Home

MA6440 - Kollmorgen

1. SW1 POSITIONS SW1 POSITION Motor 1 3 OPEN ON 6440 Current 6 7 8 Amps RMS CLOSED CLOSED CLOSED 5 0 CLOSED CLOSED OPEN 4 375 CLOSED OPEN CLOSED 3 750 SW1 DIGITAL ELECTRONIC eas ae os Ta POSITION4 DAMPING CONTROL OPEN Were en OPEN ere DISABLED OPEN OPEN CLOSED 1 25 ENABLED OPEN OPEN OPEN 625 3 2 MA6440 6440 User Manual Rev 2 EE 3 1 1 Digital Electronic Damping Control Definition M id speed instability and the resulting loss of torque occurs in any step motor drive system due to the motor back EMF modulating the motor winding currents at certain speeds M id speed instability can be explained as a region of potential instability that occurs as a result of the electronic magnetic and mechanical characteristics of any stepping motor system The circuitry used to control this phenomenon does so by advancing or delaying the switching of the output current with respect to the incoming pulse train This should be taken into account if the user is attempting to employ pulse placement techniques Enable the digital electronic damping function by placing DIP switch S1 position 4 in the open position as shown This is the default position and should be used for most applications if your application is affected by loss of torque at mid range speeds If pulse placement techniques are being used disable the digital electronic damping function by placing DIP switch
2. PLC Moving Fault gt Limit Switches Step Direction Moving Motor 120 240 Vac 60 50 Hz Off line of BR OD MA6440 6440 User Manual Rev 2 SSS SEE E 5 6440 Dispensing Product onto Conveyer Belt This example shows the 6440 Indexer D rive and motor dispensing products onto a conveyor belt and into a shipping container The stepper motor supplies start stop motion to a paddlewheel ejector to dispense the product An optic sensor is used to advance the paddlewheel to the starting point An external Start signal initiates motion to eject the product the motion continues for one revolution until the paddlewheel is aligned for the next cycle A host computer or an on board non volatile program sets the acceleration deceleration and velocity parameters and the 6440 executes the motion Product to be Dispensed EE Paddlewheel v VE sen Ejector Fo G an NG 6440 6440 Indexer Drive and motor functioning in a clutch brake application c i i oa lt 6440 User Manual Rev 2 MA6440 E 5 E 6 6440 Controlling Indexer Table The 6440 Indexer D rive and motor combination easily drives an Indexing Table The motor can drive the table directly with a belt or through a worm gear An optic sensor can be used to indicate the starting or home position of the table and motion can be executed with open l
3. RESERVED Motion parameter storage may be read by the R ead Memory command gt 6440 User Manual Rev 2 MA6440 5 6 6420 Dialogue 6 1 Description of 6420 Dialogue Introduction 6420 Dialogue is a menu driven software package that contains several software utilities to aid in the use of Pacific Scientific Digital M otion Control Products These utilities are designed to run on an IBM compatible PC and interface to the Pacific Scientific 6440 via an R S 232 serial link The M ain Menu summarizes the tools available 1 Terminal Emulator e The Terminal Emulator utility allows the PC to be used as a dumb terminal In this mode the PC is acting as a terminal and allows the generation and editing of programs directly on the hardware i e on line 2 Upload Utility e The Upload Utility allows files to be read out of the Felg memory into a file on the PC s floppy or hard disk drive 3 Download Utility e The Download Utility allows files to be taken from the PC s disk drive and transferred into the position controller s memory 4 Syntax Checker e The Syntax Checker allows programs to be checked for errors before transferring them to the controller 5 Editor e The Editor allows the creation and editing of programs Programs can be created and edited without the controller being connected to the PC i e off line The resulting program can be stored on the PC s disk drive for downloa
4. Table cont d SYMPTOM POSSIBLE CAUSE ACTION M otor does not turn LEDs OFF Check AC input U se proper input 240 V ac applied and switch in 120 Vac position Return to factory for service M otor runs for a while and stops both LEDs come on Over temperature R educe load Check for excessive ambient temperature Check for internal fan malfunction blockage M otor turns on and off on its own and red LED flashes OR M otor stops after running once 120 V ac applied and switch in 240 V ac position Correct switch position Over load R educe load AC input line low Check input AC line voltage for low line Drive Board Fault See Section 4 2 2 Internal failure R eturn to factory for service 6440 User Manual Rev 2 MA6440 HE ee 4 2 2 Troubleshooting the Drive Board eden action Use the following table to troubleshoot the drive board table SYMPTOM CORRECTIVE ACTION M otor produces Disconnect AC Power Disconnect the motor cable and cycle no torque the J 1 power supply Off and On Check the step output and VCO input monitor point Also check motor cable and motor for shorts across the windings or between the windings and the motor case Verify that DIP Switch S1 position 6 7 and 8 current select are set correctly R e check that the motor cable is wired correctly and properly p
5. C E Indexer r AC switch dexer board SM peer J umpers Power board Note AC Switch is preset at the factory in the 230 Vac position 6440 User Manual Rev 2 MA6440 3 7 3 4 Testing the Installation Background Configuration Procedure AN Perform the following test procedure to verify that the 6440 is installed properly and was not damaged internally during shipment The installation and power up procedure requires a motor and computer or terminal to test the basic functionality of the 6440 After performing the installation per the guidelines given in Chapter 2 Installing the 6440 test your installation as follows Warning Perform this initial power up with the motor shaft disconnected from the load Improper wiring or undiscovered shipping damage can result in undesired motor motion Be prepared to remove power if excessive motion occurs 3 4 1 Connections test Introduction Before beginning the connections test please check the following e all wiring and mounting to verify correct installation e specifications to ensure that voltages being applied do not exceed the voltages specified 3 8 MA6440 6440 User Manual Rev 2 Procedure no VU A VW 1 oO 1 12 Connect only J 1 120 or 240 V ac depending on the location of the AC Switch SW 1 to the 6440 then apply power Verify 5 7 Vdc at the 6440 J 5 13 to J 5 5 voltage should be 5 2V to 5 9V If it is
6. S 8 amp 8 0 Es 2 4 Mounting the 6440 in Your Installation Cabinet Select a standard 8 inch 205 mm or deeper NEMA National selection Electrical M anufacturers A ssociation enclosure appropriate for industrial applications Caution The internal operating temperature should not exceed 50 C If the a cabinet is ventilated by filtered or conditioned air make sure to prevent the accumulation of dust and dirt on the unit s electronic components The air should also be free of corrosive or electrically conductive contaminants Mounting Y our installation should meet the following guidelines guidelines e Vertical orientation for the unit e Flat solid surface capable of supporting the approximate 6 0 Ib weight 2 7 kg mass of the unit e Free of excessive vibration or shock e Minimum unobstructed space of 4 inches 10 cm above and below the unit e Maximum ambient temperature of 50 C 6440 User Manual Rev 2 MA6440 2 9 Mounting dimensions When mounting the 6440 please refer to the dimensions below 1 12 28 45mm T T T ev a ev 1250 sondi 317 50mm 10200 fen 11 61 294 89mm 10 75 273 05mm POWER ON O FAULT O P SCIENTIFIC S i 6440 i 4 oe 0304 l 0 50 158 75mm TT 7 62mm 050 1 24 31 50mm 2 25 p 57 15mm 2 10
