TOL-O-MATIC Axidyne Axiom PV30 Скачать руководство пользователя страница 8

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For Sales and Support, Contact Walker EMD • Toll-free: (800) 876-4444 • Tel: (203) 426-7700 • Fax: (203) 426-7800 • www.walkeremd.com

Figure

Description

Page

9.18

Axiom Plus Sinking Output Connected to Sourcing Opto22 Solid State Relays . . 9-12

9.19

Axiom Plus Power Off Holding Brake Connection . . . . . . . . . . . . . . . . . . . . . . 9-12

10.1

Brake Connection & Regeneration Resistor Connections . . . . . . . . . . . . . . . 10-2

11.1

Tuning and Diagnosis Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

11.2

Drive-Stage Diagnosis Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4

11.3

Drive-Stage Tuning Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5

11.4

Tuning and Diagnostic Screen with Analog Input Calibration Function Active. 11-9

12.1

Sequential Program Display / Edit Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2

12.2

12.3

I/O Flag Table Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4

12.4

Sequential Program Debugger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5

12.5

Watched Registers & Flags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6

12.6

View / Edit Default Parameters Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7

12.7

Sequential Program Listing Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-8

12.8

Icon Menu Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-8

12-9

Axis Motion Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-8

12-10

Absolute Position Move Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-11

12.11

Sequential Instruction Form for Programming of Analog Absolute
Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-13

12.12

Sequential Instruction Form for Programming of Analog Absolute
Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-14

12.13

Set/Clear Multiple Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-16

12.14

Program Control Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-17

12.15

Branch on Analog Input Compare. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-18

12.16

Branch on Register Compare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-19

12.17

Parameter Value Change Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-20

12.18

Axis Homing Routines Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-21

12.19

Absolute Position Feedback Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-24

12.20

12.21

Increment/Decrement Count Register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-27

12.22

PLC Menu and Programming Form Screen . . . . . . . . . . . . . . . . . . . . . . . . . . 12-28

12.23

PLC Programming Form Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-30

12.24

Operation Details Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-31

12.25

Operation Selection Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-32

12.26

One Shot Definition Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-33

12.27

12.28

Timer Definition Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-35

12.29

Counter Definition Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-36

12.30

Operand Display / Selection / Comment Screen . . . . . . . . . . . . . . . . . . . . . . . 12-37

12.31

Indexer Control Flags Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-41

12.32

Default PLC Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-44

13.1

ModBus Configuration and Setup Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-12

L I S T

O F F I G U R E S

Содержание Axidyne Axiom PV30

Страница 1: ...ll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 3600 4628_05 AXIOM PLUS PV Series Brushless Servo Controller Drive User Manual TOL O MATIC INC Excellence in Motion ELECTRIC LI...

Страница 2: ...drive connections must be suitably guarded to protect against electrical shock hazards Cables Use only Tol O Matic supplied cables or cables deemed suitable for use by a competent person familiar wit...

Страница 3: ...i Chapter 1 Safety Potential Hazards 1 1 Your Responsibilities 1 2 Safety Guidelines 1 2 Chapter 2 Theory of Operation Discussion of Drive Technologies 2 1 Three Phase Brushless Motors 2 1 Commutation...

Страница 4: ...istor Use and Sizing 10 1 Chapter 11 Final Checkout and Tuning Online Tuning and Diagnosis 11 1 Command Menu Online Tuning Diagnosis Mode 11 1 Indexer Status Fault I O 11 2 Oscilloscope 11 3 Encoder F...

Страница 5: ...tionality Analog Register 13 11 ModBus Communication Setting 13 12 Addressing of Slave Axiom Plus Devices 13 13 Mapping 13 14 Axiom Plus Registers into Modbus Registers 13 14 Axiom Plus Discrete I O a...

Страница 6: ...utputs B 2 Connectors B 2 Environmental B 3 Motor Protection B 3 Regeneration Ratings B 3 Power Dissipation B 4 Appendix C Motor Performance Data Motor Drive Performance Curves for MRV Series Motor Dr...

Страница 7: ...s Using External Power Supply 9 2 9 4 Axiom Plus Sinking Input Connected to Sourcing Output Using Internal Power Supply 9 3 9 5 Axiom Plus Sinking Input Connected to Sourcing Output Using External Pow...

Страница 8: ...ove Window 12 11 12 11 Sequential Instruction Form for Programming of Analog Absolute Position Control 12 13 12 12 Sequential Instruction Form for Programming of Analog Absolute Velocity Control 12 14...

Страница 9: ...rves C 2 C 3 MRV 22Y PV10 Single Phase Three Phase Drive Performance Curves C 2 C 4 MRV 23Y PV10 Single Phase Three Phase Drive Performance Curves C 3 C 5 MRV 24Y PV10 Single Phase Three Phase Drive P...

Страница 10: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com viii...

Страница 11: ...ns Protective Conductor terminal Earth ground Chassis terminal Not a protective ground Risk of Electrical Shock symbol The use of the following symbols and signal words is based on an estimation of th...

Страница 12: ...ety Failure to ground the shield of a shielded power cable could result in potentially lethal voltages being present on the shield and anything connected to it DANGER The DC bus capacitors may retain...

Страница 13: ...circuitry This circuit must remove power from the system in case of improper operation The drive enable is not adequate for this purpose as it does not remove supply voltage from the unit and may not...

