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VELMEX VXM-3, Руководство пользователя

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VELMEX VXM-3 Скачать руководство пользователя страница 15

15

Operation

commands:

Status

request

commands

:

G

H
!
res
del

x

y

#

?
~
$
@
B
O
getDx
getDA
getjmM

getjAmM

getJmM

getJAmM

getLmM
getPmM
getPA
getI

(i3,i1..)

[i1,i2...]

:

D

Bx

Ox

setDMx
setDAx
setjmM

setjAmM

setJmM

setJAmM

setLmMx
setPmMx
setPAx

setIx

Enable

On-Line

mode

with

echo

off

Grouping

a

<cr>

with

"^",

":",

"W",

"O"

responses;

Also

Go

after

waiting

or

holding

Put

Controller

on

Hold

(stop

after

each

command

and

wait

for

go)

Record

motor

positions

for

later

recall

with

“x”,”y”

commands

Software

reset

controller

Delete

last

command

Send

last

4

positions

of

motor

1

to

host

that

were

captured

by

the

“!”

command

or

Input

4

trigger

Send

last

4

positions

of

motor

2

to

host

that

were

captured

by

the

“!”

command

or

Input

4

trigger

Request

the

number

of

the

currently

selected

motor

Request

the

position

when

the

last

motor

started

decelerating

(shows

position

when

"D"

command

or

Stop/User

input

4

used)

Read

state

of

limit

switch

inputs

for

motor

1

and 2 ( 8 b i t binary

value)

Read

state

of

User

Inputs,

Motor

1

and

2

Jog

Inputs

(

8

bit

binary

value)

Read

state

of

User

Outputs

(

8

bit

binary

value)

(only on ver. 1.22 & up)

Read

user

analog

input

value

Read

Backlash

compensation

setting

Read

Indicate

limit

switch

setting

Read

mode/version

Read

Joystick

Deadband

setting

Read

first

range

Jog

Speed

for

motor

m.

for

Joystick

range

setting
Read

second

range

Jog

Speed

for

motor

m.

for

Joystick

range

setting

Read

mode

of

limits

for

motor

m

Read

“Pulse

Every

x

#

Steps”

value

for

axis

m

Read

Pulse

width

used

by

setPmMx

and

U7

(only on ver. 1.24 & up)

Read

operating

mode

of

user

inputs

Combine

Index

commands

to

run

simultaneously

on

two

VXM

controllers

connected

by

VXM

bus

Send

data

to

Slave

through

Master

Read

motor

position

(Digitize)

Backlash

compensation,

0=

off

(default),

1=

20

steps,

Ver. 1.25 up: x=0 to 255

Indicate

limit

switch

Over-travel

to

host,

off

when

x=0,

VXM

sends

"O"

when

x=1

and

hit

limit,

x=3

program

stops

too

Set

VXM/VP9000

or

NF90

emulation

modes,

and

other

operating

parameters

Set

Joystick

Deadband

value

Set

first

range

Jog

Speed

for

motor

m.

for

Joystick

range

setting

Set

second

range

Jog

Speed

for

motor

m.

for

Joystick

range

setting

Set

limit

switch

mode

for

axis

m

Set

“Pulse

Every

x

#

Steps”

on

output

2

for

axis

m

Set

Pulse

width

used

by

setPmMx

and

U7

,

x=1

to

255

(10

m

sec

increments)

(available only on

versions 1.24 & up)

Set

operating

mode

of

inputs

F

Commands

for

two

controls

connected

by

VXM

bus:

Jog

mode

commands

Special

function

and

setup

commands:

Содержание VXM-3

Страница 1: ...otor Controller This Manual explains the general and advanced operation of the VXM 1 VXM 2 VXM 3 and VXM 4 stepping motor controllers Also included on the CDROM 1 COSMOS utility controller software A...