7. S1 position 4 in the open position Benefit This feature controls torque loss at mid range speeds W hen enabled the motor maintains torque at mid range operation provided the torque load does not exceed motor torque ratings 6440 User Manual Rev 2 MA6440 3 3 3 1 2 Idle Current Reduction Definition The Idle Current R eduction ICR function reduces the phase current at times when no motion is commanded M otor current is reduced when no step commands are received for a given time This time can be set to 0 1 seconds Current to both motor windings is reduced by one half The ICR function can be enabled disabled and the time delay between the last step command and current reduction can be set to 0 1 seconds using DIP switch S1 position 5 ICR is disabled when DIP Switch S1 position 5 is in the closed position and enabled with a delay of 0 1 second current is reduced by 50 when no step command is received for 0 1 second when the switch is open Note When ICR is active both the holding torque generated by the motor and the motor stiffness around the holding position are reduced by approximately 50 Benefits The ICR function e Reduces motor and drive heating during standby operation 3 1 3 Setting Motor Current M otor current can be set using DIP Switch S1 positions 6 7 and 8 as shown on page 3 2 Current should be compatible with motor current ratings 3 4 MA6440 6440 User Manual Rev 2 a 3 2 Indexer Boar
8. guidelines Example 1 The system is designed so that CW motion advances toward Home The Home switch is not active and H 250 0 is executed Motion will be CW at 250 steps second until switch is activated then motion flips to CCW at the Initial V el 50 steps second until switch is deactivated and then motion stops Program line Explanation M 1010 set accel decel factors F 50 set initial velocity H 2500 home Example 2 The system is designed so that CCW motion advances toward Home The Home switch is not active and H 250 1 is executed M otion will be CCW at speed until switch is activated then motion flips to CW at the Initial Vel F until switch is deactivated and then motion stops Program line Explanation M 1010 set accel decel factors F 50 set initial velocity H 2501 home 6440 User Manual Rev 2 MA6440 7 11 I Resolution Mode I mode Immediate Purpose This instruction selects Fixed or Variable R esolution M odes Fixed Resolution M ode allows a fixed step size to be selected by the Step Size command Of course fine step sizes result in proportionately slower stepping rates Variable R esolution M ode allows high speed high resolution indexes to be executed without compromising speed A mode value of 0 selects Fixed R esolution Mode Stepping proceeds at fixed resolution selected by Step Size command A mode value of 1 selects V ariable R esolution Mode Step resolution is automatically adjusted during
9. please specify this at the time of receiving anRMA 6440 User Manual Rev 2 MA6440 4 5 Programming Overview and Instruction Set Description 5 1 Modes of Operation Introduction The 6440 can operate in Immediate or E xecution M ode Immediate M ode is an interactive command line mode where commands are entered and immediately executed Immediate M ode is used during program development or when controlling the unit with a host computer Execution M ode is used when the 6440 is executing a program out of its non volatile memory usually when used as a standalone Indexer During power up if the AUTOSTART program is found at location 1600 in non volatile memory execution will begin at 1600 If the REMOTE START line is activated LOW in Immediate M ode the unit will start executing the program at location 0 in memory 5 1 1 Immediate Mode After power up providing that neither REMOTE START nor the AUTOSTART are active the 6440 will be in Immediate Mode If the 6440 is configured for R S 232 R S 422 serial communications it will wait for one ESC and one space character and then respond with the Pacific Scientific sign on message and copyright notice Commands are sent via the serial link and are terminated with a carriage return lt CR gt The 6440 responds with any requested data followed by a lt CR gt lt LF gt Only one command can be sent at a time M otion commands will immediately echo a lt CR gt lt LF gt and c
10. steps below 1 Boot up the PC 2 Insert 6420 Dialogue disk in drive A 3 Type A INSTALL lt Enter gt 6420 Dialogue is now installed on the hard disk To run 6420 Dialogue get to the 6420 directory and type 6420 lt Enter gt 6 8 MA6440 6440 User Manual Rev 2 P EU U E 5 T gt gt 6 2 3 Serial Port Connections 6420 Dialogue can be used to generate programs off line H owever at some point programs have to be downloaded or uploaded between the PC and the motion control hardware The RS 232 serial link is used to communicate between the PC and the hardware M any PCs have two serial communication ports COM 1 and COM2 One of these must be wired to the motion control hardware Refer to the PC s H ardware R eference M anual and the Instruction M anual provided with the motion control hardware for wiring information Use the Init Serial Port tool on the Main Menu to select the correct COM port and to set the serial link parameters Note Default Serial Link Parameters for the 6440 are displayed 6 3 Keyboard Commands The choices from a main menu are highlighted by typing the lt Up gt or lt Down gt arrow keys Selection of the highlighted item is made by entering the choice with the lt Enter gt key This selection will bring up a prompt a list and or a sub menu Choices are made from a sub menu or list using the lt Up gt key to move up or the lt Down gt key to move down the
11. 150 Y 0 6440 User Manual Rev 2 MA6440 Explanation zero the position counter index to position 2000 wait till index done wait 1 5 seconds activate Port 1 output LOW index back to initial position wait 1 5 seconds deactivate Port 1 output HIGH 39 Positive Incremental Move steps Immediate Execution Purpose Syntax Arguments M oves the motor a total of steps in the CW direction with a trapezoidal velocity profile shown below In Fixed R esolution mode the steps specifies 8 388 607 pulses So if steps 200 and StepSize is set for Full steps the shaft spins 1 revolution If steps 1600 and StepSize is set for 1 8 step 1600 pulses rev then the shaft also spins 1 revolution In Variable R esolution M ode the steps specifies 8 388 607 99 Full steps with 0 01 step size resolution 20 000 pulses rev If steps 200 00 then the shaft spins 1 revolution Final Vel Initial Vel steps 0 lt steps lt 8 388 607 Fixed R esolution 0 00 lt steps lt 8 388 607 99 V ariable R esolution MA6440 6440 User Manual Rev 2 Related M set accel decel Commands F set initial velocity V set final velocity set resolution mode set StepSize Programming guidelines Program line E xplanation M 1010 set accel decel factors F 300 set initial velocity V 1000 set final velocity 1000 52 index 1000 52 steps 6440 User Manual Rev 2 MA6440 7 41 Ne
