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6. COMMAND REFERENCE

141

K

Kill

Syntax

Units

Range of ‘n’

Default

See also

aK

-

-

-

S, PS, KILL

Description

Issuing a KILL will command motion to stop at limit deceleration rate. The
command will then zero the position error to remove torque from a stalled
load.

Carefully consider the use of this command in applications where a load with
a large inertia may be required to stop quickly. By commanding K the motor
could stall and lose torque. For this reason, a load with large inertia should
be stopped mechanically to avoid overshoot of limit switches. Power
dumping may be required to protect the drive from over voltage trips.

For a controlled stop use the S (stop) command.

The KILL command cannot be used in a label, its use is primarily for
emergency situations.

K will also terminate any program execution and will disable a FOLLOW
command.

Properties

Immediate only, can’t be used in labelled block, not saved by SV

Example

1G

;set drive in motion

1K

;stop everything

Note

The K command does require a device address or 0K to kill all axes. It will
stop a time delay (T command) and will abort a program.

CAUTION

KILL uses the LIMITS command optional deceleration rate LD, if this is

not set a default value of 200 rps

2

is used.

BEWARE THAT A LOW SETTING OF LD COULD RESULT IN THE

MOTOR TAKING LONGER TO STOP AFTER A ‘K’ THAN AFTER AN ‘S’.

This command does not replace the requirement for an additional hardware
device to cut power to the motor in an emergency.

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Содержание ViX250CM

Страница 1: ...derutilized 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 In s...

Страница 2: ...Part No 1600 324 01b February 2004 For software revision 2 0 onwards ViX250IM ViX500IM Stepper Drives User Guide...

Страница 3: ......

Страница 4: ...in operation This product is sold as a motion control component to be installed in a complete system using good engineering practice Care must be taken to ensure that the product is installed and use...

Страница 5: ...eed electrical power drive systems this product is of the restricted sales distribution class which meets the needs of an industrial environment when installed as directed However further measures may...

Страница 6: ...lp_emd_OG parker com Website www parker eme com Website www parker eme com For engineering For engineering assistance in Italy assistance in the U S Parker Hannifin SpA Parker Hannifin Corporation Ele...

Страница 7: ...user products that may be eligible for UL Listing Classification or Certification User Guide Issue Change Summary This user guide version 1600 324 01 is the first version of the ViX250IM ViX500IM Mic...

Страница 8: ...ii VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE Latest Changes Sheet This page lists important changes occurring immediately before publication or between issue updates...

Страница 9: ...ess coupled with high speed torque Advanced digital techniques result in reduced settling time and reduced mid speed instability when compared with similar competitive drive types The common use of EA...

Страница 10: ...ak microstepper indexer drive with Canbus RS485 interface ViX250CM 2 8A RMS 4A peak microstepper indexer drive with Canbus RS485 interface Table 1 1 ViX250 ViX500 Microstepper Indexer Drive Options No...

Страница 11: ...5006 211 1 Product label 0405 811 1 10 way Flange plug strip 0405 961 1 9 way D type plug 0405 962 2 15 way HD D type plug 0405 963 1 15 way HD D type socket 0409 530 4 9 way D type cover 0313 020 1 H...

Страница 12: ...e in depth understanding of drive applications and motion control consider attending one of our world wide Customer Specific Training Workshops Examples of previous courses that have proved to be of b...

Страница 13: ...50mm minimum air gap above and below the package and a 10mm minimum gap either side Avoid mounting heat producing equipment directly below a drive Installers must ensure that the air temperature enter...

Страница 14: ...ER DRIVE USER GUIDE Drive Dimensions ViX250 and ViX500 drives share the same dimensions shown in Figure 2 1 4 5 98 5 with connector 21 4 5 88 1 42 3 10 1 124 7 135 145 5 X1 X3 X4 X5 X2 HVSTFB Figure 2...

Страница 15: ...Remove the panel mounting plate from the back of the drive and attach the bracket to the back of the drive using the screws provided The drive and bracket can now be fixed to a DIN rail by hooking the...

Страница 16: ...or drive combination without first securing the motor see the Safety Warning at the front of this user guide CAUTION risk of equipment damage Do not back drive the motor that is use the motor in an ap...

Страница 17: ...tor Cabinet Installation To produce an EMC and LVD compliant installation we recommend that drives are mounted within a steel equipment cabinet This form of enclosure is not essential to achieving EMC...

Страница 18: ...WARNING Possible drive damage If you use Parker XL Series stepper drives do not attempt to use any power wiring harness taken from an XL drive Although the same mating connector is used for both an XL...

Страница 19: ...logic supply The supply may also be required for an encoder and a Fieldbus Expansion Module FEM Absolute voltage range 20 to 27V Nominal drive current 250mA excluding encoder FEM Encoder supply loadin...

Страница 20: ...0 1 0 2 0 3 0 4 0 10 20 30 40 50 ViX500 with SY873 0 0 0 1 0 2 0 3 0 4 10 20 30 40 50 ViX250 with SY561 0 0 1 0 2 0 3 0 10 20 30 40 50 ViX500 with SY872 0 0 0 5 1 0 1 5 10 20 30 40 50 ViX250 with SY87...

Страница 21: ...note 1 without the need for an EMC mains input filter see note 2 The use of the XL PSU offers the following benefits Auto adapts to supplies between 95 and 264V AC No external EMC filter required Com...

Страница 22: ...L GND EXT BRAKING RES DC 80V HV STATUS BRAKING RES 24V STATUS X2 X3 X1 X4 X5 ST HV FB 10 1 10 1 10 mm Mininum spacing between drives PSU L N EARTH GND The XL_PSU must be securely earthed P2 mating soc...