Страница 14: ...3 426 7700 Fax 203 426 7800 www walkeremd com Caution If the cabinet is ventilated use filtered or conditioned air to prevent the accumulation of dust and dirt on electronic components The air should...

Страница 15: ...ents a Flux Vector or field oriented current control algorithm This allows for precise high bandwidth current control in each individual motor phase and minimizes torque variations due to slight phase...

Страница 16: ...han traditional sinusoidal commutation drives State of the art Flux Vector Motor Current Control Allows higher bandwidth control of torque producing current than traditional Sinusoidal approach Flux V...

Страница 17: ...al regeneration capacity Motor and Drive thermal protection Auto Phasing Requires no Hall Effect switches for phasing or commutation RS 232 communications including ASCII and Modbus RTU protocols Wind...

Страница 18: ...Vac analog input range ANALOG INPUT 14 bit 10 volt differential Scale and offset adjustments 2 LSB s accuracy over full scale input range AC INPUT POWER Axiom Plus units are powered directly from a s...

Страница 19: ...hical interface that communicates through the drive s RS 232 serial communications port Windows 95 98 NT and XP are supported The software allows easy selection of any Tol O Matic MRV series brushless...

Страница 20: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com xviii...

Страница 21: ...Fire Mechanical Stored Energy These hazards must be controlled by suitable machine design using the safety guidelines which follow There are no chemical or ionizing radiation hazards VOLTAGE POTENTIA...

Страница 22: ...should know where the First Aid equipment is kept and the identity of the official First Aid personnel These safety notes do not represent a complete list of the steps necessary to ensure safe operat...

Страница 23: ...System documentation must be available and observed at all times All non qualified personnel should maintain a safe distance from the equipment The system must be installed in accordance with local re...

Страница 24: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 S A F E T Y 1 4...

Страница 25: ...ngs are wound on the stator rather than the rotor armature much better heat transfer occurs between the heat generating windings and the outside environment This allows a more powerful motor to be bui...

Страница 26: ...manent magnet s magnetic field is what causes motor shaft rotation The necessary switching of current between the motor windings to cause this magnet field rotation is what is referred to as commutati...

Страница 27: ...tage vectors applied the field rotates in steps This means its magnetic field is not at a right angle to the rotor magnet s field at all times This causes the torque to vary as the motor rotates This...

Страница 28: ...se microcontroller or DSP Digital Signal Processor technology to implement their control loop filters digitally This eliminates potentiometer tuning and problems associated with analog circuit drift a...

Страница 29: ...e at higher speeds additional motor heating and torque variability with current ripple Some of the most modern sine commutation drives attempt to solve these problems by taking individual current phas...

Страница 30: ...ore speed at a given torque than the theoretical maximum possible with sine commutation Furthermore as a Vector Drive all Axiom PV and DV series drives provide closed loop motor control of torque prod...

Страница 31: ...ic recommends the unit be carefully inspected for any signs of physical damage If any damage is detected contact the purchasing agent to make a claim with the shipper If any improper performance is de...

Страница 32: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 3 U N P A C K I N G I N S P E C T I O N S T O R A G E 3 2...

Страница 33: ...this level of protection 2 Size enclosure to provide the following spacing around the unit Above and Below 5 1 cm 2 in Sides 1 25 cm 0 5 in Front 7 6 cm 3 in Caution If the cabinet is ventilated use...

Страница 34: ...N R S T L3 L2 L1 C O M M ENCODER OUT ENCODER FOLLOWER ENC 5V A A B B I I COM SHLD MOTTEMP 24Vdc 24Vdc RTN COM 1 6 INPUT 1 INPUT 2 INPUT 3 INPUT 4 INPUT 5 INPUT 6 COM 13 15 INPUT 13 INPUT 14 INPUT 15 T...

Страница 35: ...EGEN COM EXT REGEN INT REGEN ENC 5V A A B B I I COM SHLD MOTTEMP TOL O MATIC HAMEL U S A WARNING VOLTAGE EXISTS UPTO 2 MIN AFTER POWER IS REMOVED J 2 J 1 J 5 ENCODER OUT ENCODER FOLLOWER 24Vdc 24Vdc R...

Страница 36: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 4 P H Y S I C A L M O U N T I N G O F T H E D R I V E 4 4...

Страница 37: ...les Tinned cables may loosen in screw terminal connections over time General Wiring Guidelines It is always best to keep power wiring separate from control wiring Properly terminated shielded cables f...

Страница 38: ...ed Refer to Appendix B for information on drive inrush ratings and specify circuit breakers accordingly Axiom Plus units are designed for direct connection to an ac power main No isolation transformer...

Страница 39: ...motor Caution Do not tin solder the exposed leads on cables Tinned leads will loosen in time and may come loose from their screw terminal connections General Wiring Guidelines It is always best to kee...

Страница 40: ...hasing is necessary for proper motor operation The following color codes apply to Tol O Matic cables Figure 6 2 PV10 20 30 Motor Encoder Connections COM 5V J7 MRV11 I B I B A A Black Red Brown Green O...

Страница 41: ...m the drive to the motor The drive remains powered so that it maintains its phasing information Failure to disable the Axiom output BEFORE physically breaking the connection with the motor can cause d...