12. 3 2 Single unit RS 422 Connection Solder connections to TXD 485 and RXD 485 differential lines After installing the power and serial communications cable you can quickly test the unit by applying power and pressing lt Esc gt and then the space bar Y ou should see the Pacific Scientific sign on message and copyright notice Build the cable to connect to your computer or terminal by referring to the documentation for the device Note Pinouts vary among computer manufacturers Check your computer s hardware reference manual before wiring 6440 User Manual Rev 2 MA6440 2 21 2 5 3 3 Multi unit RS 485 Connection Solder connections to TXD 485 and RXD 485 differential lines This mode requires each 6440 to be initialized with a single letter node address to be used with each subsequent command This node address must be setup in Single U nit mode before the R S 485 mode operation is attempted To set this address perform the following Procedure 1 Apply power and press a key a z A Z NOT the Spacebar to be used as the address followed by a single space Execute the P command to program the node address into non volatile memory 2 Power down the unit and insert jumper E11 to configure the unit for RS 485 mode There is no sign on procedure while in RS 485 multi unit mode This mode is designed to be used with a host computer but can be tested using a terminal 3 Type in the node address The character should be ech
13. 4 1 4 1 M aintaining the 6440 vvvvvrv rv rv rv vn 4 1 4 2 Troubleshooting the 6440 0 0 0 0c ee es 4 1 4 2 1 Troubleshooting the Power Board 4 2 4 2 2 TroubleshootingtheDriveBoard 4 4 4 2 3 Troubleshootingthe ndexerBoard 4 5 4 2 4 Troubleshooting Communications Interface 4 6 5 Programming Overview amp Instruction Set Description 5 1 5 1Modesof Operation aea sacie tra aaa aa p ae eaa sele 5 1 5 1 1 Immediate M ode loaa aaa ee 5 1 5 1 2 ExecutionMode s sisare rav rava tarena 5 3 5 1 3The AUTOSTART Program 0000000 5 3 5 2 Instruction Overview sus 4G aa ea ea ee Pak ae bk a 5 3 5 3MEmMOryMaps sis ner sr ew ee e ee ME 5 4 6 6440 Dialogue 6 1 6 1 Description of 6440 Dialogue 2 2 0 0 0 0000008 6 1 6 2 Getting Started rv vrak vnr nn 6 2 6 2 1 Using the 6440 Dialogue Floppy Disk 6 2 6 2 2 Installing 6440 D ialogue on a Hard Drive 6 2 6 2 3 Serial Port Communication 0 0 000004 6 3 6 3 Keyboard Commands sas w mica in vnr ee ee aa 6 3 631 Terminal Emulator e aor pia oa a e o a RES a 6 3 6 32 U plodd Utility s sas ks ack ahi aae Mana lek al a h 6 4 6 3 3Download Utility ys h panair ani ee 6 4 6 3 4 SyntaxChecker aa scce ca dda AE KR KR RG 6 5 63 SEAWOOD aa aada i bei a a earn a EEA ae 6 5 6 3 6 Init Serial Port ps a aoa aace aoe aci a e o i e a a aa RE 6 7 6 4 Indexer Language for
14. 45 55 MOTOR Making your To make your own motor cable follow the guidelines given own cable below for wiring to the J 3 mating connector D epending on your motor configuration refer to the appropriate diagram at the end of this section to determine the motor connections required 6440 User Manual Rev 2 MA6440 2 15 J 3 connection table Mating connector Cable requirements Output Pin Explanation M otor Phase A J 3 1 Motor Phase A excitation Twisted Pair M otor Phase A J 3 2 M otor Phase B J 3 3 M otor Phase B excitation Twisted Pair M otor Phase B J 3 4 Drive Case J3 5 Connected to the motor Earth Ground case ground The J 3 motor connector on the 6440 mates to a 5 pin PCD screw cable connector The mating cable connector is type ELV P05100 The mating connector terminals will accept 16 to 18 AWG wire Pacific Scientific recommends using 16 AWG For the motor cable use cable with two twisted pairs twisted at about 3 to 4 turns per inch 1 to 1 5 turns per centimeter for the motor phase excitations and a fifth wire for the case ground As an option the cable may be shielded to reduce radiated noise A single shield can be used around both phase excitations and the ground wire or each phase excitation twisted pair can be individually shielded as in the Pacific Scientific cables Connect shields to pin 5 of the mating connector MA6440 6440 User Ma
15. 5 VDC INPUT ER i pF INDEXER e 9 PROCESSOR 30 VDC MAX TOOK 74HC14 INPUT VOLTAGE Note Inputs accept 0 30 VDC max where V lt 8V isa logic low and V gt 3 7V isa logic high The 6440 s outputs are open collector D arlington U LN 2003 drives Inductive kickback protection is provided by the built in diode and 39 V Zener diode Outputs OUTPUT e INDEXER PROCESSOR ULN2003 39 V Note All outputs are Open Collector 30 VDC 70 ma sink Vet lt LOV All I O signals are active low 6440 User Manual Rev 2 MA6440 2 25 2 5 4 2 Dedicated Input Output Pin Designations J 5 Introduction The pin definitions for all 6440 control lines are shown below J 5 Discrete I O table Input O utput Pin Description R emote Start J5 8 This input activates program at location zero R emote Stop J 5 21 This input halts 6440 program and motion LIMIT J 5 9 J 5 22 Activation of Limit prohibits motion in CW LIMIT direction Activation of Limit prohibits motion in CCW direction Home J 5 10 A transition at this input defines the electrical home position JOG JOG J5 11 J5 23 These inputs manually step the motor in the CW and CCW direction ENABLE J5 7 This input is an active low motor drive enable STEP J5 6 This output is an active low step pulse to slave drive approximately 400 600 Ns in duration Only in Fixed R esolution M ode DIR J 5 19 This output pr
16. All instructions can be entered on a command line basis in immediate mode with many but not all available for use within programs executed from on board non volatile memory The instruction categories include Motion Control Incremental and absolute indexes run at constant velocity and home to a known position All the motion commands immediately echo lt CR gt lt LF gt and carry out their motion in the background The incremental and absolute indexes execute a trapezoidal velocity profile accelerating from the initial velocity accelerating to the final velocity decelerating back to the initial velocity ending at zero velocity Program Control Instructions for program control include P for program mode G for executing programs and jumping within a program J and B for executing interactive loops U for conditional branches based in the input ports Parameter These instructions include F to set the initial velocity V to set Initialization the final velocity M to set the acceleration and deceleration profiles O to setup for a position trip point 6440 User Manual Rev 2 MA6440 5 3 Initialization and These commands include A to initialize memory P to store Utility Commands current parameter values E to edit a program 5 3 Memory Map User programs Fast RAM Approximately 1792 bytes are available for user programs The maximum size of a program in terms of number of command lines is dependent on the actual comm
17. BPS 1 start bit 1 stop bit RS 232 and R S 422 mode selection is automatic dependent upon whether connections are made to the single ended RS 232 TX and RX lines or to the differential TX and RX lines RS 485 mode is jumper selected and allows up to 32 units on a single differential R S 485 communications link The host computer is the bus master and always initiates packet transfers External termination may be required in some installations The unit is factory configured for R S 232 protocol The table below shows the Serial Port pin designations Input Output Pin Number Description 5Vdc J41 R S 232 Transmit D ata output RTN Shield TXD 232 J42 RXD 232 J43 R S 232 R eceive Data input COMMON J 4 5 TXD 485 J 4 6 Differential Transmit D ata output TXD 485 J 4 7 Differential Transmit D ata input RXD 485 J48 Differential R eceive D ata output RXD 485 J49 Differential R eceive D ata input 2 20 MA6440 6440 User Manual Rev 2 2 5 3 1 Single unit RS 232 Connection Solder connections to TX D 232 output RXD 232 input and COMMON After installing the power and serial communications cable you can quickly test the unit by applying power and pressing lt Esc gt and then the space bar Y ou should see the Pacific Scientific sign on message and copyright notice 6 7 89 5 OOOO 1 k O O 07 COMMON E 1 5 v TXD 232 2 i ku RXD 232 2 5