Страница 2: ...ex qualified service personnel CAUTION THE VXM MUST BE SET TO THE EXACT MODEL TYPE MOTOR S BEFORE OPERATING IMPROPER SETTINGS CAN CAUSE SEVERE DAMAGE TO MOTORS AND CONTROLLER Use Velmex COSMOS softwar...

Страница 3: ...quest Commands Setup Commands Appendix A Appendix B Appendix C Appendix D Appendix E Appendix F Appendix G Complex Profiles Coordinated Motion 4 Appendix H Appendix I Appendix J Appendix K Appendix L...

Страница 4: ...uded external desktop type power supply is UL CE CSA and TUV safety agency compliant One and two motor versions Three and four motor capability with two Controls linked by the VXM bus Backward compati...

Страница 5: ...Limit Switches for Motor 1 Cable to Limit Switches for Motor 2 Auxiliary Inputs and Outputs Rear Host Computer Controlled Indicating LED Power Switch Press right side is On Power Indicating LED Start...

Страница 6: ...for signaling external equipment or waiting for an external signal The front panel button inputs are also available on the I O connector for remote jog run and stop 0V 5V Ain Run I1 I2 I3 I4 0V J1 J1...

Страница 7: ...ith power cables in a common electrical keep Limit Switch and I O cables at least 2 inches from Motor conduit or ducting and Power cables CAUTION Motor cable length or connectors should not be altered...

Страница 8: ...RQ 7 The user s routine for outputting measuring etc would be executed by the host 8 A C would be sent from the host to clear the previous Index command from the 9 VXM s memory The process is repeated...

Страница 9: ...ta when power is turned off program memory can be permanently saved by using the rsm command The ability to retain programs allows the VXM to be used in a stand alone mode In a stand alone mode the op...

Страница 10: ...end a motor 3 It is normal for the Slave not to flash its power light green LED at power up A bus error will occur B sent to host and VXM resets if the Master can not find the Slave either because the...

Страница 11: ...ation commands A command are values from 1 to 127 that are relative to steps sec units Refer to Application Note 106 for more information about acceleration units and move profiles 2 Direction is rela...

Страница 12: ...ning of the current program Loop from beginning or Loop to marker x 1 times x 2 to 65 535 when the loop reaches its last count the non loop command directly preceding will be ignored Loop from beginni...

Страница 13: ...solute position registers Kill operation program in progress and reset user outputs Clear all commands from currently selected program Decelerate to a stop interrupts current index program in progress...

Страница 14: ...p next command if input 1 is high Skip next command if input 2 is high Skip next command if input 1 is low Skip next command if input 2 is low Wait for a front panel button to jump to a program or con...

Страница 15: ...acklash compensation setting Read Indicate limit switch setting Read mode version Read Joystick Deadband setting Read first range Jog Speed for motor m for Joystick range setting Read second range Jog...

Страница 16: ...t When sending commands that require a value the commands must end with a carriage return Enter key or Return on most keyboards comma or a period Set steps to incremental Index move motor CW positive...

Страница 17: ...ition for motor 1 absolute zero IA1M 0 cr This example makes the present position for motor 2 absolute zero IA2M 0 cr Move positive until the positive limit switch is encountered Home to Positive Limi...

Страница 18: ...ple sets the speed of motor 2 to 3000 steps sec at 100 power SA2M3000 cr With acceleration set to 2 default increase speed until motor stalls use 75 of this speed as the maximum speed Motor and Contro...

Страница 19: ...xample This example selects program 1 for the current program cr command will select program x as the current program and delete all commands from this program Memory usage 0 bytes This command is imm...

Страница 20: ...d Memory usage 3 bytes Example This example sets a loop to repeat any previous commands 100 1 times alternating motor 1 direction every repeat while repeating the directly preceding non loop command 1...

Страница 21: ...maximum of 5 together is possible by using a jump command as the last command to make a jump to a different program All looping commands in program x will be local to this program only Memory usage 2...

Страница 22: ...put 1 I O 5 to satisfy this input The input level must be high for at least 1 ms to be a valid input This command is best used when interfacing to other solid state logic devices refer to the U50 comm...