Страница 42: ...r EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 6 M O T O R E N C O D E R P O W E R C O N N E C T I O N S 6 4 Figure 6 4 Drive Remains Powered TB2 PHASE 2 PHASE 1 EART...

Страница 43: ...A personal computer running Microsoft Windows 95 98 NT or XP A hard disk with 10 MB of free disk space CD ROM drive Installation 1 Close all Windows programs 2 Insert the Tol O Motion disc in the CD...

Страница 44: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 7 S O F T W A R E I N S T A L L A T I O N 7 2...

Страница 45: ...ation screen to perform your initial checkout please follow the steps below 1 Recheck power motor and encoder connections to make sure all are correct 2 Apply power to the Axiom Plus If the unit has N...

Страница 46: ...Indexer Setup Config Figure 8 2 Set Up and Configuration Screen The Setup and Configuration screen is divided into seven sections which are labeled as follows 1 Commands Setup and Configuration Mode...

Страница 47: ...n Tol O Matic motor please contact the sales representative from whom this unit was purchased Retrieve Parameters from Disk File This allows the user to bring a previously saved set of parameters into...

Страница 48: ...umber of your motor is not displayed in the dropdown list it is not compatible with the drive choice you have selected in the section above Please verify that you have chosen the correct drive and if...

Страница 49: ...ot need to use the Configuration function If you wish to change to user units you can do so as follows Click the Configure Button to open the Register Precision Configuration screen Figure 8 3 Registe...

Страница 50: ...ates to ModBus setup and addressing In order to use this feature the drive must be operating in ModBus Mode Figure 8 4 ModBus Configuration Window Now that you are familiar with the Setup and Configur...

Страница 51: ...screen The first time this is done placeholder parameters will be displayed 3 Choose the correct Tol O Matic motor from the list displayed 4 Set Phasing Torque and Phasing Degree as required by your...

Страница 52: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 8 I N I T I A L C H E C K O U T 8 8...

Страница 53: ...ource or power The power can be provided from the Axiom Plus built in 24VDC 400mA power supply or an external customer supplied 5VDC 24VDC power supply Note that inputs 13 and 14 serve also as inputs...

Страница 54: ...Switch Tol o matic Sourcing Hall Effect 24 Vdc 24Vdc RTN COM x y INPUT INPUT INPUT INPUT INPUT INPUT Sourcing Switches Sinking Input AxiomPlus Normally Open Normally Closed Normally Open Normally Clos...

Страница 55: ...ut Using External Power Supply 24 Vdc 24Vdc RTN COM x y INPUT INPUT INPUT INPUT INPUT INPUT COM 0 7 OUT 7 OUT 6 OUT 5 OUT 4 OUT 3 OUT 2 OUT 1 OUT 0 0 VDC VDC Neutral Line Sinking Input AxiomPlus Sourc...

Страница 56: ...ally Closed Push Button COM x y 0 VDC VDC Neutral Line Sourcing Input AxiomPlus Forward Limit Form C Reed Switch Normally Closed Contact Reverse Limit Form C Reed Switch Normally Closed Contact Home S...

Страница 57: ...uts Using External Power Supply 24 Vdc 24Vdc RTN COM x y OUT 0 OUT 1 COM 0 7 OUT 7 OUT 6 OUT 5 OUT 4 OUT 3 OUT 2 0 VDC VDC Neutral Line INPUT INPUT INPUT INPUT INPUT INPUT Sourcing Input AxiomPlus Sin...

Страница 58: ...log input option is not needed The front panel overlay of the Axiom products indicates which inputs are available for dual use Figure 9 10 Front Panel Overlay showing Analog Input and General Purpose...

Страница 59: ...impedance proper operation of inputs 13 and 14 will require 2 2kOhm pullup pulldown resistors if used with outputs that are single ended Figure 9 12 Pullup Pulldown Wiring COM 13 15 J6 OUT 0 OUT 1 CO...

Страница 60: ...onversion range 7782 Effective resolution 15564 Absolute accuracy 2 LSB s Analog input impedance Analog input to analog input 40 kOhms Either input to analog common 40 kOhms Signal common mode range 5...

Страница 61: ...current when the output is on Caution The maximum voltage between and pair of and output terminals is 24VDC Never connect AC voltages to the output terminals Maximum current is 20mA per output Since...

Страница 62: ...rcing Output Connected to Sinking Input Using External Power Supply 0 VDC VDC Neutral Line 24 Vdc 24Vdc RTN IN 1 IN 0 IN 2 IN 3 IN 4 IN 5 IN 6 IN 7 DC COM OUT OUT OUT OUT Sourcing Output AxiomPlus Sin...

Страница 63: ...y Figure 9 17 Axiom Plus Sinking Output Connected to Sourcing Input Using External Power Supply 0 VDC VDC Neutral Line 24 Vdc 24Vdc RTN OUT OUT OUT OUT IN IN IN IN IN IN IN VDC COM IN Sinking Output A...

Страница 64: ...22 Solid State Relays Figure 9 19 Axiom Plus Power Off Holding Brake Connection BRAKE BRAKE T B 1 EXTERNAL SUPPLY BRAKE COIL 3 3 3 3 4 4 4 4 2 2 2 2 1 1 1 1 24 Vdc 24Vdc RTN 2 3 4 5 6 7 8 9 2 3 4 5 6...