Страница 23: ...the top 4 5mm diameter fixing hole and the bottom two 4 5mm width fixing slots should be used Allow a minimum free space of 50mm both below and above its case and 10mm free space on both sides Do not...

Страница 24: ...iring for two ViX drives This illustrates how to route the main HV supply separately to each drive The lower current requirements of the 24V logic brake supply can allow the wiring to be linked betwee...

Страница 25: ...ans avoiding running wires from the output of a filter close to those connected to its input Where you wish to minimise the cross coupling between wires avoid running them side by side one another if...

Страница 26: ...Star earth point to the metal backplane Power wiring conduit DC Supply Lead length restriction less than 1 metre 3VK1 6FC10 CORCOM AC Supply Located in the base of the cabinet Transformer DC 24V Suppl...

Страница 27: ...cable using heat shrink sleeving or cable ties The position of the absorber should be within 150mm of the drive Always secure the cable using the P clip as shown Do not rely upon the connector alone h...

Страница 28: ...rs listed in Table 3 4 Product code Part number Length metres STC20 0300 3 STC20 0500 5 STC20 1500 15 Table 3 4 Motor Cables Motor Phase Contactors We recommend that motor phase contactors are not use...

Страница 29: ...ction will be 50 that of the bipolar rating and the motor will give improved low speed torque but reduced high speed torque The ViX250IM ViX500IM will drive motors having an inductance as low as 0 5mH...

Страница 30: ...Motor connections will need to be determined from the motors data sheet or Appendix B These are normally identified by wire colour or terminal markings depending upon the make of the motor MOTOR CONNE...

Страница 31: ...or Configuration Window Motor the general name number for the motor Phase current parallel continuous current rating of the motor in Amps RMS Resolution number of steps per revolution Rated speed shaf...

Страница 32: ...b Selecting the Other parameters tab gives you access to the screen shown in Figure 3 8 Figure 3 8 EASI V Custom Motor Other Parameters In position time IT Digital I O The decimal number required by t...

Страница 33: ...ME command Home reference edge Select the required edge of the home switch where you wish the home position to be Home switch Defines the type of home switch used normally open or closed Direction vel...

Страница 34: ...ptable if an isolating transformer with earthed screen is used to power the system and X1 pin9 0V GND input is earthed as specified Motor Safety Earth Ground Connection It is recommended that the moto...

Страница 35: ...d Motor overtemp Rx Tx RS485 Drive reset RS232 GND RS232 Rx 1 2 3 4 5 6 7 8 9 X3 Function Communications RS232 Tx Rx Tx RS485 RS232 Tx D loop Do not connect 5V output requires CAN option 0V 0V 0V Outp...

Страница 36: ...er 25 323 4053 0 Parker part number 0405 811 An approval marked version of this connector has the part number 25 323 1053 0 Connector Pin Out Connector Pin X1 Signal Name 10 24 to 80V DC HV 9 0V GND H...

Страница 37: ...y Encoder 1 Feedback enc Z 2 Feedback enc Z 3 GND 4 reserved 5 5V output 6 GND 7 Feedback enc A 8 Feedback enc A 9 reserved 10 Motor overtemp 11 Feedback enc B 12 Feedback enc B 13 reserved 14 reserve...

Страница 38: ...ave the Thermal sensor fitted check box un checked in the Custom Motor Set Up screen within Easi V to prevent an overtemperature fault being reported This is the default setting in Easi V X3 Connector...

Страница 39: ...mory will not be overwritten until a save command is issued 1 5 PC RS232 socket Interface X3 Socket Serial connector plug Serial connector socket Back of mating plug Back of mating plug Back of mating...

Страница 40: ...s and the differential analogue inputs Certain input and output connections are dependent upon the state of system variables EO Encoder Output and EI Encoder Input Encoder output signals are not gener...

Страница 41: ...t a differential analogue input for use with the FRATE command The input circuit shown in Figure 3 12 can interface to an external 10V differential signal Analogue to digital conversion 12 bit resolut...

Страница 42: ...variable AB _________ Energise Shutdown Enable the drive by allowing the input pin to float high 1 or by linking the pin to zero volts depending upon the input s polarity System variable ES controls...

Страница 43: ...r type is a high density 15 way D type plug Connector Pin Out Connector Pin X5 Input Output 1 0V 2 0V 3 0V 4 Output 2 5 Output 1 6 Input 5 limit 7 Input 4 limit 8 Input 3 home 9 Input 2 registration 1...

Страница 44: ...27K 82K 24V Input 1 invert 0 non invert SWB SWC SWA Logic level as reported by IS Logic inverting network depending upon input pull up pull down state Figure 3 14 User Input Circuit User inputs are h...

Страница 45: ...ogic only Each output can source or sink 50mA Note The easiest way of configuring the drive s inputs and outputs is to use the Easi V graphic user interface Input Output Configuration To set up the in...

Страница 46: ...connections must only be used with pull down sink configuration as the input pull up always pulls up to 24V 4 Invalid combinations will report an error E and the User Fault UF bit 1 is set value out o...

Страница 47: ...circuit Fault Output Drive circuit 0V Figure 3 16 Fault Output Circuit Limit Switches The drive has two limit inputs the positive limit input and the negative limit input When wiring the limit switch...

Страница 48: ...tion interfaces X6 and X7 The two interfaces provide support for Canbus RS485 using the Field Expansion Module and daisy chain ports for multi axis RS232 connections between drives X7 RS232 daisy chai...