Страница 23: ...after receiving the K command lear all commands from the currently selected program All setup values motor position values and the state of user outputs ecelerate to a stop interrupts current index in...

Страница 24: ...osition and status requests Refer to the section Communication Methods p 8 for more information the single character after completion of the save CAUTION When using the command power should not be int...

Страница 25: ...he value will be 0 to 256 followed by cr carriage return List commands in current program to host ASCII format Returns program number and memory remaining prior to listing commands Example listing get...

Страница 26: ...d a Z is a motor 3 Index Numbers shown in the diagrams represent Loop count values The following examples can be keyed into the VXM with a terminal program like HyperTerminal in Microsoft Windows or t...

Страница 27: ...eating Index Function Repeating Index pausing 1 second between Indexes return to start 1 14 end end start 1 2 3 4 5 6 7 8 9 1 0 P P P P P P P P P P 4 3 Example 7 Motors run RAM used Function Home to L...

Страница 28: ...d Function Raster Scan 2 23 end start Raster scan with 1 sec pauses and waiting for G at the end then run backwards through raster scan 1 2 3 4 5 6 7 P P P P P P 7 6 5 4 3 2 1 P P P P P P P P P P P P...

Страница 29: ...r Scans using Loop to marker 2 27 start end 1 2 3 4 1 2 3 Example 11 Motors run RAM used X Y Matrix Function X Y Matrix Moving Z Axis Up then Down at each Position 3 30 1 2 3 4 5 Z Z Z Z Z 1 2 3 Z Z Z...

Страница 30: ...tached Power switch not on Circuit breaker tripped white center protruding from breaker VXM not configured for Motor speed too high broken wiring or jammed mechanism motor Limit switches not connected...

Страница 31: ...asic Models VXM 1 one motor version VXM 2 two motor version one motor operates at a time Operating Temperature 35 95 F 2 Velmex COSMOS Software The COSMOS software for Windows is the easiest way to co...

Страница 32: ...will be 1 to 4 followed by cr carriage return Revised Command listing only on VXM firmware versions 1 21 up 32 3XW WKH RQWUROOHU RQ ROG VLQJOH VWHS WKURXJK SURJUDP KHQ WKH 9 0 UHFHLYHV WKH VLQJOH FKDU...

Страница 33: ...e below In response to this command the VXM sends a single character equal to the above 8 bit value Get State of User Outputs Each Output represents one bit of a binary value The value the VXM sends i...

Страница 34: ...ram to continue to the next command Memory usage 2 bytes Wait for a low to high transition on the user input 1 A high is a voltage between 1 5VDC and 5VDC applied to I O 5 A simple pushbutton or toggl...

Страница 35: ...1 high 5V while waiting A high is a voltage between 1 5VDC and 5VDC applied to I O 5 User output 1 I O 14 will go to 5V for the duration of the wait A simple pushbutton or toggle switch can be used be...

Страница 36: ...ion will go to 0V This is the state of the user output 3 on power up This command is used in conjunction with the command Memory usage User output 3 high The user output 3 Optional Connection will go...

Страница 37: ...am 2 Run button to proceed in current program User output 2 low reset state User output 2 high Optional User output 3 low reset state Optional User output 3 high Optional User output 4 low reset state...

Страница 38: ...nary switch would be attached to inputs 2 and 3 for program selection Following the program selection the user would press activate the Run input button See truth table below for function of each inpu...

Страница 39: ...x with pulse output This command is used when it is desirable to make several Indexes on one axis without stopping or slowing between each Index Instead of stopping a positive going pulse will appear...

Страница 40: ...nuous Index in conjunction with the U7 or U8 commands This command will start the motor into a deceleration to a stop an equal time and distance it took to get to the present speed Memory usage 2 byte...

Страница 41: ...if n is an odd value the extra step to produce a pulse will be in the positive direction pulse at the integer of 1 2 n going negative and pulse at the integer of 1 2 n 1 going positive Example This ex...

