o r f u r t h e r p r o c e s s i n g E x t e r n a l l y g e n e r a t e d commands c a n be e...

Страница 117: ...s t e n t s y s t e m a t i c procedure f o r t h e e n t r y of d a t a words is recommended The form shown i n F i g u r e 5 5 c a n be u s e d t o a s s i s t you i n t h i s process When t h e Com...

Страница 118: ...S Command Strobe 1 Data robe 1 Data Strobe 2 Data Strobe 3 20 Data Strobe 4 21 430 Terminal No 1 2 3 4 Figure 5 4 P a r a l l e l I n t e r f a c e 5 15 5 L BIT 9 BIT 10 BIT 11 MOST BIT 12 SIGNIFICANT...

Страница 119: ...uired d a t a f o r each c o m a n d below Command Name D a t a Reg 1 Data Reg 2 Ats Reg 3 Data Reg 4 Command No Figure 5 5 Indexer Comand Language Sheet Artisan Technology Group Quality Instrumentati...

Страница 120: ...n t h e range of 0 t o 9 999 The l e a d i n g 0 s need not be entered For example 0004 would be e n t e r e d a s 4 a n d 0240 would be e n t e r e d a s 240 D a t a w o r d s f o r e a c h r e g i s...

Страница 121: ...e generating storing and t r a n s m i t t i n g progpams f o r the 430 Programs sent by a computer must incorporate a 10 millisecond delay between commands t o give t h e 430 time t o process them T...

Страница 122: ...i a t h e s e r i a l i n t e r f a c e Activate t h e s e r i a l i n t e r f a c e Enter t h e following command l i n e 0 1 0 0 293 CR 0000293 Function OFF d To e n t e r t h e RECALL PROGRAM FRONU...

Страница 123: ...s you want t o make using t h e Model 431 Input Panel o r t h e s e r i a l i n t e r f a c e h t e r t h e SAVE PROGRAM command 0292 plus CND STB vi a 431 0 0 0 0 292 CR vi a s e r i a l i n t e r f...

Страница 124: ...AVE PROGRAM command a s noted above Not e If you i n a d v e r t e n t l y l o s e programs through t h e use of SAVE PROGPAU you w i l l have t o r e e n t e r t h e l o s t infcsrmation i n t o work...

Страница 125: ...d i n summary form i n s e c t i o n 6 2 i n t h e t a b l e s i n d i c a t e d above Each t a b l e r e f e r e n c e s t h e s e c t i o n t h a t d e s c r i b e s the l i s t e d command in d e t...

Страница 126: ...r than a value between 0 and 9 Note To conserve s p a c e a n abbreviated form o f t h i s n o t a t i o n is used i n Tables 6 1 through 6 7 I n t h e example above t h e n o t a t i o n would be sh...

Страница 127: ...h e summary command t a b l e s IMMEDIATE P r i o r i t y commands t h a t a r e i m m e d i a t e l y e x e c u t e d whenever they a r e entered v i a t h e P a r a l l e l I n t e r f a c e When t...

Страница 128: ...r o f a s s o c i a t e d commands e g h 0200 t o 0213 Shown i n abbreviated form i n Tables 6 1 through 6 7 e g D o Seq Figure 6 1 Conventions Used t o Describe 430 BCD Conmands Each t a b l e p r e...

Страница 129: ...I rVALUE OR CHOICE TO BE ENTERED T a b l e 6 5 v rSPECIFIC DATA M BE ENTERED INDICATES DEPENDENCY ON OTHER COMMANDS 0 INDICATES DATA WORDS ENTRY REQUIRED i COMMAND ATTRIBUTES F i g u r e 6 2 E x p l...

Страница 130: ...Table 6 1 Shaft Motion Setup Commands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 131: ...Table 6 1 Shaft Motion Setup Commands Continued Table 6 2 Position Definition Commands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 132: ...Table 6 3 Execute o r Continue Commands m r 1 n u b r or n 0 s t 65 535 EErCLIIE LOOP UMTL mlrxm Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 133: ...a b l e 6 5 P o s i t i o n T r a c k i n g Commands C o n t i n u e d R e q u i r e u s e of a n Encoder v C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg co...

Страница 134: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 135: ...Table 6 7 General Purpose Commands REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 136: ...T a b l e 6 7 G e n e r a l Purpose Commands C o n t i n u e d REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 137: ...h e r e g i s t e r a r e 0 o r 1 T h i s requirement is h i g h l i g h t e d i n the command d e s c r i p t i o n l i n e by t h e d a t a word n o t a t i o n 000b I f t h e d a t a word d i g i t...