Страница 49: ...485 Orange 3 CAN H White Green 4 RS232 sense Blue 5 RS232 Gnd White Blue 6 CAN L Green 7 RS232 Rx White Brown 8 RS232 Tx Brown Table 3 12 X6 X7 Input Output Connections CAN Bus Termination Systems usi...

Страница 50: ...system the response will be 4 0SV save the address configuration 0Z reset response should be a single check sum from axis 1 more than one check sum indicates a problem possibly no save command RS232...

Страница 51: ...rious lengths are available as listed in Table 3 13 Part Number Length VIX RJ45 0025 0 25m VIX RJ45 0050 0 5m VIX RJ45 0075 0 75m VIX RJ45 0100 1 0m VIX RJ45 0200 2 0m Table 3 13 RJ45 Connection Lead...

Страница 52: ...44 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE...

Страница 53: ...direct mode any controlling application program is stored in a remote location and is only downloaded to the drive when required Programmed Mode This mode allows a program stored within the drive to...

Страница 54: ...bels 1DECLARE MOVE1 1DECLARE MOVE2 Example of DECLARE being used following the START label 1K Kill or stop any program currently running 1CLEAR ALL Erase all programs 1START 1DECLARE MAIN Declare labe...

Страница 55: ...E2 40 10 48000 25 1GOSUB MOVE2 1END 1MOVE2 1W PA 0 1MA 1USE 2 1G 1END Main Program Block 1 Block 2 Block 3 Figure 4 1 Program Structure Example 1START start label definition 1DECLARE MAIN declare labe...

Страница 56: ...ocks of code in the example above accessed via subroutines is the equivalent of a sequence A second example illustrates the code required for an incremental move Here the START and MAIN code blocks ha...

Страница 57: ...gain the START and MAIN code blocks have been combined within the START block 1START start label definition 1DECLARE LOAD declare label 1LIMITS 3 0 0 disable limits 1PROFILE3 100 50 4000 35 define mov...

Страница 58: ...med Fault Label Use the pre declared label named FAULT to identify a block of code that is executed when a particular problem fault has been detected The code following the FAULT label needs to change...

Страница 59: ...GOTO GOSUB or LOOP command Note in this case a FAULT has not actually occurred consequently the FAULT label will be called irrespective of the state of the ARM command Table 4 1 summarises the condit...

Страница 60: ...e auto run fault in case K command sent initialisation commands 1O 1XX turn on output 1 drive OK main process commands 1END 1FAULT fault routine 1O 0XX turn off output 1 drive fault diagnostic code if...

Страница 61: ...put commands Unless a drive fault is pending and a fault routine is defined and armed Start Label Example 1START 1 RUNNING 1END 1FAULT 1 FAULT 1TR IN 1XXXX 1GOTO START 1END 1ARM01 enable fault routine...

Страница 62: ...clare label 2 1DECLARE L3 declare label 3 1LSEL1 0 2 1 define inputs and code 1A20 set acceleration 1V5 set velocity 1O 000 set all outputs low 1END 1L1 label 1 code 1O 1 set output 1 high 1D1000 set...

Страница 63: ...fine fully the move required in each subroutine block This can be arranged by the USE command System Variables System variables are named variables held within the drive s controller that are used for...

Страница 64: ...status Y N First byte of 32 bit DF variable DF2 Drive Fault status Y N Second byte of 32 bit DF variable DF3 Drive Fault status Y N Third byte of 32 bit DF variable DF4 Drive Fault status Y N Fourth b...

Страница 65: ...2 147 483 648 to 0 to 2 147 483 647 PE Position Error Y N 65535 PF Position Following Y Y 2 147 483 648 to 0 to 2 147 483 647 PI Position Incremental Y Y 2 147 483 648 to 0 to 2 147 483 647 PM Positio...

Страница 66: ...er Fault status word UF2 User Fault Status Y N Second byte of 32 bit User Fault status word UF3 User Fault Status Y N Third byte of 32 bit User Fault status word UF4 User Fault Status Y N Fourth byte...

Страница 67: ...finish 1W CQ 1 enable command queuing again 1END DC Damping Configuration Selecting DC gives a faster settling time by damping oscillations ringing of the motor shaft Under certain conditions such as...

Страница 68: ...ing a response the two messages will interact effectively destroying one another Setting EQ to mode 1 prevents a drive from issuing a response until it receives a carriage return thereby delaying its...

Страница 69: ...or more details EX Description System variable EX controls the style and protocol of the drive s serial communications link IP IT and MV Description System flag variables IP In Position and MV Moving...

Страница 70: ...For example The following test looks for input 1 low and input 3 high IF IN 0X1XX Where X don t care INn Description The INn system variable is used to define a particular bank of inputs when used wit...

Страница 71: ...for count wrapping That is writing a specific number of counts to PM sets the count required before the drive re starts counting from zero again This is useful if you wish to know the position of the...

Страница 72: ...Accel Time Velocity Time Maximum Jerk Less Jerk Trapezoidal S Curve Figure 4 3 S Curve Correction of Moves To achieve this type of S curve correction an average acceleration value is used which is se...

Страница 73: ...examining Table 4 2 you can see that most system variables take a numerical value or record a simple ON OFF state 0 or 1 Flags Certain variables perform a reporting function which provides you with i...

Страница 74: ...o registration signal seen in registration window 22 ST3 6 Cannot stop within the defined registration distance 23 ST3 7 Reserved 24 ST3 8 Reserved 25 ST4 1 In motion 0 for positive motion 1 for negat...

Страница 75: ...ill cause the Drive LED to turn RED Once the fault has been corrected the drive may be re energised using the ON command When read DF reports a 32 bit double word pattern of the form 0000_0000_0000_ 3...