Страница 42: ...Q DQG 8 FRPPDQGV WR 0 microseconds setPA4 6 1 default Units are 10msec increments 10 x 10 seconds NEW COMMAND available only on VXM firmware versions 1 24 up Example This example will set the pulse wi...

Страница 43: ...e position where deceleration started D D D Asterisk Request motor position when the last deceleration occurred This position can be from a normal index decelerating to a stop or an interrupted index...

Страница 44: ...the VXM returned when the was sent at positions 521 919 and 1149 while motor 1 was indexing y Request captured motor 2 positions from FIFO buffer all 4 positions NOTE buffer data is automatically zer...

Страница 45: ...me clearances between mating parts Whenever such a device is commanded to reverse direction there can be some lost motion The VXM has the following command to overcome this situation Bx DFNODVK RPSHQV...

Страница 46: ...ost needs to know if a positioner s travel has been exceeded due to a motor stall or an index es that are too long When Indicate Limit Switch Over travel 1 the VXM transmits the single character O to...

Страница 47: ...e the pulse on user output 2 Memory usage 2 bytes U99 End of Continuous Index with no deceleration This command is similar to the U9 command without the deceleration move after the last index Memory u...

Страница 48: ...all programs in the Master to all the programs in the Slave except for program number in the Slave will run the same time when a program in the Master is run x 0 1 2 3 4 Disable Master Slave Program a...

Страница 49: ...000 mentioned above is settable by command Additionally there is a second jog speed setjmM0 getjmM getJmM Disable jog input for motor This command will deactivate the jog buttons for motor and the cor...

Страница 50: ...h x Depth x Height 1 6 bottom of enclosure to top of joystick lever The digital joystick has a button switch connected to Input 2 for toggling between the primary and secondary settable jog speeds The...

Страница 51: ...ple of what the host would receive when Motor 1 is at absolute 201 Motor 2 is at absolute 1294010 Motor 3 is at absolute 0 and Motor 4 is at 80000 X 0000201 cr Y 1294010 cr Z 0000000 cr 7 FU Enabling...

Страница 52: ...argin for conversion circuitry error External potentiometers should be between 2K and 10K ohms CAUTION NOTE Internally Ain has a 100K ohm resistor to the 5VDC and a 100K ohm resistor to 0V There is al...

Страница 53: ...6000 51 5000 6000 Table for analog assigned motor speed lst is stored in a program the original x value will be kept with the command However when the command is used to list the program the x value d...

Страница 54: ...ime This command will deactivate the joystick 10 when VXM and joystick ordered the same time m Set primary joystick speed range x 1 to 24 See table at right to determine actual range of speed m motor...

Страница 55: ...o 100 default 40 Setting x to a low value makes it difficult to move just one axis without inducing motion on the opposite axis Setting to a high value produces a noticeable delay when changing direct...

Страница 56: ...speeds There is also a second button switch connected to Input 3 for alternating between motors 1 and 2 The default primary and secondary speeds are by default both set to 0 disabled joystick NOTE It...

Страница 57: ...NOTE It is possible to disable remove the button switch es if Input 2 and Input 3 are needed for another function To disable remove the button s with the button in the out position use pliers to pull...

Страница 58: ...acing VXM controllers to other devices is not covered under the warranty As a minimum precaution against electrostatic discharge ESD damage follow these guidelines 1 Provide the shortest conductive pa...

Страница 59: ...ns can be made to all 15 I O connections using the screw type terminal blocks Wire size 26 to18 AWG Boot material PVC Boot dielectric strength 700 V mil Specifications 0 984 1 738 2 40 1 30 0 120 1 0V...

Страница 60: ...a PK245 1 2A 40 60 80 100 120 140 160 180 Torque oz in 1 200 500 1000 2000 3000 4000 5000 6000 Speed Speed Slo Syn M091 4 7A 0 5 1 25 2 5 5 0 7 5 10 12 5 15 rev sec steps sec Torque measured at 100 po...