Страница 65: ...s provide for connection of a high wattage external resistor pack to accommodate the most severe applications Since the internal resistors of the Axiom Plus PV series can dissipate the full peak load...

Страница 66: ...EXT REGEN Permanent unit damage will result WARNING If external regeneration resistance is necessary use a resistor of the desired Watt rating and with a resistance value within the range specified in...

Страница 67: ...e application s load to achieve desired performance Online Tuning and Diagnosis In order to perform final checkout and tuning of your Axiom Plus you will need to use the Online Tuning and Diagnosis fu...

Страница 68: ...on is the INACTIVE mode and will be activated by selecting the button The functionality displayed in the center of the screen will change accordingly Exit Tuning and Diagnosis Returns the user to the...

Страница 69: ...disables the slider feature The slider allows accurate readings of the traces Display Selections This area has four choices Position Error Torque Acceleration and Velocity Boxes checked will be displ...

Страница 70: ...n a rising or falling slope A rising slope would correspond to a CW step command ENCODER FEEDBACK SECTION This small section at the bottom of the screen allows the user to evaluate the raw count chang...

Страница 71: ...Stage Tuning Screen There are essentially three sections in this window and these function as follows Drive Interface Section The left most portion of this screen allows the user to select the source...

Страница 72: ...to manually adjust eight different tuning parameters allowing for fine tuning of the servo control These parameters are used as follows Pp gain Position proportional gain increases stiffness by increa...

Страница 73: ...tomatic Tuning 4 Make sure the system is enabled As discussed previously the drive may be software disabled from this screen but cannot be enabled unless the Enable input is active via the PLC 5 Use t...

Страница 74: ...on Caution Motor movement will occur Make adjustments to the gains until the desired response is achieved It is usually best to start with a relatively low value of proportional Pp gain and adjust the...

Страница 75: ...terminals together to force an input of zero volts Adjust the offset for a displayed reading of 0 000 volts Apply a fixed voltage of 9 to 10 volts would be applied positive and adjust the gain so tha...

Страница 76: ...ta The diagnostics screen also displays the analog input reading with gain and offset applied when the analog input calibration function is not active The value is then displayed live at the lower lef...

Страница 77: ...motion By combining the functionality of these two threads complex control programs can be written that would be difficult or impossible with a PLC or sequential motion controller alone As the name im...

Страница 78: ...in progress in a given editor The sequential program prg and PLC program plc can be saved as separate files or saved together using the Save Project command All comments within a PLC and or sequentia...

Страница 79: ...ation will overwrite any sequential program that is resident in the programming workspace If you need to keep the program currently in the workspace for future use you will need to utilize the Save fu...

Страница 80: ...Register Display Screen I O FLAG TABLE Display a list of the I O and PLC bit flags and allows comments to be inserted here The double star icon in the USED Column indicates that this I O or flag is b...

Страница 81: ...menu replaces the Program Menu User Units Encoder Counts Unit and Jog Default Parms configuration information boxes replaced with the Debug Menu and Drive Status and Jog Control boxes The next instruc...

Страница 82: ...he drive to move as long as the button is down This jog control initiates a jog move using the settings for Jog1 The Drive Status box the current program line and the watch window if present are updat...

Страница 83: ...perating in quadrature equaling 4000 counts rev Example A 2 turns per inch screw has 2 x 4000 8000 counts inch A negative value i e 8000 counts inch would reverse the polarity for programmed motion a...

Страница 84: ...QUENTIAL PROGRAM LISTING Figure 12 7 Sequential Program Listing Screen A single program instruction consists of the following four parts Icon An icon is a visual representation of the type of instruct...

Страница 85: ...of edit operations The user then may choose the desired operation and click on its button The following is a description of those operations VIEW EDIT INSTRUCTION PARAMETERS View or edit an existing...

Страница 86: ...ITION MOVE Allows the user to define a move that will end at a defined distance from the zero point The Axiom Plus defines motor rotating CW facing the shaft as the positive direction and CCW as the n...

Страница 87: ...rings up the Motion Event Trigger Parameters window The user then selects the source of the trigger either an absolute position reached or a PLC flag physical input The next step is to define the acti...

Страница 88: ...es in the command analog input Maximum speed can be assigned to a velocity register as well ANALOG POSITION CONVERSION FACTOR This allows the user to set the gain applied to analog voltage to determin...

Страница 89: ...this instruction will terminate motion tracking of the analog input will stop and the system will decelerate to a stop Execution of the next sequential instruction will then commence ANALOG INPUT VELO...

Страница 90: ...ition is made motion will decelerate to a stop and execution of the next sequential instruction will start Figure 12 12 Sequential Instruction Form for Programming of Analog Velocity Control The veloc...

Страница 91: ...l range ANALOG DEADBAND This parameter allows the user to enter a voltage range around the setpoint which will correspond to a command of zero velocity In the figure a value of 0 100 volts is programm...

Страница 92: ...block of flags of 8 or 16 in the drive Any flags that are set or cleared in this instruction those changes take place simultaneously The blocks of flags available are shown in figure 12 13 To use thi...