Страница 76: ...sed power stage 16 DF 2 8 K T Controller diagnostic failure 17 DF 3 1 K R Output stage over current 18 DF 3 2 CD R Output driver over current 19 DF 3 3 C R Tracking limit exceeded Stall condition 20 D...

Страница 77: ...ulse when homing 6 UF 1 6 Homing failed no signal detected 7 UF 1 7 Home signal too narrow 8 UF 1 8 Drive de energised 9 UF 2 1 Cannot relate END statement to a label 10 UF 2 2 Program memory buffer f...

Страница 78: ...o issuing a R UF2 command will keep byte 2 bits intact Also testing a particular byte using the IF or TR command will keep bits intact Note sending the drive an ON command will immediately clear the U...

Страница 79: ...ng the status report window or using the report command directly from the terminal window For example 3R ST Using this style of report an immediate response will be returned which will not be saved wi...

Страница 80: ...if it is true otherwise it skips the next line of code Use of these commands allows synchronisation with external events and program branching System variables which may be used in conjunction with t...

Страница 81: ...ed each command waiting for the previous command to complete before the next one is issued In certain circumstances this sequential operation needs to be disabled for example if you need to generate a...

Страница 82: ...cremental moves or in relation to a defined zero reference position absolute moves Absolute Preset Moves MA An absolute preset move will move the shaft of the motor a specified distance from the absol...

Страница 83: ...sition time or velocity This pattern of movement is called a Motion Profile Generally such a profile can be represented graphically in the form of a diagram of time or distance moved plotted against v...

Страница 84: ...can be triggered which is a separate independent move that for example may position a jar for a labelling operation The registration move itself often needs to be performed quickly faster than the cur...

Страница 85: ...defined profile is ignored An optional output can be programmed to indicate that a move that has been armed is ready for registration This would normally be after the move has started or after the hol...

Страница 86: ...istration move whilst moving however once activated any subsequent edge will have no effect Consequently once the registration signal has been accepted for the current move all other registration sign...

Страница 87: ...it side Home switch operating range is the distance moved whilst the switch is operated Four of these terms are illustrated in Figure 4 7 Positive edge CW Negative edge CCW NEGATIVE LIMIT POSITIVE LIM...

Страница 88: ...indexer will detect the first edge positive or negative and will then decelerate to rest within the home switch operating range Mode 1 will cause motion to stop at the mechanical edge of your choice...

Страница 89: ...unce off a limit Assuming home is the positive edge of the home switch as soon as the edge is detected motion is decelerated to a stop Direction of travel is reversed and a distance is calculated to m...

Страница 90: ...y difference being the direction of travel If the drive was started up already within the boundaries of the home switch and a go home command was given for a particular edge the motion would follow th...

Страница 91: ...f o p 1 1GH execute the go home move 1O 1 turn on o p 1 after go home complete 1A100 set acceleration to 100rps2 1V25 set velocity to 25 rps 1D4000 distance to 1 motor rev 1G execute move 1END end of...

Страница 92: ...placed such that when a limit switch is hit sufficient travel is still left for the load to be decelerated to a stop before hitting the hardware limit or end stop Hitting a limit is defined as changin...

Страница 93: ...will report which limit was seen first positive or negative but if both were hit in the same millisecond period the positive limit will be reported as being seen first Clearing a Limit A limit is cle...

Страница 94: ...oduces motion towards the positive limit switch If this is not the case interchange the motor connections to A and A to reverse the motor direction NC NEGATIVE LIMIT NC POSITIVE LIMIT 24V Positive lim...

Страница 95: ...er set motor resolution in the MOTOR command equal to the post quadrature encoder counts per rev See Scaling at the end of this section When using a load mounted encoder set the system variable EM equ...

Страница 96: ...ections Position Maintenance Position Maintenance is a method of correcting occasional position errors by adding or subtracting motor steps once a move has been completed It is not like a servo loop i...

Страница 97: ...process is repeated depending upon the result of the comparison Dead Band Range With Position Maintenance enabled if you command the motor to move one revolution at the end of the move you would expe...

Страница 98: ...r giving 4000 counts per rev 1DECLARE TRIAL 1MOTOR X X 4000 X X X X X is set depending upon the application 1TRIAL 1ON 1R EI check encoder is set to quadrature operation 1POSMAIN0 20 3 0 set up positi...

Страница 99: ...bled the positioning resolution is now determined by EM as distance is commanded in stall encoder steps The error window size needs to be large enough to detect a single de synchronisation of the moto...

Страница 100: ...n which acceleration distance and velocity are measured In this case a base unit of 1mm was chosen consequently acceleration is measured as 1mm s 2 velocity as 1mm s 1 and distance in mm Individual sc...

Страница 101: ...on In the command steps column the steps used to program the application e g distance D Motor motor steps 1 rev motor resolution Load load steps 1 rev load resolution EM and User user steps with X rep...

Страница 102: ...VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE 94...

Страница 103: ...request the latest version from Parker using the contact numbers given at the beginning of this user guide or download a copy from our web site www parker eme com Establish Communications Before atte...

Страница 104: ...program banner and will prepare an installation setup program 5 The banner screen is automatically replaced by a Welcome dialogue box advising you of the need to exit any programs currently running T...

Страница 105: ...K button the window shown in Figure 5 2 will appear Note Easi V may also be run from the Start menu Figure 5 2 Easi V Application Window Uninstalling Easi V To uninstall Easi V software use Windows un...

Страница 106: ...display the main application window entitled Parker Hannifin EMD Easi V and seven pull down menus become available File Edit Search Terminal Utilities Windows Help The majority of options available wi...