18. Commands Sets the initial velocity to vel pulses second In Fixed R esolution M ode the actual speed in steps per second is determined by the current step size If vel 1000 and the step resolution is set for Full Steps 200 pulses rev then the shaft spins at 1 000 full steps sec or 300 RPM If vel 1 000 and the step resolution is set for 1 8 Steps 1 600 pulses rev then the shaft spins at 125 full steps sec 37 5 RPM In Variable R esolution M ode the speed is determined by the VelScale factor If VelScale has been set by issuing 0 the nominal value and vel 1000 then the shaft spins at 1 000 full steps sec 300 RPM If VelScale has been set by issuing 2 and vel 1000 then the shaft spins at 250 full steps sec 300 RPM 25 75 RPM F vel 0 lt vel lt 19 000 V Set final velocity MA6440 6440 User Manual Rev 2 _ 77 7 EE n ssaEE Programming guidelines Program line E xplanation F 300 set the initial velocity V 3000 6440 User Manual Rev 2 MA6440 7 7 G Go G addr trace Immediate Execution Purpose Syntax Arguments Programming guidelines E xecutes a user program at a specified addr The optional trace argument allows execution tracing The addr specifies the starting address of a program in the range of 0 to 1791 A special case is where addr 2048 which executes an indexed jump based on the lower 4 I O port bits to 16 locations within address locatio
19. Rev 2 MA6440 2 13 Pacific Scientific Pacific Scientific makes cables that connect directly from J 3 to cable our system motors To order the cable from Pacific Scientific use the order number SPC xxx 6410 where xxx is the length in feet one foot increments up to 50 feet For example SPC 050 is a 50 feet long cable Pacific Scientific makes cables for both E and H series stepper motors SPC xxx 6410 and K and N series stepper motors SPC xxx 6410 K N Please refer to the correct diagram on the following page Pacific Scientific f you are using Pacific Scientific E and H series motor cable cabling diagram with the mating connectors already attached install as follows 09999 sd ait oy EIT J3 JACKET 1 BLK MOTOR a BOU TT Tone PHASES B 3 m C B 4 D CASE GND 5 om E 5 Pin PCD SPC XXX 6410 5 Pin MS Connector 6440 MOTOR 2 14 MA6440 6440 User Manual Rev 2 Pacific Scientific If you are using Pacific Scientific s K or N series stepper cabling diagram motors install as follows JJ 5 S f 8 J3 JACKET f A 1 SHIELD su MOTOR A l2 TANG LL ors i PHASES B 3 i RED 16 AWG C B 4 Hr He p CASE GND 5 T en GRN E 5 Pin PCD SPC XXX 6410 KN 5 Pin MS Connector ELVP05100 MS31 06A1
20. SW 1 Settings e Testing the installation This section is intended to familiarize the 6440 user with the hardware adjustments and settings required to power up and operate the 6440 drive The 6440 unit is a three board assembly incorporating a drive and an Indexer card set With the cover removed the topmost visible board is the Indexer The Indexer mounts on the drive board and is separated by standoffs The Drive has an eight position DIP switch S1 controlling drive current digital electronic damping and idle current reduction The DIP switch S1 is easily accessible without removing the Indexer card The Indexer has thirteen plug on jumpers E 1 through E 13 controlling RS Communications Synchronous or A Iternating Operation and I O Configuration The power board has an AC switch SW 1 to select 120 or 240 Vac operation Warning Connecting 240 230 Vac with switch in 120 115 Vac position will permanently damage the drive 6440 User Manual Rev 2 MA6440 3 1 Ba 3 1 Setting Switch S1 on Drive Board Introduction DIP switch S1 sets the following e Motor current level e Digital electronic damping ON OFF e Idle current reduction Location of S1 JUMPERS 5 6 amp 7 8 INSTALLED AT FACTORY Indexer Board DO NOT CHANGE Z L BABE J6 JMPR Block Il Side View S1 JMPR SW1 IDLE CURRENT 7 8 POSITION5 REDUCTION E 1 P AR Jy i OPEN IN CLOSED DISABLED IN OPEN 0 1 SEC DELAY 1234567 8 CLOSED
21. The factory default is binary step sizes Arguments Fixed Binary VR Speed 0 Full Full speed 1 1 2 1 2 2 1 4 1 4 3 1 8 1 8 4 1 16 1 16 5 1 32 1 32 6 1 64 1 64 7 1 128 1 128 8 1 256 1 256 7 44 MA6440 6440 User Manual Rev 2 Programming In the following program assume the unit is set for Fixed guidelines Resolution M ode Program line E xplanation E0 0 0 Full steps 200 steps rev 2 1000 spin CW 5 revolutions 7 WO 10 W 100 B 2 Quarter steps 800 steps rev 15 1200 spin CCW 1 5 revolutions 20 WO 23 W 50 In Variable Resolution M ode 0 0 Full speed 2 1000 spin CW 5 revolutions 7 WO 10 W 100 B 2 1 4 speed 15 1200 spin CCW 6 revolutions 20 WO 23 W 50 6440 User Manual Rev 2 MA6440 ESC Abort ESC Immediate Purpose Terminates any active operation and returns Indexer to the immediate or idle mode If motor is in motion it will be immediately stopped without ramping deceleration Output ports will not be affected In RS 485 multi unit mode motion on all axes is stopped Syntax Arguments None 7 46 MA6440 6440 User Manual Rev 2 C Software Reset se Immediate Purpose Stops all axes loads default parameter values zeros origin executes any user program AUTOPROGRAM at location 1600 Indexer will wait for the spacebar sign on or external REMOTE START orJOG or JOG inputs Syntax Arguments None 64
22. a consequence of the wired AND design of the indexer a logic 1 written to a bit configured as an input will always be read back as a 1 Programs executing from non volatile memory can only output to these discrete bits reading is not allowed 6440 User Manual Rev 2 MA6440 2 23 S 8 amp 8 0 Es J 5 Discrete I O The J5 connector pin designations are shown below Port Pin Number Jumper 1 0 1 J5 17 E3 Input LOR Output 1 2 J 5 4 E4 Input 2 OR Output 2 3 J 5 16 E5 Input 3 OR Output 3 4 J5 3 E6 Input 4 OR Output 4 5 J 5 15 E7 Input 5 OR Output 5 6 J5 2 E8 Input 6 OR Output 6 7 J 5 14 E9 Input 7 OR Output 7 8 J5 1 E10 Input 8 OR Output 8 GND J5 5 N A Ground return for I O GND 5 18 signals GND J5 20 Note The Discrete 1 O connector has its own ground points completely isolated from the unit s bus power The minimum requirement to operate the unit is to enable motor current by connecting J 5 7 ENABLE to one of the three J5 ground points J 5 5 J 5 18 or J 5 20 MA6440 6440 User Manual Rev 2 SS SS SS E 2 5 4 1 Dedicated Discrete Input Output Lines Introduction The 6440 s operation is controlled by several input lines These lines are active low Input lines are RC filtered and passed to a 74HC14 Schmidt Trigger The block diagram of input and output lines are shown below Input P 5 22K 8 5 7V g