Страница 93: ...ic 1 true or logic 0 false CALL SUBROUTINE Causes an unconditional subroutine call When a subroutine is called the program executes the instructions starting with the subroutine label The last instruc...

Страница 94: ...uses the sequential program to branch to another label based on the comparative value of either actual or commanded position against a user defined value or a register value The user can define the co...

Страница 95: ...value and lastly enter the branch label Figure 12 16 Branch on Register Compare START REPEAT LOOP Placed at the beginning of a block of instructions that need to be repeated a defined number of times...

Страница 96: ...ctions changes various internal parameters from within the sequential motion program This type of instruction is divided into the following instructions Figure 12 17 Parameter Value Change Window MAXI...

Страница 97: ...n effect until they are re defined elsewhere in the sequential program AXIS HOMING ROUTINES ABSOLUTE POS FEEDBACK Use this group of instructions to choose homing routines This type is divided into the...

Страница 98: ...ator to match the Actual position as determined by encoder feedback As a result following error is zeroed out ABSOLUTE POSITION FEEDBACK ANALOG This sequential instruction allows switching position fe...

Страница 99: ...nch CAUTION It is important that the sign of these parameters provides for the same polarity i e if the analog feedback polarity does not match the equivalent position feedback from the incremental en...

Страница 100: ...no offset added Figure 12 19 Absolute Position Feedback Mode The scale factor and offset parameters provide for flexibility in assigning an absolute position range to the analog range provided by any...

Страница 101: ...orce a switch back to incremental position feedback NOTE If this instruction is executed position feedback switches back to incremental per the encoder but the absolute position reference is unchanged...

Страница 102: ...program ASSIGN REGISTERVALUE This command allows the definition of a register value for either Position Velocity or Torque These values can be stored in RAM or non volatile registers see above and can...

Страница 103: ...203 426 7800 www walkeremd com Figure 12 21 Increment Decrement Count Register SAVE ANALOG INPUTVAULE TO REGISTER This instruction saves the current value of the analog input to a register Select the...

Страница 104: ...Main Menu screen A screen will appear consisting of an editing window with a menu of buttons on the right labeled PLC Menu These buttons are used to select the desired action Figure 12 22 PLC Menu and...

Страница 105: ...LOAD Uploads the PLC program stored in the Axiom Plus drive to the PC DOWNLOAD Downloads the currently displayed PLC program to the Axiom Plus drive OPEN FILE Open a PLC program file previously saved...

Страница 106: ...ither a new rung template or the selected rung Figure 12 23 PLC Programming Form Screen Any rung location with a valid operation already in place is displayed in blue The open locations are gray and d...

Страница 107: ...s either inputs or outputs A rung can have multiple inputs logical operations that it evaluates but a rung can only have a single output The first five vertical columns of a rung are designated for in...

Страница 108: ...m There are twelve different operations available depending on whether you are working on an input or an output The functions of these are as follows INPUT OPERATIONS NORMALLY OPEN CONTACT Operation i...

Страница 109: ...t is true for one complete program scan The remaining rungs in the current scan will see the output and the associated One Shot flag bit as true and the rungs above it will see it as true in the next...

Страница 110: ...manded values Figure 12 27 Register Comparison Screen OPEN NULL CONNECTION This simply inserts an open circuit always false at the current rung location This cannot be used as the only input location...

Страница 111: ...r timer types can be selected On Delay the timer output flag bit goes true the selected amount of time after the rung is true The timer flag bit will stay true until the rung goes false Off Delay the...

Страница 112: ...ll be true and stay true until the counter is reset to zero by the counter reset coil going true After the counter is reset the output bit flag will be false The counter can also be reset to zero at a...

Страница 113: ...chosen operation type will be displayed Figure 12 30 Operand Display Selection Comment Screen The functions on this screen perform as follows COMMENTS Each operand may have a comment with up to eight...

Страница 114: ...unctions First Scan SPL001 This bit flag is true on the first PLC scan after power up it is false otherwise Logic One SPL002 This bit flag in always true Logic Zero SPL003 This bit flag is always fals...

Страница 115: ...order to monitor the status of the controller Following is a list and description of these bits Drive output enabled status ICS001 This bit flag is true when the controller is enabled and not faulted...

Страница 116: ...gic states through multiple rungs They can also be used as either an operand for a coil or a contact When used as a contact if allows the state of its output coil PLC TO SEQUENTIAL PROGRAM FLAGS PTS T...

Страница 117: ...are that the drive is enabled and cycle stop is false Cycle Stop Command ICC003 Stops the sequential program if motion is in progress the motor decelerates to a stop using the rate entered in Jog Defa...

Страница 118: ...jog Jog 2 CW ICC008 The jog 2 CW output coil will cause the motor to move clockwise positive direction at the rate defined in the Jog Default parameters window For the jog to operate the drive needs t...

Страница 119: ...nditions that the CCW travel limit switch is connected to When the switch is activated during normal operation the drive will fault and display the limit switch fault L02 on the front panel LED and th...

Страница 120: ...e programming software so it can be reloaded if necessary Figure 12 32 Default PLC Program Example The user may need to change the inputs used in the default PLC program to match the field wiring of t...