Страница 107: ...lighted text to clipboard Copy highlighted text to clipboard Paste contents of clipboard to current cursor location Delete highlighted text Highlight all text in active editor file window Go to a part...

Страница 108: ...messages Download program to drive F4 Download program Upload program Displays LED diagnostics sheet colour flash rate This provides a variety of tools documented below Windows Window controls Share...

Страница 109: ...ollowing set up options Prompt to save terminal emulator contents on closure Test communications before upload download of programs Display 3 rows of buttons in terminal window Use Drive settings allo...

Страница 110: ...cation lead as described in the Electrical Installation section WARNING To avoid causing damage to a PC serial port the drive must be earthed before making any serial connections Connect the RS232 lea...

Страница 111: ...art creating and editing program prg files to control the operation of a connected drive A number of example files are included within the Easi V installation package to give you a start with drive pr...

Страница 112: ...offers two levels of setup depending upon the skill and experience of the operator Guided drive setup guides you through setup for a particular motor type quick and simple Drive setup allows text ent...

Страница 113: ...o select Motor Standby current and In position settling Time values This screen allows the selection of the motor standby current MS and the In position settling time IT Press Next to allow selection...

Страница 114: ...etection or position maintenance Press Next to select the required limits This screen allows the selection of the limits and the type of limit switch used You may also control the limit mode and the d...

Страница 115: ...tion of the home switch Press Next to configure the drive s user inputs and outputs Configure the drive s user inputs and outputs and setup the following encoder inputs or the simulated encoder output...

Страница 116: ...screens Press Next to complete the setup process and to generate a setup program This screen signals the end of the guided setup process Checking the Append a test routine box will include a simple ro...

Страница 117: ...ING POWER TO THE DRIVE TIP Create a setup program first rather than download immediately because if changes are required it s easier to edit a saved program CANopen Drives If you are setting up a CANo...

Страница 118: ...n Figure 5 6 Axis Setup Tab The buttons displayed along the base of this screen can be used as follows Upload retrieves the current settings for the selected axis Download updates the current axis wit...

Страница 119: ...isplayed as text messages within the Status Report window as shown in Figure 5 8 This eliminates manual decoding errors and gives an immediate update of the drive s status Figure 5 8 Reporting Status...

Страница 120: ...at exists within an active edit window can be downloaded to the drive by selecting Download from the Utilities menu Following the usual communication checks the program will download to the drive s in...

Страница 121: ...am to be uploaded A shortcut upload is provided by function key F5 Figure 5 10 Upload Dialogue Box If you receive an error message during program upload refer to the Troubleshooting Section Help EASI...

Страница 122: ...ntenance Troubleshooting section Define motor using MOTOR command 1START define start label code 1ON enable the drive 1LIMITS 3 0 0 disable limits 1D4000 set distance to 4000 steps 1V1 set velocity to...

Страница 123: ...s prefix Where commands such as IF R TR and W include a system variable it is treated as a command parameter System variables store internal drive values and settings Each variable is capable of being...

Страница 124: ...nd must not contain any space characters 3 All commands are device specific that is they always need an address 4 For reasons of clarity program examples appear as if being downloaded via Easi V that...

Страница 125: ...nt such as G or 1A10 the buffered command just sent and any other interrogation commands get buffered and will not report back until the trigger time delay or pause is finished In this situation Immed...

Страница 126: ...are checked for syntax and parameter limits at data entry Certain commands will only report an error on execution for example commands defined within a label If a fault is detected that command or par...

Страница 127: ...se is 120 0 120 0 Overrange value 1A100000 Will be reported as E meaning error Note For all error reports refer to Section 4 Reporting System Information During Code Development AA Acceleration Syntax...

Страница 128: ...d linear deceleration rate of the motor The deceleration value assigned to the AD command is over written if previously set Properties Immediate or buffered can be used in labelled block saved by SV E...

Страница 129: ...ecute the code following the START label if defined The fault label parameter fault switch when enabled will call the FAULT label when any one of the following conditions occur 1 When driving further...

Страница 130: ...E 1 use profile 1 1G execute profile 1 1END 1ARM1 arm the start label 1SV save the code Note If you save the controller with ARM0 then the start up sequence will fail to run and the controller will wa...

Страница 131: ...EAR label DECLARE Description The CLEAR command deletes user program instructions from the label specified until the END statement associated with that label If a subroutine has been cleared but its a...

Страница 132: ...used in labelled block saved by SV Example To set the move distance of axis 2 to 15000 steps type 2D15000 To report the current programmed move distance of axis 2 type 2D The controller responds with...

Страница 133: ...OREG and FAULT leaving sixteen for general use Only declare labels in the command line or inside the START label If you wish to upload your program all declarations must be made within the START label...

Страница 134: ...hilst E0 turns it OFF In E0 mode the only command seen by the controller is E1 Properties Immediate or buffered can t be used in labelled block E1 saved by SV Example An example of when to use this co...

Страница 135: ...3 4T5 If we exit the loop then we pulse output 4O XX0 3 to indicate gripper tension out of tolerance 4END 4GRIP 4USE 2 Use motion parameters from profile 2 4G do the move 4O 1XX trigger the measureme...

Страница 136: ...es are reserved at present The scale parameter specifies the scaling applied to the following source This can range from 0 1 to 500 or 0 1 to 500 in steps of 0 1 Negative values reverse the sense of t...

Страница 137: ...hit a limit whilst following movement is immediately stopped and following disabled Do not use POSMAIN while following Refer to X4 Connector in Electrical Installation section Driving through a limit...