23. a terminal emulator Type Z lt Enter gt followed by C lt Enter gt The value 0 should be displayed Index incrementally by typing 200 lt Enter gt Type C lt Enter gt again and 200 should now be displayed 7 4 MA6440 6440 User Manual Rev 2 EN E Edit Program E addr Immediate Purpose Allows entry of user programs for subsequent execution by the G GO command or execution of a program at location 0 with activation of the R emote Start input or AUTOSTART at power up The addr argument specifies the address at which to edit a new or existing program Syntax E addr Programming guidelines Example Program line Explanation E 100 Edit a program starting at location 100 M 10 10 F 400 V 1200 1000 E Edit Program mode is entered by the E 100 Various commands are entered and terminated by lt Enter gt When completed the last E inserts a terminator byte at the end of the program over writing any pre existing data The ESC key instead of the last E will prevent over writing the next command which is useful for patching in corrections to an existing program when using a terminal emulator Program execution can be interrupted by R emote Stop ESC or the S key After interruption of an AUTOSTART program the sign on procedure must be carried out 6440 User Manual Rev 2 MA6440 7 5 F Initial Velocity F vel Immediate Execution Purpose E xample E xample Syntax Arguments Related
24. an index dependent upon Initial and Final Velocity parameters Step resolution is 20 000 pulses rev The Q command displays the resulting Initial and Final V elocity parameters and range of step sizes to be used in subsequent absolute and incremental indexes Syntax mode Arguments mode 0 selects Fixed Resolution M ode mode 1 selects V ariable R esolution M ode Programming Note Normally a preset operating parameter Should not be guidelines incorporated into a non volatile memory based program Issue the P command to save changes to the operating mode 7 12 MA6440 6440 User Manual Rev 2 J B Jump Loop Nested J addr cntr B addr cntr Execution Purpose These two commands allow implementation of a doubly nested loop structure The primary J command and secondary B command can be nested However J is for jump outer loop while B is for jump inner loop The addr specifies the loop s destination address The cntr value plus 1 is the actual number of iterations Therefore cntr value must be set to the desired iterations minus 1 Either command can be used if only a single loop is required Syntax J addr cntr B addr cntr Arguments 0 lt addr lt 1791 0 lt cntr lt 255 for 1 to 256 iterations 6440 User Manual Rev 2 MA6440 7 13 Programming The following example illustrates a 2 axis system where a master guidelines 6440 controls one axis and a slave 6410 drives the other axis The p
25. conform to Pacific Scientific s specifications manual PACIFIC SCIENTIFIC DOES NOT SEPARATELY WARRANT THE RESULTS OF ANY SUCH CORRECTION OR WARRANT THAT ANY OR ALL FAILURES OR ERRORS WILL BE CORRECTED OR WARRANT THAT THE FUNCTIONS CONTAINED IN PACIFIC SCIENTIFIC S PROGRAMS WILL MEET CUSTOMER S REQUIREMENTS OR WILL OPERATE IN THE COMBINATIONS SELECTED BY CUSTOMER This warranty for Programs is contingent upon proper use of the Programs and shall not apply to defects or failure due to i accident neglect or misuse ii failure of Customer s equipment iii the use of software or hardware not provided by Pacific Scientific iv unusual stress caused by Customer s equipment or v any party other than Pacific Scientific who modifies adjusts repairs adds to deletes from or services the Programs This warranty for Programs is valid for a period of ninety 90 days from the date Pacific Scientific first delivers the Programs to Customer THE FOREGOING WARRANTIESARE IN LIEU OF ALL OTHER WARRANTIES EXCEPT ASTO TITLE WHETHER EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION ANY WARRANTY OF MERCHANTABILITY OR OF FITNESS FOR ANY PARTICULAR PURPOSE AND ARE IN LIEU OF ALL OTHER OBLIGATIONS OR LIABILITIES ON THE PART OF PACIFIC SCIENTIFIC PACIFIC SCIENTIFIC S MAXIMUM LIABILITY WITH RESPECT TO THESE WARRANTIES ARISING FROM ANY CAUSE WHATSOEVER INCLUDING WITHOUT LIMITATION BREACH OF CONTRACT NEGLIGENCE STRICT LIABILITY TORT WARRANTY PATE
26. given to the file that was sent to Syntax Checker or sent to the Download U tility which automatically calls the Syntax Checker If the syntax check is successful the message No syntax error s detected is displayed and the listing file with the message NO ERRORS FOUND is sent to the display If errors are found then the message Syntax error s detected is displayed and the listing file containing the program code and syntax error messages is displayed The Editor can be used to review the syntax errors listed in the LST file The syntax checking for Pacific Scientific Indexer Language is discussed in Section 6 4 To reposition the syntax error dialog box press F2 and then use the arrow keys to move to the desired position Once the dialog box is positioned press F2 or lt Enter gt to see errors To edit a line you must return to the editor 6 3 5 Editor After selecting this utility the user is prompted for a lt Path gt filename ext which can be typed in or selected from the current directory s file listing If the filename does not exist the user is prompted with Create to which the response is Y yes or N no If answering no the system responds with the message can t load file it doesn t exist after which a lt Enter gt returns to the Main Menu level If answering yes to the prompt the user is put into the Editor When exiting the Editor typing lt Esc gt the user
27. is prompted with the question Save file y n Answering n lt Enter gt returns to the M ain Menu without saving the file and any edits are lost Answering y lt Enter gt will bring up a prompt for the filename The current file being edited can then be saved under the existing filename by typing lt Enter gt or the name can be changed by typing over the current filename followed with lt Enter gt 6440 User Manual Rev 2 MA6440 6 11 3 Q While using the Editor many operations such as justify cut paste etc are available These operations are assigned to various keys ESC INSERT F7 F8 F9 F10 UPARROW DOWN ARROW LEFT ARROW RIGHT ARROW CTRL A CTRL F CTRL Y CTRL Z CTRL W HOME END PGUP PGDN CTRL END CTRL PGUP CTRL PGDN TAB Exit the Editor Toggles insert and typeover mode default typeover mode Attach file to the end of current file default off Toggles whether hard and soft carriage returns are symbolically displayed in the edit window default not displayed Toggles editor display from 128 ASCII characters to 256 IBM characters default ASCII characters R eformats a paragraph M oves cursor up a line M oves cursor down a line M oves cursor left a space M oves cursor right a space M ove cursor one word to the left M ove cursor one word to the right Delete line cursor is on Scroll up a line Scroll down a line M ove cursor to
28. ma max p Output User Power Supply Stage 5 7 VDC User Opto Isolator Output 2 28 MA6440 6440 User Manual Rev 2 2 5 5 J 6 External 66 Vdc Output Connection Introduction The J 6 external 66 V dc output allows the 6440 to power Mating connector Cable requirements Cable diagram 66 Vdc Output ee I PD 2 3 additional drives The J 6 output connector mates to a PCD 3 pin screw cable connector The mating connector supplied with the unit is type ELV P03100 S 8 amp 8 0 Es U se 18 to 16 gauge shielded wire for the cabling Black Red ys Green Earth Ground 6440 User Manual Rev 2 MA6440 2 29 Connection diagram In multi axis applications if additional 6410s are added it is preferable to run each power connection from the J6 DC output to the 6440 as shown below DO NOT daisy chain the power connections Note The total power available for both the internal and external drives is 66 Vdc 4 6A or approximately 300 W 10 If the two drives are running simultaneously and require more than 4 6 A the voltage will drop The power supply has a low voltage protection circuit that will fault the drive if the voltage is lt 55 Vdc Note If the 6430 is powering additional 6410s with J6 a total of 1000 uf maximum 100 Vdc aluminum electrolytic capacitor rated for 2A ripple current or greater 10 KHz and 105 C