Страница 121: ...if it was in a cycle pause condition IN 6 Jog1 PB This input will cause the motor to jog at the rate defined for Jog 1 in the positive direction if the sequential program is not running IN 7 Jog1 PB...

Страница 122: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 2 P R O G R A M M I N G 12 46...

Страница 123: ...t as a master and manipulate the slave Axiom with a single serial connection RS232 SERIAL COMMUNICATIONS CHARACTER FRAMING SETTINGS ASCII commands and Axiom Plus software serial communication settings...

Страница 124: ...UW83XXXXYYYYYYYY XXXX is register id 1 32 Ascii coded hex YYYYYYYY is 32 bit signed integer to be written to register Ascii coded hex Velocity Ram Registers Read UR85XXXX XXXX is register id 1 16 Asc...

Страница 125: ...ow word of 32 bit integer Ascii coded hex Write UW8BXXXXYYYYYYYY XXXX is register id 1 32 Ascii coded hex YYYYYYYY is 32 bit integer with low word being 16 bit value to be written to register Ascii co...

Страница 126: ...register id 1 4 Ascii coded hex Returns 32 bit signed integer register value returned as Ascii coded hex Write UW95XXXXYYYYYYYY XXXX is register id 1 4 Ascii coded hex YYYYYYYY is 32 bit signed intege...

Страница 127: ...nefeed characters will be stripped and ignored Serial communications settings must be 19200 baud 8 data bits 1 stop bit odd parity No hardware or software handshaking is used READING INDEXER INTERNAL...

Страница 128: ...sequential program execution fault non fatal F58 bit 5 drive disabled condition d bit 6 phasing in progress P bit 7 clockwise travel limit active no fault L01 bit 8 counter clockwise limit active no...

Страница 129: ...ded hex MANIPULATION OF PLC FLAGS USING ASCII SERIAL PORT COMMANDS Various PLC flags can now be read and or written using serial commands General serial port commands are provided for reading and writ...

Страница 130: ...of forcing flag queried Set 1 Flag US03XXXX XXXX is flag id 1 64 Ascii coded hex The identified forcing flag will be set to 1 Returns Nothing Clear 1 Flag UC03XXXX XXXX is flag id 1 64 Ascii coded he...

Страница 131: ...is word id 1 only Ascii coded hex Returns a 32 bit integer value returned as Ascii coded hex with bits 0 10 representing logic state of indexer status flags 1 12 respectively Indexer Control State Fl...

Страница 132: ...osition from 0 to 5 XXXX decimal shift of 0 XXXX 0 decimal shift of 1 XXXX 00 decimal shift of 2 XXXX 000 decimal shift of 3 XXXX 0000 decimal shift of 4 XXXX 00000 decimal shift of 5 If user units an...

Страница 133: ...nits and a decimal shift of 1 is selected then a register value of 754 will represent a torque limit of 75 4 of peak configured current torque and the firmware will make the appropriate scaling calcul...

Страница 134: ...parison of the analog input to a hard entered value or register value and general comparison of analog register values Analog registers can be assigned values by the sequential program as per other re...

Страница 135: ...bination to define the character framing for ModBus RTU communications This selection will be made at configuration and once a configuration is downloaded to the Axiom Plus the chosen settings will be...

Страница 136: ...s address 40001 but is actually addressed as 0 in ModBus query messages with register 40002 addressed as 1 etc The ModBus query message identifies the register type so the 4 identifier is not used as...

Страница 137: ...2 40054 53 005 40065 64 40066 65 40067 66 40068 67 40069 68 40070 69 006 40081 80 40082 81 40083 82 40084 83 40085 84 40086 85 007 40097 96 40098 97 40099 98 40100 99 40101 100 40102 101 008 40113 112...

Страница 138: ...28 40530 529 40273 272 40274 273 018 40531 530 40532 531 40275 274 40276 275 019 40533 532 40534 533 40277 276 40278 277 020 40535 534 40536 535 40279 278 40280 279 021 40537 536 40538 537 40281 280 4...

Страница 139: ...6 1025 40769 768 40770 769 010 41027 1026 41028 1027 40771 770 40772 771 011 41029 1028 41030 1029 40773 772 40774 773 012 41031 1030 41032 1031 40775 774 40776 775 013 41033 1032 41034 1033 40777 776...

Страница 140: ...41297 1296 41298 1297 018 41555 1554 41556 1555 41299 1298 41300 1299 019 41557 1556 41558 1557 41301 1300 41302 1301 020 41559 1558 41560 1559 41303 1302 41304 1303 021 41561 1560 41562 1561 41305 1...

Страница 141: ...HIGH WORD LOW WORD NO ID ADDRESS ID ADDRESS ID ADDRESS ID ADDRESS 001 40137 0136 40138 0137 40009 0008 40010 0009 002 40025 0024 40026 0025 003 40041 0040 40042 0041 004 40057 0056 40058 0057 005 4007...

Страница 142: ...s for read and or write access Physical Inputs 1 15 ModBus access read only Physical Outputs 1 8 ModBus access read only PLC Local Flags 1 64 ModBus access read only Indexer Status Flags 1 12 ModBus a...