Страница 138: ...ue input voltage the value used will be taken as 1 of the user set peak velocity velocity set by the V command This is applied to values as low as 0 01rps the minimum velocity allowed Properties Immed...

Страница 139: ...usly set as this determines which parameters are used and which are ignored For example mode continuous will ignore the distance parameter Properties Immediate or buffered can be used in labelled bloc...

Страница 140: ...n if armed will be disarmed and on successful completion of the GH routine the registration armed state will be restored System variable HF sets the home final velocity GOSUB GO to SUBroutine Syntax U...

Страница 141: ...O XX0 turn output 3 off 1END 1MOVE2 1USE 2 use the move profile 2 1G 1T1 pause for settle time 1TR IP 1 1END Note If you exceed the number of nesting levels the program will halt and return a E R UF w...

Страница 142: ...abelled block not saved by SV Example 2DECLARE MOVE1 declare move 1 2DECLARE MOVE2 declare move 2 2START code run after power on 2PROFILE1 360 360 400000 20 define some move profiles 2PROFILE2 360 360...

Страница 143: ...direction If H is entered whilst the motor is moving the direction will not change until the motor comes to a stop and another G command is given Properties Immediate or buffered can be used in labell...

Страница 144: ...command or the D command will re define the move direction each time it is executed To set up a loop to go CW clockwise then CCW counter clockwise make sure the D or USE command is outside of the LOO...

Страница 145: ...h homing is performed Acceleration deceleration sets the acceleration and deceleration rates used The mode parameter determines what happens when the specified edge of the home switch is encountered m...

Страница 146: ...and mode is 0 Once configure homing has been setup it can be applied turned ON or armed using the simplified form of command aHOME1 Or turned OFF using aHOME0 Properties Immediate or buffered can be...

Страница 147: ...ional control Valid relations for the comparison are Equals Does not equal Greater than Less than Properties Immediate or buffered can be used in labelled block not saved by SV Example 2IF PA 450 if a...

Страница 148: ...sents a closed contact switch input The response is five 0 or 1 digits corresponding to the following input bits X3 Pin Number Bit Function 10 1 User input 1 Stop 9 2 User input 2 Reg 8 3 User input 3...

Страница 149: ...r a controlled stop use the S stop command The KILL command cannot be used in a label its use is primarily for emergency situations K will also terminate any program execution and will disable a FOLLO...

Страница 150: ...he following values 1 Limits normally closed default setting 0 Limits normally open mode field takes the following values 0 Stop motion when a limit is hit and abort the program then go to a predefine...

Страница 151: ...indexer only checks to determine if the load is on a limit or not LIST List user program Syntax aLIST label Description The LIST command is used to view a user subroutine program in memory specified b...

Страница 152: ...ck device 1 ON 0 OFF When LOADENC is off distance velocity and acceleration are in motor steps When LOADENC is on distance velocity and acceleration are in load feedback steps set by the system variab...

Страница 153: ...ip cycle to allows a sensor to measure deflection 2START signifies this is the power on sequence 2DECLARE GRIP 2PROFILE2 150 200 4800 45 2USE 2 Use motion parameters from profile 2 2LOOP GRIP 6 repeat...

Страница 154: ...dbus inputs The controller supports up to 16 user defined subroutine labels requiring 5 inputs to be able to select any 1 of the 16 You must declare each label before you use it For example 1DECLARE L...

Страница 155: ...0 0 0 1 1 0 1 0 0 0 2 2 1 1 0 0 0 3 3 0 0 1 0 0 4 4 1 0 1 0 0 5 5 0 1 1 0 0 6 6 1 1 1 0 0 7 7 0 0 0 1 0 8 8 1 0 0 1 0 9 9 0 1 0 1 0 10 1 1 0 1 0 11 0 0 1 1 0 12 1 0 1 1 0 13 0 1 1 1 0 14 1 1 1 1 0 15...

Страница 156: ...1 5 0 1ARM1 1L31 1A10 1V10 1G 1END To check the current mode type 1LSEL The response will be AR1 B D1 IN5 C R0 Note If the inputs remain high the code following label 31 will run continuously If the...

Страница 157: ...ity determined by V 0V gives nominal zero velocity see also AB variable to set analogue deadband A0 to set analogue offset Mode continuous the motor moves continuously at the programmed velocity until...

Страница 158: ...e provides base drive functionality that is step direction energise input and fault output In this mode X4 pin 11 is used to energise de energise the drive and the ON OFF commands are prohibited Local...

Страница 159: ...otor terminals The command sets all of the motor parameters and then calculates the optimum settings for the digital torque amplifier If there is no HV present when the motor command is issued the HV...

Страница 160: ...rating at these degraded current levels the drive and controller can still be commanded to a resolution of 51200 steps per rev O Output Syntax Units pattern Default See also aO pattern see below 000 I...

Страница 161: ...at are issued after an OFF with E If you check the fault variable UF you will see the Drive disabled bit set to indicate that the drive was de energised when a move was attempted OFF reduces motor hea...

Страница 162: ...the motor will not energise and the fault variables will be updated once again Properties Immediate or buffered can be used in labelled block saved by SV Example 1START program start up routine 1ON e...

Страница 163: ...output will be turned OFF when the next G go GH go home any ON command or Z reset command is received and status bit 17 will be reset The optional parameter settletime specifies how long in millisecon...

Страница 164: ...in EM steps If setting EM ve the encoder expects A to lead B for ve commanded motion 3 The error window is measured in motor steps with LOADENC and SCALE disabled load steps with LOADENC enabled and...

Страница 165: ...umber is 0 to 8 but PROFILE0 cannot be defined Use PROFILE0 to read the current profile settings The format of the returned message will be 0 AA10 0 AD10 0 D4000 V1 00 Properties Immediate or buffered...