Страница 138: ...VELOCITY 0261 WW OOdddddddddd IHNEDIATE SEQUENIIAL 1 Nmber of D a t a Wards 4 LIMIT OF R1 VALUE J R1 0006 v e l o c i t y range 1 t o 5 INTERPRETATION OF VALUE OF R1 Maximum V e l o c i t y V e l o c...

Страница 139: ...l approach d i r e c t i o n w i l l not be reversed and t h e f i n a l s t o p p i n g p o s i t i o n w i l l be on t h e same s i d e of t h e HOME l i m i t s i g n a l a s o r i g i n a l l y d...

Страница 140: ...R4 OOdd dddd dddd v e l o c i t y u n i t s R1 OOOd v e l o c i t y range 0 t o 5 I f a n i n v a l i d v e l o c i t y r a n g e is s p e c i f i e d t h e command i s i g n o r e d Range z e r o i...

Страница 141: ...a 1 000 s t e p p e r r e v o l u t i o n d r i v e w i t h a top speed of 1800 R P M 30 rev sec which r e q u i r e s a 5 microsec s t e p p u l s e width I n o r d e r t o g e n e r a t e a move a t...

Страница 142: ...l e r a t i o n d e f i n e d by t h i s command w i l l o n l y a p p l y t o moves d e f i n e d a f t e r t h i s command i s i n v o k e d Moves d e f i n e d b e f o r e t h i s command i s i s s...

Страница 143: ...JOG v e l o c i t y i s defined a t power on t o be 2 500 s t e p s per second s l o w 6 4 6 SET JOG ACCELERATION 0282 00Cd OOdddddddddd IMMEDIATE SEQUENTIAL Number of Data words 4 Rl OOOd a c c e l...

Страница 144: ...o r t h e range FUNCTION T h i s command d e f i n e s t h e GO H O M E v e l o c i t y which i s used by t h e GO HOME and GO TO CLOSED LOOP HOME commands Commands 0057 a n d 0058 a n d t h e GO BOM...

Страница 145: ...M ZERO 0046 OWddddddddd IMMEDIATE SEQUENTIAL Number of Data Words 3 R2 R3 R4 000d dddd dddd Number of clockwise steps from zero OlOd dddd dddd Number of counterclockwise steps from zero 1 to 134 217 7...

Страница 146: ...losed loop operation Note The absolute zero position and t h e position of t h e H O M E l i m i t s v i t c h a r e two independent locations and o n l y coincide i f f i r s t a GO H O M E command C...

Страница 147: ...d r e q u i r e s a low speed The r e p e a t a b i l i t y of t h e HONE p o s i t i o n i s r e l a t e d t o the Edge Approach Velocity A lower Edge Approach Velocity y i e l d s a more repeatable...

Страница 148: ...ge is d e f i n e d as t h e clockwise edge I f t h e I n d e x e r i s p e r f o r m i n g a c l o s e d l o o p GO HOME t h e e d g e d e f i n i t i o n g i v e n by b2 is i g n o r e d I n s t e a...

Страница 149: ...gure 6 4 Active Low and Active High HOME I n p u t s I I CLOCKWISE LIMIT COUNTERCLOCKWISE LIMIT I t I I I I I I I I I 1 i I I I I CLOCKWISE EDGE COUNTERCLOCKWISE EDGE Figure 6 5 Active High S i g n a...

Страница 150: ...the HONE position w i l l be performed a t the specified percent of d e f a u l t v e l o c i t y defined i n R1 i n the specified absolute d i r e c t i o n defined i n R2 These commands a r e summa...

Страница 151: ...1 I N I T I A L SEARCH CONSTANT VELOCITY 2 3 DECELERATION OVERSHOOT VELOCITY ACTIVE HOME EDGE ACCELERATING DECELERATING Figure 6 6 Homing Cycle 6 29 Artisan Technology Group Quality Instrumentation Gu...

Страница 152: ...d 00411 section 6 7 1 2 6 6 1 2 EXECUTE LOOP UNTIL CONTINUE 0033 0ddd SEQUENTIAL Number of Data Words 1 R1 Oddd number of commands to be repeated 1 to 255 FUNCTION This command can be used only in a P...

Страница 153: ...nterclockwise move 1 to 2 147 483 647 steps FUNCTION This command executes a move of a number of steps at the velocity and acceleration defined by Commands 0261 and 0262 The direction of the move is d...

Страница 154: ...6 3 1 EXECUTE GO R O M E 0057 000b DOMINANT SEQUENTIAL Number of Data Words 1 R2 0000 i n i t i a l search d i r e c t i o n clockwise 0001 i n i t i a l search d i r e c t i o n counterclockwise FUN...