Страница 143: ...001 0000 Physical Input 002 0001 Physical Input 015 0014 RESERVED 0015 0255 PLC Local Flags mapped into ModBus input space 1X references ModBus access read only Axiom Plus Discrete ModBus Address PLC...

Страница 144: ...2 0779 RESERVED 0780 1027 Physical Outputs mapped into ModBus coil space 0X references ModBus access read only Axiom Plus Discrete ModBus Address Physical Output 001 0000 Physical Output 002 0001 Phys...

Страница 145: ...s interpreted as a potential break between messages with a minimum of 3 5 character times necessary for a valid time space between messages This means that the Axiom Plus firmware monitors serial port...

Страница 146: ...Mapping of Axiom Plus discrete I O and Flags into ModBus 0X and 1X reference memory space and Mapping of Axiom Plus registers into ModBus Register Memory Space of this document for listing of support...

Страница 147: ...Status Reads the logical 1 or 0 state of discrete inputs physical inputs or flags mapped to ModBus 1X reference addresses Broadcast is not supported This command syntax is similar to that for command...

Страница 148: ...ting of logic state of PLC forcing flags Physical outputs cannot be forced The normal response to this command is simply an echo of the query sent once the coil logic state has been forced If the coil...

Страница 149: ...eption response will be returned Due to the way in which Axiom Plus registers are mapped to ModBus 4X address space it is possible to write different types position velocity or torque limit of Axiom P...

Страница 150: ...al F55 bit 16 _fsflag1 0 velocity regulation fault non fatal F56 bit 17 _fsflag1 1 serial communications fault non fatal F57 bit 18 _fsflag1 2 positive travel limit fault non fatal FL1 bit 19 _fsflag1...

Страница 151: ...hree outputs from the external controller connected to three inputs on the Axiom Plus IN 10 11 and 12 to define a binary sequence giving six possible states The Axiom Plus will use the inputs to set s...

Страница 152: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com Figure 14 1 PLC Program Listing 1 4 E X A M P L E S 14 2...

Страница 153: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com Figure 14 2 PLC Program Listing 14 3 E X A M P L E S 1 4...

Страница 154: ...g The sequential program is setup using a main loop that will call the required subroutine based on the state of the PLC to Sequential Flag The sequential program has six conditional subroutine calls...

Страница 155: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com Figure 14 4 Sequential Program Listing 14 5 E X A M P L E S 1 4...

Страница 156: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 4 E X A M P L E S 14 6 Figure 14 5 Sequential Program Listing...

Страница 157: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 14 7 E X A M P L E S 1 4 Figure 14 6 Sequential Program Listing...

Страница 158: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 4 E X A M P L E S 14 8 Figure 14 7 Sequential Program Listing...

Страница 159: ...code For example L 0 1 indicates the drive is enabled and has reached the CW end of travel limit switch Faults Faults are caused by conditions that make it necessary for the drive to shut down When o...

Страница 160: ...ult Drive current regulation out of tolerance Current feedback in saturation for 1 second F05 Drive Over Temperature Fault Drive heat sink over 90 C F06 Motor Over Temperature Fault Motor thermostat p...

Страница 161: ...d The drive cannot be enabled until it has been configured FL1 Positive Travel Limit Controller received End Of Travel Limit input FL2 Negative Travel Limit Controller received End Of Travel Limit inp...

Страница 162: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 5 S T A T U S F A U L T D I S P L A Y 15 4...

Страница 163: ...e Failure to observe this precaution could result in severe bodily injury or loss of life PERIODIC MAINTENANCE Normally the only maintenance required is removal of superficial dust and dirt from the d...

Страница 164: ...utions Set to 115 V for 115 Vac operation or 230 V for 208 Vac or 230 Vac operation Symptom Fault Code F02 Bridge hardware fault Possible Causes Motor lead short circuit bus over voltage drive s outpu...

Страница 165: ...mechanical problems in system Symptom Fault Code F53 Motor over current fault Possible Causes I 2 time protection based on the motor s peak and continuous rating exceeded Possible Solutions Verify siz...

Страница 166: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com 1 6 M A I N T E N A N C E T R O U B L E S H O O T I N G 16 4...

Страница 167: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com Appendix...

Страница 168: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com...

Страница 169: ...R CABLE Tol O Matic offers a pre wired cable for encoder signal connection from the drive to a motion controller This cable is also used to connect to an auxiliary encoder for encoder follower applica...

Страница 170: ...rew terminal connections on the drive No special connectors are needed on the drive end All MRV 2x 3x and 5x series brushless servo motors use the same encoder cable connectors Tol O Matic encoder cab...

Страница 171: ...e shielded four conductor cable Wire size ranges from 16AWG to 12AWG MRV 5x motors have a different motor power connector and use a different cable Motor cables for MRV 2x and 3x motors used with PV10...

Страница 172: ...CONNECTOR MS3116E 14 8S NOT SHOWN MRV 2X 3X Motor MS3102E 20 4P MOTOR CONNECTOR MATING CONNECTOR MS3106E 20 45 NOT SHOWN MOTOR CONNECTOR PINOUT PIN A B C D FUNCTION PHASE R PHASE S PHASE T CASE GROUND...