Страница 166: ...0 200 Distance 1500 4800 Velocity 25 45 The move parameters specified by Profile 2 may be used that is copied to profile 0 with the statement 4USE 2 Note A profile command will overwrite any individua...

Страница 167: ...is 1 1V5 1A50 2D8000 setup axis 2 2V10 2A100 0G global GO 0C global continue Note If the input command buffer is filled during a pause E will be reported assuming EX is set to speak whenever and the s...

Страница 168: ...EG label Registration will always occur in the current move direction If the direction in the defined profile is different to the current move direction the direction information in the defined profil...

Страница 169: ...2USE 2 2G 2END 2REG 2O XX1 Turn output 3 on increment batch counter 2T0 5 Delay execution for 500mS 2O XX0 Turn off output 3 2END 2NOREG if we come here we didn t have a valid reg mark 2O X1X Turn op2...

Страница 170: ...sed OFF for RFS to be executed Factory settings must be saved using the SV command before they take effect The default settings are All labels cleared all outputs set to logic low Note the RFS state o...

Страница 171: ...e current value of deceleration as specified by either the immediate A or AD commands or the current profile being used This command also aborts label execution when used from the command line Use the...

Страница 172: ...entered are internally divided by the SCLA parameter value Default 1 SCLD 1 to 100 000 000 Used to scale D D of 1 unit PEU encoder counts If SCLD 1 all distance values entered are internally divided b...

Страница 173: ...the GO command A AA AD D and V always report user units In any application the SCALE command should be issued once only Its purpose is to allow for a fixed user unit to motor steps scaling It is not...

Страница 174: ...ting the mode parameter to 1 will run a fault routine if one is defined once the motor has stopped No further action is taken if the mode parameter is set to 0 The fault condition will clear when the...

Страница 175: ...eps with SCALE enabled 2 If scaling is enabled the value given in the error window will remain the same but is now in user units 3 Drive status LED will turn red after a stall occurs reset as for opti...

Страница 176: ...r 541935 00 1 1 CcD ViX500IM Control card revision 2 Stepper drive Power card revision 3 Power stage E500 FPGA_ID read 20b0 FPGA_ID file 20b0 MOTOR TYPE 255 RESOLUTION 4000 CONT STALL CURRENT 4 5 Amps...

Страница 177: ...ng 1 Stop motion when input 1 is active IS 1XXXX but continue the user program which is able to execute further commands If stop input 1 is active IS 1XXXX then status flag 28 ST4 4 will be a 1 Proper...

Страница 178: ...nd following a save configuration is executed If a program is running or is being downloaded when the SV command is issued a delay of 10 seconds is allowed for the program to terminate or to finish do...

Страница 179: ...ements Any time value specified within the range 0 05 to 10 seconds will be rounded down to the nearest 0 05 second increment Any value programmed outside of this range will generate an error E out of...

Страница 180: ...Trigger Timeout TT Refer to the table of system variables that can be used for conditional control Properties Immediate or buffered can be used in labelled block not saved by SV Example 3TR PA 2000 wa...

Страница 181: ...E 0 001 to 50 000 1 PROFILE SCALE Description Velocity command V sets or reports the programmed velocity of the motor Properties Immediate or buffered can be used in labelled block saved by SV Example...

Страница 182: ...e DC The controller responds with 2W DC 1 2R DC 1 Note See also R command Z Reset Syntax Units Range of n Default See also aZ SV Description The Z command resets the drive s controller This is similar...

Страница 183: ...d is immediate and is auto saved as soon as you hit return consequently take care If you have no RS485 interface fitted to your PC and you issued 1 4 485 the drive will switch to RS485 and will auto s...

Страница 184: ...ffered can be used in labelled block not saved by SV Example 1DECLARE EXAMP declare label 1EXAMP label EXAMP 1 TEST quote TEST 1END end label 1GOTO EXAMP goto label EXAMP TEST output message Note To s...

Страница 185: ...lt status Y N Second byte of 32 bit DF variable DF3 Drive Fault status Y N Third byte of 32 bit DF variable DF4 Drive Fault status Y N Fourth byte of 32 bit DF variable EI Encoder Input Y Y 0 step dir...

Страница 186: ...ot moving PA Position Actual Y N 2 147 483 648 to 0 to 2 147 483 647 PE Position Error Y N 65535 PF Position Following Y Y 2 147 483 648 to 0 to 2 147 483 647 PI Position Incremental Y Y 2 147 483 648...

Страница 187: ...ut for trigger command 0 65 seconds in 0 01 increments User status bit 8 is set to indicate timeout occurred before trigger condition met Bit is clear if trigger condition met before timeout The defau...

Страница 188: ...version 15 DF 2 7 K T Unrecognised power stage 16 DF 2 8 K T Controller diagnostic failure 17 DF 3 1 K R Output stage over current 18 DF 3 2 CD R Output driver over current 19 DF 3 3 C R Tracking limi...

Страница 189: ...hing label 13 ST2 5 ve limit seen during last move 14 ST2 6 ve limit seen during last move 16 ST2 8 Reserved 17 ST3 1 Executing a position maintenance move 18 ST3 2 Possible stall 19 ST3 3 Moving in m...

Страница 190: ...e END statement to a label 10 UF2 2 Program memory buffer full 11 UF2 3 No more motion profiles available 12 UF2 4 No more sequence labels available 13 UF2 5 End of travel limit hit 14 UF2 6 Still mov...

Страница 191: ...mmunications EXIT Exit from loop FOLLOW Configure following FRATE Feed rate override G Go GH Go home GOSUB Go to subroutine GOTO Go to routine H Change direction HOME Configure homing IF Test conditio...