Страница 155: ...pped f o r t h i s command t o be executed 6 6 3 3 EXECUTE A PREDEFINED SEQUENCE 00651 00ddd DOMINANT Number of Data Words 1 R1 OOdd PREDEFINED SEQUENCE number 1 t o 15 FUNCTION T h i s command c a u...

Страница 156: ...r by d r i v i n g t h e RESET i n p u t low 6 6 3 5 EXECUTE CONTINUOUS M O V E USING THE JOG PARAMETERS C02831 000b WMINANT SEQUENTIAL Number of Data Words 1 R2 0000 clockwise move 0001 c o u n t e...

Страница 157: ...Wait for a Trigger 0044 6 7 1 5 Suspend Sequence Wait for Continue O114 6 7 1 6 Suspend Sequence on Trigger 1 Wait for Continue OllS 6 7 1 7 b STOP Motion Commands 6 7 2 Stop Motion 0112 6 7 2 1 Disc...

Страница 158: ...n t i l a CONTINUE command is issued 6 7 1 2 WAIT N MILLISECONDS 0041 00dddddddddd SEQUENTIAL Number of Data Words 3 R2 R 3 R4 OOdd dddd dddd t h e number o f m i l l i s e c o n d s 1 t o 4 294 967 2...

Страница 159: ...l be ignored 6 7 1 5 WAIT F O R A TRIGGEX 0044 000d 000b DELAYED ACTION SEQUENTIAL Number o f Data Words 2 R1 OOOd number o f t h e TRIGGER i n p u t 1 t o 3 R2 0000 a c t i v e s t a t e o f t h e T...

Страница 160: ...e x e c u t i o n i s s u s p e n d e d u n t i l a CONTINUE command Command 0072 i s received The Indexer completes execution of its c u r r e n t command and t h e n waits Upon r e c e i p t of a CO...

Страница 161: ...msec TRIGGER 2 o r 3 HIGH ACTIVE LOW LOW I I I I 4 msec minimum I I I I I HIGH I I ACTIVE H I G H LOW Figure 6 7 Trigger Signal I n p u t s Artisan Technology Group Quality Instrumentation Guaranteed...

Страница 162: ...STOP motion f u n c t i o n i s d i s a b l e d This command i s used t o s t o p e x e c u t i o n of a PREDEFINED SEQUENCE u n t i l a subsequent CORTINUE command is issued I f t h e PREDEFINED SEQ...

Страница 163: ...executing a PREDEFINED SEQUENCE the next step in the sequence will be executed Only one function may be assigned to a given TRIGGER input at a given time For example if TRIGGER 1 has already been ini...

Страница 164: ...e r a t i o n t o zero velocity The a c t i o n of t h e TRIGGER is e q u i v a l e n t t o h i t t i n g a l i m i t switch I f no TRIGGER is received e x e c u t i o n of commands continues Followi...

Страница 165: ...e i s c a l c u l a t e d i n t e r n a l l y by multiplying the move d i s t a n c e i n p o s t q u a d r a t u r e e n c o d e r s t e p s t i m e s t h e m o t o r r e s o l u t i o n t o encoder...

Страница 166: ...re not detected if Commands 0015 or 0025 have not been issued 6 8 0 3 POSITION MAINTENANCE This causes the 430 to maintain the motor s desired position With position maintenance enabled should the mot...

Страница 167: ...0001 activate FUNCTION This command turns post move Position Maintenance ON or OFF After power up or RESET this function is OFF unless the RECALL PROGRAM FROM MEMORY ON POWER UP function is activated...

Страница 168: ...KINATION ON STALL DETECT 0025 000b IMMEDIATE SEQUENTIAL SAVED N u m b e r o f Data Words 1 R2 0000 deactivate 0001 activate REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOU...

Страница 169: ...alled during a PRESET move when the Indexer has put out the nominal number of motor pulses it wi 1 1 check the Encoder position and detect the discrepancy At that point it will move at the Maximum Cor...

Страница 170: ...dddddddd DOMINANT SEQUENTIAL Number of Data Words 3 R2 R3 R4 OOdd dddd dddd clockwise move i n encoder s t e p s Oldd dddd dddd counterclockwise move i n encoder s t e p s 1 t o 2 147 483 647 steps Th...

Страница 171: ...atio of motor resolution to encoder resolution used with Command 01761 Note Theinternal quadrature detector will multiply the normal output of the Encoder by four FUNCTION This command executes a move...