Страница 61: ...12 5 15 rev sec steps sec Torque measured at 100 power settings 20 40 60 80 100 120 140 160 180 Torque oz in 1 200 500 1000 2000 3000 4000 5000 6000 Speed Vexta PK268 03 0 5 1 25 2 5 5 0 7 5 10 12 5 1...

Страница 62: ...90 100 Torque oz in 1 200 500 1000 2000 3000 4000 5000 6000 Slo Syn M061 3 8A 0 5 1 25 2 5 5 0 7 5 10 12 5 15 rev sec steps sec 0 5 1 25 2 5 5 0 7 5 10 12 5 15 rev sec steps sec 40 60 80 100 120 140 1...

Страница 63: ...que Curves continued Torque measured at 100 power settings 6 0 5 1 25 2 5 5 0 7 5 10 12 5 15 rev sec steps sec 40 60 80 100 120 140 Torque oz in 1 200 500 1000 2000 3000 4000 5000 6000 Speed Slo Syn M...

Страница 64: ...et motor type size selected for axis m and applies 100 power to motor in jog mode normally 70 power axis 1 2 3 4 Value for x should be a number between 0 and 6 Refer to the table below for the proper...

Страница 65: ...e permanent magnet step motor 2 Motor rated at a unipolar per phase current of 0 4 to 4 7 Amps If the motor you want to use does not meet the above requirements STOP The motor is not compatible with t...

Страница 66: ...me switch works and what programming procedure to use to get a high degree of precision and accuracy obtainable by these switches Repeatability of 1 motor step is achievable if the proper procedures a...

Страница 67: ...W PRYH WR OLPLW FRPPDQG P0 RU P0 3LFN D GLUHFWLRQ WR PRYH WR WKH KRPH VZLWFK OZD V XVH WKLV GLUHFWLRQ WR PDLQWDLQ DFFXUDF 127 LI WKH WDEOH LV DOUHDG LQ WKH DFWLYH DUHD RI WKH VZLWFK WKH WDEOH ZLOO QRW...

Страница 68: ...tion 1 x Default 0 0 0 0 0 0 0 1 1 Emulate older NF90 0 0 0 0 1 0 0 1 9 getDM set operating mode of VXM The value for x is a number between 0 and 255 that can be derived from the table below Example T...

Страница 69: ...t XX XX XX month day year Returns 2 if system is a single VXM returns 4 if VXM is a Master with a detected Slave G QDEOH 2Q LQH PRGH ZLWK HFKR RII URXSLQJ D FU FDUULDJH UHWXUQ ZLWK WKH A 2 FKDUDFWHU U...

Страница 70: ...imit is encountered m motor 1 2 3 4 Set Speed of motor 70 power m motor 1 2 3 4 x 1 to steps sec is 100 power Acceleration deceleration m motor 1 2 3 4 x 1 to 127 Loop continually from the beginning o...

Страница 71: ...program User output 2 low reset state User output 2 high Optional User output 3 low reset state Optional User output 3 high Optional User output 4 low reset state Optional User output 4 high Skip nex...

Страница 72: ...e captured by the command or Input 4 trigger Send last 4 positions of motor 2 to host that were captured by the command or Input 4 trigger Request Memory available for currently selected program Reque...

Страница 73: ...motor power to 70 setMAmMx is 100 power Set Pulse Every x Steps on output 2 for axis m Set Pulse width used by setPmMx and U7 x 1 to 255 Set operating mode of inputs Set RS 232 Baud rate 9 9600 19 19...

Страница 74: ...M 1 2 3 4 By 2nd VXM linked with VXM bus Size 17 to size 34 0 4 to 4 7 amp 400 1 to 6000 5 RAM FLASH 0 to 32 767 185 0 2 rev sec 200 5 rev sec 340 10 rev sec Run Active Low In 1 Active Low In 2 Multif...