Страница 192: ...S Pause R Report system parameter REG Registration move RFS Return to factory settings S Stop SCALE Scale settings STALL Stall detect STATUS Report status of drive STOP Stop input SV Save configuratio...

Страница 193: ...nspection Check that the drives are clear of loose material and that there is adequate clearance to allow a free flow of air through the ventilation slots Check that drive fixings are tight and that t...

Страница 194: ...rrect serial COM port 2 An RS232 communications link can be loop tested by removing the communications D type plug where it connects to the drive and placing a short between pins 4 and 5 In this condi...

Страница 195: ...6 1 1 1 5 5 Red Feedback fault with no HV Orange HV OK and feedback fault Green HV OK Colour Function Red Drive fault Orange Drive OK but de energised Green Ready energised Colour Function Red Comms...

Страница 196: ...fault see DF report for more information ST red green 1 second ST red green 0 25 second communications receive buffer over flow Only a power cycle clears this condition ST red off 0 5 second only on...

Страница 197: ...ng an RFS command will allow you to return to RS232 operation To force a hardware RFS follow the procedure detailed below note you will loose any program in memory and system variables will return to...

Страница 198: ...500 S and compares the value to the under and over voltage trip values If the HV is 98V or 16V the following actions will be taken Indexed motion will be stopped instantly and the drive will then de...

Страница 199: ...rever until logic supply can no longer keep the micro alive If the logic supply is experiencing dips then this may manifest itself as locked up comms A common mistake when running off 24V HV is to wir...

Страница 200: ...lable from the test commands The firmware will not allow an energise whilst this fault is present Output stage over current This is monitored in hardware The power stage will be de energised by hardwa...

Страница 201: ...ramp down of velocity If the drive was following and doing a superimposed move then the superimposed move will be subject to the ramp down of velocity and once that has stopped following will be disab...

Страница 202: ...ly to Parker without prior authorisation Repairs will be carried out by Parker but will be processed via your supplier Parker may at their discretion authorise direct shipment to and from Poole Offenb...

Страница 203: ...mperature ext 24V reversed encoder fault Maximum output current ViX500 5 6A rms 8A peak ViX250 2 8A rms 4A peak Output current adjustment Programmable from 0 1A to maximum rated current Standby curren...

Страница 204: ...echoback Xon Xoff supported Baud rate 9600 19200 Address setting range 1 255 by software RS232 connection 2 wire plus ground Digital Inputs User programmable inputs 5 Dedicated inputs Home limit limi...

Страница 205: ...nge 0 to 50 C ambient 0 to 40 C natural convection 40 C to 50 C airflow is required through the drive at better than 0 5m s air velocity entering the drive Storage temperature range 20 to 70 C Humidit...

Страница 206: ...198 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE...

Страница 207: ...h screen X1 9 X1 8 Figure A 1 Drive Power Supply Note The saftey earth must be reliably earthed at X1 8 The DC input should also be connected to earth at a convenient point Supply Wiring Use approved...

Страница 208: ...itions will give a useful guide to the final specification required Fuses Fuses should be time delay high breaking capacity and should be rated for the number of drives and expected in rush current AC...

Страница 209: ...Series 8 Lead 23 Frame Red Black White Green Link Yellow Blue Link Orange Brown Parker OS Series 8 Lead LVD10 Red Black White Green Link Yellow Blue Link Orange Brown Parker STT STL 8 Lead Red Yellow...

Страница 210: ...ries 8 Lead 34 Frame Red Black White Green Internally wired in parallel Parker OS Series 8 Lead LVD10 Red Blue Black Yellow White Brown Green Orange Parker STT STL 8 lead Red Blue Yellow Violet Pink W...

Страница 211: ...p operation 87 Code structure 45 Command address requirements 115 label multi parameter syntax 116 presentation 115 reference 115 simple syntax 115 Command checking 118 Command defaults 162 Command li...

Страница 212: ...lity 29 Encoder setup 88 END label 45 Environment specification for drive 197 EO system variable 59 ES system variable 61 Event code example 54 EW system variable 61 EX system variable 61 EXIT from lo...

Страница 213: ...flag 62 IP system variable 61 IS input status 140 IT system variable 61 K KILL 141 L Label definition 46 execution 46 naming 48 number available 46 predefined list 46 select command 46 specification...

Страница 214: ...system variable 63 PI system variable 63 PL1100 product description 16 PM system variable 63 Pollution degree 197 Port configuration 102 Position flags 61 Position maintenance 88 Position Maintenance...

Страница 215: ...on 91 Stall detection 91 Star point 9 START 50 START label 53 Starting a program 45 STATUS 168 Status Bit description 66 Status bits list 181 Status report example 111 Status reporting immediate 71 S...

Страница 216: ...Welcome box 96 Windows menu 100 Windows 95 Wire size of motor earth 22 26 Withstanding voltage rating 199 X X1 connector 28 X1 connector pin out 28 X1 mating connector type 28 X2 connector 29 X2 conne...

Страница 217: ...it to the number given below Alternatively you may phone or email the correction Name of user guide Part number 1600 _ _ _ _ _ Found on the title page in the bottom left corner Your name Contact numbe...

Страница 218: ......

Страница 219: ...erved Motor overtemp Rx Tx RS485 Drive reset RS232 GND RS232 Rx 1 2 3 4 5 6 7 8 9 X3 Function Communications RS232 Tx Rx Tx RS485 RS232 Tx D loop Do not connect 5V output requires CAN option 0V 0V 0V...

Страница 220: ...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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