Страница 172: ...BOMB L I M I T i n p u t is a c t i v e on a c l o s e d l o o p homing o p e r a t i o n and may be combined w i t h t h e Z CHANNEL index signal as a means t o s e l e c t o n e of m u l t i p l e i...

Страница 173: ...st be output to get back one encoder step If that whole number includes a fraction it must be expressed as a ratio of whole numbers This ratio must be defined for the Indexer to be able to execute any...

Страница 174: ...Enco ler f o r t h e P o s i t i o n Maintenance function t o work I n t h i s operating mode t h e s y s t e m r e s o l u t i o n w i l l be s e t by the Encoder 6 8 9 DEFINE M O T O R RESOLUTION 01...

Страница 175: ...deadband region It is the number of motor steps required to get the load moving again following a change of motor direction The default value for backlash deadband is 0 6 8 1 1 DEFINE POSITION MAINTE...

Страница 176: ...K is 10 The first d i g i t of R 2 d12 is the velocity range number Default 1 d121 units Steps Sec Velocity Steps sec Steps lO sec Steps 100 sec Step 1000 s e c S t e p s h i n S t e s l 2s e c Maximu...

Страница 177: ...sition with respect to encoder position It is used exclusively with Command 0015 Turn ON OFF output on condition for the purpose of generating a signal when this condition occurs This parameter and th...

Страница 178: ...gular Acceleration and v e l o c i t y parameters a r e e s t a b l i s h e d using Commands 0261 and 0262 or by d e f a u l t s e t t i n g s of t h e i n t e r n a l DIP switches T h i s command p r...

Страница 179: ...i n encoder s t e p s This number 9 999 999 999 represents a t h e o r e t i c a l maximum I n f a c t i t is the number of motor s t e p s t h a t may not exceed t h i s value Consequently t o deter...

Страница 180: ...BAMIIAG ARD STORX COWUNDS The Programming and S t o r e commands a r e summarized i n T a b l e 6 6 These commands can be grouped a s follows a DEFINED MOVE Commands 0200 0203 102061 0215 6 9 1 b PRED...

Страница 181: ...arameters a r e e s t a b l i s h e d using Commands 0261 and 0262 or by d e f a u l t s e t t i n g s of t h e i n t e r n a l DIP switches T h i s command p r e d e f i n e s a move which may be e x...

Страница 182: ...tion will occur at the same rate in time to allow stopping at the designated position If the distance is too short the profile will be triangular Acceleration and velocity parameters are established u...

Страница 183: ...n t t h e Indexer w i l l accept a new CONTINUOUS M O V E command t o change speed 6 9 1 4 DELETE A M O V E C02151 00dd IMMEDIATE Number of Data Words 1 Rl OOdd move number t o d e l e t e 1 t o 40 F...

Страница 184: ...a n d i d a t e f o r t h e sequence except END THE SEQUENCE DEFINITION and PERFORM THE TEST MOVE Commands C02161 and 0255 A l l o t h e r commands e n t e r e d f o l l o w i n g t h i s one a r e n...

Страница 185: ...e n t memory The f o l l o w i n g i n f o r m a t i o n i s s a v e d by t h i s command SH rrWME input enabled o r d i s a b l e d Command C00191 D i r e c t i o n D e f i n i t i o n normal o r re...

Страница 186: ...information in memory at the time the last SAVE command was issued will be restored The information loaded by this command is detailed in the description of the SAVE PROGRAM command Command 02911 This...

Страница 187: ...st S A V E command was issued will be restored The information loaded by this command is detailed in the description of the SAVE PROGRAM command Command 02911 above REV C Artisan Technology Group Qual...

Страница 188: ...ocity 0 Command C02141 Current velocity and acceleration i n t e r n a l DIP switches Command C02611 02621 J O G velocity and acceleration 2 500 max Command C02811 C02821 Refer t o s e c t i o n 3 7 f...

Страница 189: ...t e s w h i c h o u t p u t i s t o be s e t OFF Any number o t h e r t h a n 0001 o r 0002 i s considered i n c o r r e c t and t h e command w i l l be ignored 6 1 0 2 3 TURN ON OFF BOTH OUTPUTS C...

Страница 190: ...o o p deadband 0008 Turn on out put on s t a l l R2 S i g n a l P o l a r i t y 0000 Active high 0001 Active low R3 Output S e l e c t i o n 0001 OUT1 is used 0002 OUT2 i s used FUNCTION T h i s comm...

Страница 191: ...e i n p u t SHUTDOWN Terminal 32 The d i s c r e t e i n p u t can t h e n be used t o t u r n t h e motor current ON and OFF o r b Use Command 0019 t o enable Command 00181 which d i s a b l e s the...