Страница 75: ...Outline Dimensions Appendix Q 7 2 24 57 0mm T SLOTFOR 4ORM4NUT 4PLACES 1 80 45 7mm 6 59 167 4mm 3 29 83 6mm 0 25 6 4mm 4 36 110 7mm VXM...

Страница 76: ...7 1 57 39 9mm 5 14 130 6mm 2 72 69 0mm Power Supply...

Страница 77: ...about how we can accommodate your special requirements Possible Options 1 2 3 4 5 6 7 8 9 Half U enclosure Din rail mountable version Din rail power supply Lower voltage or battery operation Integrat...

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

Страница 79: ...arily be the current program all commands will be executed starting from the first one that was previously entered into program x The VXM will record motor 1 and 2 absolute indexes while in program x...

Страница 80: ...C QBSU 1SPHSBN JT NBJO QSPHSBN 4FMFDU BOE DMFBS QSPHSBN BLF UIJT MPDBUJPO FSP 4UBSU 0VUQVU PO UP BDUJWBUF SJQQFS 1BVTF TFD UP MFU HSJQQFS HSBC QBSU PWF GSPN QJDL MPDBUJPO UP QMBDF 4FU MPPQ NBSLFS IFSF...

Страница 81: ...PO PME QBSU PWF GSPN QJDL MPDBUJPO UP QMBDF 4FU MPPQ NBSLFS IFSF MPPQT XJMM CSBODI IFSF 0VUQVU PGG SPQ QBSU VNQ SFUVSO UP QSPHSBN UP HFU BOPUIFS QBSU EWBODF UP OFYU QMBDF MPDBUJPO P GSPN MPPQ NBSLFS...

Страница 82: ...XPS WR SURJUDP WR GR URZ OHDU RXW DEVROXWH VDYHG PRYHV IURP 0 PRYH PRWRU RYHU QH W URZ GYDQFH DQRWKHU URZ URZV DQG UHSHDW 0RWRUV KRPH HW JR ZLWK JULSSHU 5IJT 1JDL BOE 1MBDF FYBNQMF NPWFT 9 BYJT NPWFT...

Страница 83: ...U PO UP HSBC QBSU QBVTF UPP BWF QBSU OPX OEFY VQ 1 6 1 6 1SPHSBN JT NBJO QSPHSBN BGUFS TUBSU PWF PVU UP TU QMBDF MPDBUJPO KVNQ UP QSPHSBN UP EP SPX MFBS PVU BCTPMVUF TBWFE NPWFT GSPN 9 NPWF NPUPS PWFS...

Страница 84: ...N BLF UIJT MPDBUJPO FSP 4UBSU 4 4 4FU TQFFET BDDFMT 4 4FU TQFFE BDDFM 4FU MPPQ NBSLFS BMM MPPQT XJMM CSBODI IFSF KVNQ UP QSPHSBN UP EP SPX PWF CBDL UP PNF TUBSU PG SPX NPWF NPUPS PWFS OFYU SPX P SPXT...

Страница 85: ...lly set to run program 4 after stopping See Appendix C and Appendix K for more information and other stop settings Conditional Branching Branching jumping to a specific part of a program when an exter...

Страница 86: ...ble on VXM firmware versions 1 30 up Motors run Example 17 Change Speed Function Speed will be set to 2000 if input 1 is low or 4000 if input 1 is high 1 4FMFDU BOE DMFBS 1SPHSBN 4LJQ OFYU DPNNBOE JG...

Страница 87: ...roduct The above warranty is the only warranty authorized by Velmex Velmex shall in no event be responsible for any loss of business or profits downtime or delay labor repair or material costs injury...

Страница 88: ...com and www bislide com Velmex Inc 7550 State Route 5 2 0 Bloomfield NY 14469 USA Copyright 2002 Velmex Inc All rights reserved Velmex the Velmex logo UniSlide and BiSlide are trademarks of Velmex In...

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