29. memory M any applications can take advantage of the simplicity of developing programs for on board execution If more versatility is required the user can write a custom program running on a host computer issuing immediate motion commands to the 6440 The output current of the 6440 is dip switch selectable from 0 625A rms 0 88A peak in microstep mode to 5A rms 7 1A peak in microstep mode The Pacific Scientific 6440 can be powered from 120 or 240 Vac 60 50 Hz This input is switch selectable for either 120 or 240 Vac An internal PWM switching power supply provides up to 300 W 10 of power to the stepper drive 6440 User Manual Rev 2 MA6440 1 1 Block diagram 8 Discrete I O JOG JOG gt LIMIT LIMIT gt DC DC H Off line 120 240 Vac HOME gt 160 50 Hz REMOTE START gt REMOTE STOP gt oo ENABLE Drive FAULT _ MOVING 4 Indexer AT gg de op roe STEP 4 DIRECTION 5 7 Vde a RS 232 TX RX 7 RS 422 RS 485 gt DIFF TX RX gt The 6440 can communicate with R S 232 R S 422 or R S 485 serial protocols Discrete I O lines provide external start stop and motor enable control home and limit switch testing motor jogging slave drive interface and eight programmable bi directional discrete I O lines The eight programmable bi directional discrete I O lines are individually jumper configurable for input or outp
30. program in addition to stopping all motion If arg 1 motion will cease but the program will continue otherwise with arg 0 the program will terminate placing the indexer into immediate mode S arg None Embedded in a program will stop motion and abort returning to idle mode Program line Explanation SO or S to stop motion and abort program Typing S while a program is running will abort the program and return to idle mode MA6440 6440 User Manual Rev 2 T Master Slave Control T enb Immediate Execution Purpose Syntax Arguments This command is used when one 6440 Indexer D rive controls motion of two axes both at Fixed R esolution only The 6440 is the master unit controlling a slave 6410 Drive J umpers E12 and E13 determine if the slave unit is running synchronous with the master that is identically executing index commands or in alternating fashion where motion is executed on one axis and then the other independently Power up state is T 1 T enb Synchronous Operation E12 OUT E13 IN enb 1 enables step pulses to both master and slave enb 0 disables step pulses to both master and slave Alternating Operation E12 IN E13 OUT enb 1 enables master disables slave enb 0 disables master enables slave 6440 User Manual Rev 2 MA6440 7 27 Programming The unit is configured for alternating operation We alternately guidelines index each axis by Program line E xplanation T1 enab
31. the 6440 Series oona a 6 8 Rev 2 MA6440 6440 User Manual 6 4 1 Use of Symbolic Labels in Programming 6 8 6 5 Syntax Checker 232 280 chee ee See bee ea eae 6 9 6 6 Download Utility Address Translation of Labels 6 10 6 7 U pload Utility Label Generation for Addresses 6 10 7 6440 Programming Instructions 7 1 Appendix A Specifications A 1 Appendix B Ordering Information B 1 Appendix C Quick Reference C 1 Appendix D Ramp Algorithm amp Lookup Table D 1 Appendix E Application Examples E 1 Appendix F ASCII Codes F 1 Index MA6440 6440 User Manual Rev 2 1 Overview of 6440 In this chapter This chapter introduces the 6440 Indexer D rive Topics covered are e 6440 definition e Other system components e System diagram e Warranty information 1 1 6440 Definition Introduction The 6440 M icrostepping Indexer D rive provides economical microstepping control with a simple mnemonic programming interface Operation is programmed via the serial communications port A combination of dedicated and user programmable 1 0 provides motor control status indication and sensor feedback Simple single letter mnemonics are used to specify a wide variety of motion commands A terminal or PC with terminal software can be used to familiarize oneself with 6440 operation Various motion parameters can be modified and motion executed immediately from the command line or from on board non volatile
32. the information included here Therefore you may need to wire the drive differently then described here U se shielded and twisted cabling for the signal and power cables as described below This precaution reduces electrical noise R efer to section 2 2 for safety information that must be followed to reduce shock hazard 2 5 1 J 1 120 240 Vac Power Connector Introduction Mating connector Cable requirements The J1 power connector should be used to power the 6440 from 120 240 V ac 60 50 H 2 The J 1 120 240 V ac power connector mates to a PCD 3 pin screw cable connector The mating connector supplied with the unit is type E LF P03210 U se 16 to 14 gauge shielded wire for the cabling MA6440 6440 User Manual Rev 2 Cable diagram J 1 power cable Ez White AC L1 s 1 Black AC L2 n i D 2 4 Green Earth Ground 5 is 013 Procedure 1 Strip the wires to 0 27 inch 7 mm 2 Attach the wire to the connector as indicated in the diagram Note M ake sure the screws on the PCD connector are tightened down firmly to the wiring Caution AN Do not pre tin solder the tops of the cables going into the PCD connector This can result in a loose connection 2 5 2 J 3 Motor Connection Introduction The J 3 motor cable connects the drive to the motor windings M otor cables are available from Pacific Scientific or you can make your own 6440 User Manual
33. the output port s In addition a special case of the G instruction allows up to 16 different motion routines to be executed based on the state of the lower 4 port lines Programs are entered with the E command and parameters saved with the P command in immediate mode The external R emote Start and Stop can be used to start and stop program execution Limit switches attached to the assembly can be used as safeguards for over motion A slave 6410 can be controlled by the Direction and Step lines the M oving line can be polled for motion and the Fault line can be polled for fault conditions Remote Start Stop Limit Switches User Discrete I O Step lt Direction Moving Fault ig of BO Motor ag q 120 240 Vac 60 50 Hz Off line Motor onmw fh 6440 User Manual Rev 2 MA6440 E 1 LOI E 2 Host Operation Single Unit In this configuration a custom host computer program issues immediate mode commands controlling all motion and parameter settings All operations normally embodied in an on board non volatile program are executed on the host with only default motion parameters stored in non volatile memory This approach allows the programming freedom and flexibility afforded by the host programming language and development environment RS 232 RS 422 RS 485 Host PC Limit Switches User Discrete I O Step Directio
34. would be if the specified duration of the index in steps were not long enough to allow the motor to reach the Final V elocity then the profile would top out at some intermediate point followed by the deceleration interval 6440 User Manual Rev 2 MA6440 D 3 Profile Generator Lookup Table 155 562 820 1036 1227 1407 1581 1742 1905 2058 2190 2340 2472 2620 2736 2864 3004 3126 3225 3348 3461 3582 3690 3804 3925 4028 4137 4251 4342 4468 4568 4672 4744 4856 4974 5056 5141 5273 5365 5461 5560 5610 5715 5823 5936 5994 6113 6174 6301 6366 6433 6501 6606 6678 6788 6864 6942 7021 7271 7358 7447 7538 7585 7680 7111 7826 7927 7979 8084 8137 8246 8302 8416 8474 8533 8593 8714 8777 8840 8904 8969 9035 9170 9239 9309 9380 9452 9525 9600 9675 9752 9752 9830 9909 9990 10072 10155 10240 10240 10326 10413 10502 10593 10593 10685 10778 10778 10874 10971 10971 11070 11170 11170 11273 11377 11377 11592 11702 11702 11815 11815 11930 11930 12047 12166 12166 12288 12288 12412 12412 12538 12538 12538 12668 12668 12800 12800 129