Страница 192: ...e position implemented v i a the ABSOLUTg input i t s value must not exceed 134 217 728 steps FUNCTION T h i s command w i l l d e f i n e a d e f a u l t p o s i t i o n parameter i n motor s t e p s...

Страница 193: ...i n a t i n g t h e n e e d t o a c t i v a t e t h e d a t a i n p u t s and a s s o c i a t e d s t r o b e s t o e f f e c t execution A f t e r t h e S P E C I A L i n p u t i s a s s i g n e d t...

Страница 194: ...l 1 t h e i r parameters PREDEFINED SEQUENCES show a l i s t of t h e commands by number i n decimal w i t h a l l command parameters displayed i n hexadecimal notation The example below shows the out...

Страница 195: ...ns Num Type Distance VR Velocity AR Acceleration SEQUENCE BUFFERS SEQUENCE BUFFER NUMHER 8 116 01 01 00 32 OA 00 05 REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www...

Страница 196: ...REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 197: ...f o r more than 20 seconds Active cooling f o r motor and d r i v e should be implemented when BOOST is used 6 10 8 T U R N ON OFF AUTOMATIC BOOST 0029 000d IMMEDIATE SEQUENTIAL R2 0000 Disable AUTOMA...

Страница 198: ...s w i l l cause Motor Drives which support GEARSHIFT such as Compumotor s P Drive t o change motor r e s o l u t i o n This is g e n e r a l l y used t o s e l e c t a high motor r e s o l u t i o n f...

Страница 199: ...REV C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 200: ...XECLTE W HOE 0051l E O ELWP UNTIL r n N T I m Coo331 EXEC LOOP 00321 E a N T E PEWORU AN ABSOLUIE OVE 00521 EOCLTE PEWORU AN INCREKSNTAL WVE 00511 ESCJTE N T KNE 02551 KILL W I M ON TRIGGER 1 012Ul KI...

Страница 201: ...X Y d m m m a 1 lVI33G M I Id do UUOd I 0 llV23UOYIV n E l K l ILIOYM mui urn oudnnor W V U m Y d 3AVS lllIlIY3l93V U O H 01 U S Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOUR...

Страница 202: ...n t e r n a l DIP switch SW5 4 Plug the connector end of t h e supplied ribbon cable i n t o t h e appropriate c o n n e c t o r on t h e 431 Use t h e low t r u e c o n n e c t o r i f t h e r e is n...

Страница 203: ...t h i s command This d a t a c o n s i s t s of a 12 digit long number t h a t s p e c i f i e s t h e d i r e c t i o n of t h e nlove and d i s t a n c e i n motor steps I n t h i s example t h e v...

Страница 204: ...e t t o 0051 t h e Indexer w i l l repeat t h i s move each time t h e CHD STB switch is operated Example 2 Reverse the direction of motion selected i n Example 1 Changing t h e d i r e c t i o n c o...

Страница 205: ...d a t a i n r e g i s t e r R3 from 0002 t o 0012 Set the thumbwheels t o W l 2 Press DS3 t o load t h i s number i n t o R3 The d a t a i n working memory is nov olopoolvooo I and the motor shaft w L...

Страница 206: ...3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 BCD value Stmbe 0000 0000 0000 0000 0000 0000 0100 0000 load R3 t h i s cornland defines the acceleration parameter as 1 000 000 steps sec sec 0000 0000 0010...

Страница 207: ...e Sequence 000 1 0000 0000 0000 load R1 t h i s conmand w i l l s t o p t h e motor and the Sequence on TRIGGER 1 001 1 0000 0000 0000 load R1 0011 0000 0005 0000 load 33 t h i s command s t a r t s a...

Страница 208: ...on OUT 2 0002 0000 0000 0000 load R2 0002 0000 0002 0000 load R3 t h i s command causes a 2 second wait t h i s command turns off OUT 2 0001 0000 0002 0000 load R1 t h i s command turns o f f O U T 1...

Страница 209: ...Ve1oci y Range n t u l t i p l i e r OFF XZ5 ON X250 ON JU22 3 Acceleration Range M u l t i p l i e r X 100 OFF JU23 t 2 A c c e l e r a t i o n Range M u l t i p l i e r X 1 000 ON JU24 I Accelerati...

Страница 210: ...N Differential O FF Single ended OFF Reserved Out OFF Reserved Out OFF Reserved Out OFF Example Jumpers JU1 through JU4 represent one BCD d i g i t The following table indicates hov t o s e t them t o...

Страница 211: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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