Страница 173: ...nput Frequency 47Hz 63Hz Peak Inrush Current 65 A PV20 Continuous Current Rating 10A peak phase Peak Current Rating 20A peak phase Maximum Input Current Single Phase 25A rms Maximum Input Current Thre...

Страница 174: ...A 15 general purpose inputs can be configured to source or sink current Optically Isolated Outputs 8 optically isolated 25Vdc max 20mA max Can be configured to source or sink current Dedicated Relay O...

Страница 175: ...his calculation indicates that the motor windings are about to exceed a safe temperature DANGER Always make sure drive has a proper earth ground before operating system A drive with an inadequate eart...

Страница 176: ...current rating at 100 duty cycle As such they can be considered as maximum or worst case PV10 28W PV20 47W PV30 65W Maximum power losses are shown to help size a NEMA 12 or equiv alent enclosure and...

Страница 177: ...ounce inches TORQUE Newton meters MRV11Y PV10 Drive Single Phase 0 400 800 1200 1600 2000 2400 2800 3200 3600 4000 4400 4800 0 10 20 30 40 50 60 70 80 90 100 110 120 CONTINUOUS 115VAC CONTINUOUS 115V...

Страница 178: ...US 115VAC CONTINUOUS 115Vac P E A K 1 1 5 V A C P E A K 1 1 5 V a c P E A K 1 2 3 0 A 1 2 3 0 A C C P E A K 2 3 0 V a c CONTINUOUS 230VAC CONTINUOUS 230Vac 0 1 2 3 4 5 6 7 8 9 10 1 130 1 017 904 791 6...

Страница 179: ...00 0 5 10 15 20 25 30 35 3 95 3 39 2 82 2 26 1 69 1 13 57 0 CONTINUOUS 115VAC CONTINUOUS 115Vac P E A K P E A K 1 1 5 V A C P E A K 1 1 5 V a c P E A K 1 2 3 0 A C P E A K 2 3 0 V a c CONTINUOUS 230VA...

Страница 180: ...2800 3200 3600 4000 4400 4800 5200 5600 6000 0 5 10 15 20 25 30 35 CONTINUOUS 115VAC CONTINUOUS 115Vac PEAK 115VAC PEAK 115Vac PEAK 1230AC PEAK 230Vac CONTINUOUS 230V 230VAC CONTINUOUS 230Vac 2 26 1 6...

Страница 181: ...15VAC PEAK 208Vac PEAK 1230AC PEAK 230Vac CONTINUOUS 230VAC CONTINUOUS 230Vac CONTINUOUS 115VAC C CONTINUOUS 115Vac P E A K 1 1 5 V A C C P E A K 1 1 5 V a c PEAK 1230AC PEAK 230Vac CONTINUOUS 230VAC...

Страница 182: ...PEAK 1230AC PEAK 230Vac CONTINUOUS 230VAC C CONTINUOUS 230Vac CONTINUOUS 115VAC CONTINUOUS 115Vac P E A K 1 1 5 V A C P E A K 1 1 5 V a c PEAK 1230AC PEAK 230Vac CONTINUOUS 230VAC CONTINUOUS 230Vac RP...

Страница 183: ...00 2000 2200 2400 2600 2800 3000 CONTINUOUS 115Vac CONTINUOUS 115Vac P E A K 1 1 5 V 1 1 5 V a c a c P E A K 1 1 5 V a c PEAK 1230AC PEAK 230Vac CONTINUOUS 230VAC CONTINUOUS 230Vac 0 50 100 150 200 22...

Страница 184: ...For Sales and Support Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com C M O T O R P E R F O R M A N C E D A T A C 8...

Страница 185: ...MRV 21 4 75 120 7 06 MRV 22 5 75 146 1 06 MRV 23 6 75 171 5 06 MRV 24 7 75 196 9 06 1 8 3 2 SQ x 1 00 25 4 Long Key 0 44 11 2 1 50 03 38 1 0 10 2 5 5000 4995 12 700 12 687 1 500 1 498 38 10 38 05 2 25...

Страница 186: ...16 SQ KEY X 1 1 2 LONG 9 96 MAX 56 8 96 REF 10 2 063 030 625 624 4 75 4 75 4 500 4 497 3 8 16 UNC 2BTHRU 4 HOLES EQ SPD AS SHOWN ON A 5 875 B C 1 68 REF 2 74 Square 69 6 2 875 2 873 73 03 72 97 3 54 S...

Страница 187: ...it for repair Axiom drives are warranted against defects in material and assembly Limitations to warranty coverage are detailed in Terms Condi tions of Sale items 10 Return of Product and 11 Warranty...

Страница 188: ...t wording of any messages that appears on your screen How you have tried to solve the problem Distributor Representative Network Tol O Matic has a wide network of distributors that are trained to supp...

Страница 189: ...x 203 426 7800 www walkeremd com Copyright 2006 Tol O Matic Incorporated All rights reserved Axidyne Axiom Tol O Matic and Excellence In Motion are registered trademarks of Tol O Matic Incorporated Al...

Страница 190: ...upport Contact Walker EMD Toll free 800 876 4444 Tel 203 426 7700 Fax 203 426 7800 www walkeremd com TOL O MATIC INC 3800 County Road 116 Hamel MN 55340 763 478 8000 Telephone 763 478 8080 Fax http ww...

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