35. 2 16 table 2 14 G addr 7 8 J5 Signal 2 17 block diagram 2 17 H table 2 18 J 6 external 66 V dc 2 23 H speed dir 7 24 connector 2 23 H umidity A 4 diagram 2 23 2 MA6440 6440 User Manual Rev 2 Jumpers 1 5 3 1 N DENON F Noise pickup reduction 2 6 g o i a O position vaddr 7 19 Ordering Information B 1 L Output Interface 2 19 L addr 7 16 current 3 4 A 1 Overview 1 1 M M accel decel 7 17 P M aintaining 4 1 P 7 21 M echanical A 4 Pacific Scientific cable 2 8 D MENS A 4 Part numbers B 1 Weight A 4 Port connections 2 8 Memory M ap 5 4 Powering up 3 1 M odes of Operation 5 1 Power Supply E xecution M ode 5 3 features 1 4 Immediate M ode 5 1 Programming A 3 M otion Profile Algorithm D 1 M otor Connection 2 7 Q 4 L ead 2 11 Q 7 22 8 Lead Parallel 2 13 Quick R eference 1 8 Lead Series 2 12 M ating connector 2 10 M otor current R setting 3 4 R vel 7 24 M ounting 2 3 Ramp Algorithm D 1 dimensions 2 4 R eturn procedure 4 3 M ulti axis capability 2 24 A 2 R 5 232 Connection 2 15 R S 422 Connection 2 15 R S 485 Connection 2 16 6440 User Manual Rev 2 MA6440 S U Safety guidelines 2 2 U addr cond 7 29 Serial Port Connection 2 13 U npacking 2 1 M ating connector 2 13 Port connections 2 14 Shock hazard reduction 2 6 V 6420 Dialogue 6 1 V vel 7 31 Download U tility 6 4 6 10 V ariable R esolution Editor 6 5 M ode 1 3 A 2 Indexer Language 6 8 Init Serial Port 6 7 W Installing 6420 Dialogue 6 2 Keyboard Comma
36. 34 12934 13072 13072 13072 13212 13212 13356 13356 13356 13503 13503 13653 13653 13653 13806 13806 13806 13963 13963 14124 14124 14124 14288 14288 14288 14456 14456 14456 14456 14628 14628 14628 14804 14804 14804 14985 14985 15170 15170 15170 15360 15360 15360 15360 15554 15554 15554 15554 15753 15753 15753 15753 15958 15958 15958 15958 16168 16168 16168 16168 16168 16384 16384 16384 16384 16605 16605 16605 16605 16605 16832 16832 16832 16832 16832 17066 17066 17066 17066 17066 17307 17307 17307 17307 17307 17307 17554 17554 17554 17554 17554 17554 MA6440 6440 User Manual Rev 2 17808 17808 17808 17808 18070 18070 18070 18070 18070 18070 18340 18340 18340 18340 18340 18340 18340 18618 18618 18618 18618 18618 18618 18618 18618 18904 18904 18904 18904 18904 18904 18904 19200 19200 19200 19200 19200 19200 19200 19200 19200 19504 19504 19504 19504 19504 19504 19504 19504 19819 19819 19819 19819 19819 19819 19819 19819 19819 19819 2014
37. 4 20144 20144 20144 20144 20144 20144 20144 20480 20480 20480 20480 20480 20480 20480 20480 20480 20480 20480 20480 20827 20827 20827 20827 20827 20827 20827 20827 20827 20827 20827 20827 21186 21186 21186 21186 21186 21186 21186 21186 21186 21186 21186 21186 21186 21186 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21557 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 21942 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22341 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 22755 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 2318
38. 4 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 23184 6440 User Manual Rev 2 MA6440 D 2 Speed Accuracy The 6440 Indexer generates step pulses by initializing a counter with a value that generates interrupts at approximately the desired step rate The counter runs at a frequency of 1 2288 MHz This value is divided by the desired step rate to yield the integer counter initialization value Consequently the rounding process results in reduced accuracy as speeds increase For example step rates from 2498 to 2502 steps second yield a 491 count value and result in an actual speed of 2503 steps second Likewise 2503 to 2507 steps second yield a 490 count and result in an actual speed of 2508 steps second In summary speed accuracy over the full 20 19 000 step second range is approximately 0 72 D 6 MA6440 6440 User Manual Rev 2 Appendix E Application Examples Introduction The following examples give a flavor of just a few of the myriad applications for the 6440 E 1 Standalone Operation The 6440 has approximately 1792 bytes of internal non volatile memory for user programs Internal programs can set initial and final velocities acceleration and deceleration rates execute incremental absolute and constant velocity moves program loops branches based on the state of an input port and also write to
39. 40 User Manual Rev 2 MA6440 7 47 gt Read Memory gt addr size Immediate Purpose Displays a specified block of non volatile memory starting at addr returning a total of size bytes The value of addr must be in the range of 0 to 2047 and block size 0 255 Displayed values are in decimal format Syntax gt addr size Arguments 0 lt addr lt 2047 and 0 lt size lt 255 7 48 MA6440 6440 User Manual Rev 2 lt Write Memory lt addr data Immediate Purpose Writes a data byte to an address specified by addr in non volatile memory The addr must be in range of 0 to 2047 and data must be in range of 0 to 255 Syntax lt addr data Arguments 0 lt addr lt 2047 and 0 lt size lt 255 6440 User Manual Rev 2 MA6440 7 49 Read Moving Status Immediate Purpose Returns an integer number representing the current move status Bit weights 1 gt Indexing 2 gt Constant Speed 128 gt Drive Fault Syntax Arguments None 7 50 MA6440 6440 User Manual Rev 2 Trip and Output nextpos port Execution Purpose Syntax Arguments This instruction is designed to be used within a Trip Point Service Routine TPSR and provides the capability of setting or clearing user 1 0 lines as a function of current position To use this instruction set up a Trip Point 0 command in the normal fashion but with an entry address in fast RAM locations 128 to 191 such that the entire
40. 6440 User Manual Rev 2 MA6440 E 11 Appendix F ASCII Codes ASCII Code Result ASCII Code Result ASCII Code Result ASCII Code Result 0 NUL 32 64 Q 96 1 A SOH 33 65 A 97 a 2 B STX 34 66 B 98 b 9 3 NE ETX 35 67 C 99 c z 4 D EOT 36 68 D 100 d U 5 NE ENQ 37 69 E 101 e 6 F ACK 38 amp 70 F 102 f 9 7 NG BEL 39 i 71 G 103 g Q 8 H BS 40 72 H 104 h 9 HT 41 73 105 i 10 LF 42 74 J 106 j 11 K VT 43 75 K 107 k 12 aL FF 44 j 76 L 108 13 M CR 45 77 M 109 m 14 N SO 46 A 78 N 110 n 15 20 Sl 47 79 O 111 o 16 P DLE 48 0 80 P 112 p 17 Q DC1 49 1 81 Q 113 q 18 R DC2 50 2 82 R 114 r 19 ag DC3 51 3 83 S 115 S 20 T DC4 52 4 84 T 116 t 21 JU NAK 53 5 85 U 117 u 22 SM SYN 54 6 86 V 118 V 23 W ETB 55 7 87 W 119 w 24 SK CAN 56 8 88 X 120 x 25 a EM 57 9 89 Y 121 y 26 Z SUB 58 90 Z 122 Z 27 ESC 59 A 91 123 28 EN FS 60 lt 92 124 29 GS 61 93 125 30 De RS 62 gt 94 d 126 31 ne US 63 95 P 127 6440 User Manual Rev 2 MA6440 F 1 INDEX C steps 7 40 C arg 7 4 Steps 7 42 Cabinet selection 2 3 axis 7 54 Chopper frequency A 1 addr data 7 49 Cleaning unit 4 1 polarity 7 53 Components system 1 6 addr size 7 48 Command summary C 1 position 7 38 Commun
41. Components s aa var ark kr kr ee 1 6 13 Wakeanty s so cay eye adres es dd Gears aoa ea a 1 6 2 Installing the 6440 2 1 2 1 U npacking and Inspecting 0 ee es 2 1 2 2 Installing and U sing the 6440 UnitSafely 2 2 2 3 Selecting Other System Components aaa aaa rav 2 3 2 4Mountingthe 6440 Unit 0 2 0 rv rava eva 2 3 2 5Connectingtothe6440 0 0 00002 2 5 2 5 1 1Power Connector 0 0 rn an 2 6 25 2 3 Motor Connections vas res sae sad are EG 2 7 25 3 4 Serial Port Connector secese eaa e a A 2 13 2 5 4 5 Discrete Inputs OuputsConnector 2 17 2 5 5 J 6 External 66 V dc Output Connection 2 23 2 6 U sing the 6440 to Controla6410Drive 2 25 2 6 1 SynchronousMotion as s oaa aos e edea eci mana koa ee 2 25 2 6 2 Alternating Operation aoaaa 2 25 3 Powering Up the 6440 Drive 3 1 3 1 Setting Switch S1 on Drive Board aaau aaa aaa 3 2 3 1 1 Digital Electronic Damping Control 3 3 3 1 2 Idle Current Reduction aaa aaa 3 4 3 1 3 Setting M otor Current vaar rv rv cee eee ee 3 4 3 2 Indexer Board Settings 2 000200 3 5 32 1 Jumper Settings ea i a vet s gar G rd Ge skled 3 6 3 3 Setting AC Switch on Power Board vaar rv v vr vvs 3 7 MA6440 6440 User Manual Rev 2 3 4 Testing the Installation rv rv rv vr rv 3 8 3 4 1 ConnectionsTest vvvrararrv rv rv rn ran 3 8 4 Maintaining Troubleshooting
42. ING gt where there are no blanks between the dollar sign and the string T he string is limited to eight characters composed of any sequence of digits and letters including the underscore Any variation from this format will generate a syntax error The maximum number of labels allowed for any program is 200 Note Labels are only used in the Editor M ode MA6440 6440 User Manual Rev 2 Example The labels in this program are begin loop and end begin k j begin 1 loop 1000 u loop 5 g end end S 6 5 Syntax Checker The Syntax Checker checks for valid syntax for each line of code If no syntax errors are found the Syntax Checker takes out all symbolic labels and label references and inserts the target address for each label reference a label reference is a label used as the operand for a branch to an address command If an error is found the program and error messages are put into a listing file which is displayed The possible error messages are listed below invalid input label or program command expected invalid label expecting alphanumeric after delimiter invalid label or expecting valid command after label invalid operand digit 1 expected invalid operand expecting digit EOL encountered expecting operand invalid input no operand required invalid input expecting EOL character MN MU UWNE invalid inpu
43. MA6440 6440 User Manual Rev 2 2 5 Connecting the Five Input Output Cables Introduction The five input output cables are e J1 Power e J3 Motor e J4 Serial port e J5 Discrete inputs and outputs 5 e J6 66Vdc Out 2 Note J12 Connector is NOT USED 8 un Connection These inputs and outputs are shown as follows diagram 14 J12 5VRTN 1 1 TXD 232 2 2 RXD 232 3 3 N C 4 4 NOT USED COMMON 5 5 TXD 485 6 6 TXD 485 7 7 RXD 485 8 RXD 485 9 J5 Port8 1 6 pons 2 Pacific rt Port 4 3 SCIENTIFIC a ore 2 2 DC 66 Vdc Out REMOTE START 8 6440 LIMIT 9 ITA HOME 10 ee INDEXER FAULT 12 DRIVE J3 5 7 Vdc 13 PORT7 14 j Phase A PORT 5 15 PORT 3 16 2 Phase A PORT 1 17 GND 18 3 Phase B DIR 19 GND 20 4 REMOTE STOP 21 LIMIT 22 Case GND JOG 23 2 MOVING 24 jl ul 120 240 Vac 60 50 Hz 2 Off line Power 3 TTI 6440 User Manual Rev 2 MA6440 2 11 Wiring is application specific Noise pickup reduction Shock hazard reduction Wiring sizes wiring practices and grounding shielding techniques described in the following section represent common wiring practices and should prove satisfactory in the majority of applications Caution Non standard applications local electrical codes special operating conditions and system configuration wiring needs take precedence over
44. NT OR COPY RIGHT INFRINGEMENT SHALL NOT EXCEED THE PRICE SPECIFIED OF THE PRODUCTS OR PROGRAMS GIVING RISE TO THE CLAIM AND IN NO EVENT SHALL PACIFIC SCIENTIFIC BE LIABLE UNDER THESE WARRANTIES OR OTHERWISE EVEN IF PACIFIC SCIENTIFIC HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING WITHOUT LIMITATION DAMAGE OR LOSS RESULTING FROM INABILITY TO USE THE PRODUCTSOR PROGRAMS INCREASED OPERATING COSTS RESULTING FROM A LOSS OF THE PRODUCTS OR PROGRAMS LOSS OF ANTICIPATED PROFITS OR OTHER SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHETHER SIMILAR OR DISSIMILAR OF ANY NATURE ARISING OR RESULTING FROM THE PURCHASE INSTALLATION REMOVAL REPAIR OPERATION USE OR BREAKDOWN OF THE PRODUCTSOR PROGRAMS OR ANY OTHER CAUSE WHATSOEVER INCLUDING NEGLIGENCE The foregoing shall also apply to Products Programs or parts for the same which have been repaired or replaced pursuant to such warranty and within the period of time in accordance with Pacific Scientific s date of warranty No person including any agent distributor or representative of Pacific Scientific is authorized to make any representation or warranty on behalf of Pacific Scientific concerning any Products or Programs manufactured by Pacific Scientific except to refer purchasers to this warranty Table of Contents 1 Overview of the 6440 1 1 1 1 6440 DefiNitign ax va a sem avse Gases EE ar ew kje 1 1 1 2 System
45. P8 P1 should be displayed with the least significant bit representing P1 6440 User Manual Rev 2 MA6440 7 15 L List Program L addr Immediate Purpose Produces a listing of instructions starting from the specified addr returning up to 20 command lines Programs will be listed until a program terminator byte is encountered Syntax L addr Arguments 0 lt addr lt 1791 Programming Enter a program starting at location 0 in memory Type L 0 The guidelines program should now be listed on the screen 7 16 MA6440 6440 User Manual Rev 2 M Accel Decel Factor M accel decel Immediate Execution Purpose The accel and decel values determine acceleration and deceleration profiles respectively Accel D ecel ramps are determined by lookup table and are NOT specified in terms of dv dt The Initial and Final V elocity parameters are used as indices into a lookup table to determine a range of step speeds to be applied to the drive The time spent at any given step speed within the range is determined by the accel and decel values and hence determine how quickly the drive ramps up or down in speed The arguments must be in the range of 5 to 255 Values towards the low end result in high acceleration rates and conversely values towards the upper end result in lower acceleration rates The current accel and decel values can be saved in non volatile memory by issuing the P store Parameters command Syntax M accel decel Argume
46. PaciFic SCIENTIFIC HIGH PERFORMANCE MOTORS amp DRIVES 110 Fordham Road Wilmington MA 01887 978 988 9800 Fax 978 988 9940 Part MA6430 List Price 30 U S J anuary 1999 Rev 2 MA6440 6440 Indexer Drive User Manual This document is copyrighted by Pacific Scientific Company It is supplied to the user with the understanding that it will not be reproduced duplicated or disclosed in whole or in part without the express written permission of Pacific Scientific Company Copyright O 1997 1999 EEE EEE EEE Ess WARRANTY AND LIMITATION OF LIABILITY Includes software provided by Pacific Scientific Pacific Scientific warrants its motors and controllers Product s to the original purchaser the Customer and in the case of original equipment manufacturers or distributors to their original consumer the Customer to be free from defects in material and workmanship and to be made in accordance with Customer s specifications which have been accepted in writing by Pacific Scientific In no event however shall Pacific Scientific be liable or have any responsibility under such warranty if the Products have been improperly stored installed used or maintained or if customer has permitted any unauthorized modifications adjustments and or repairs to such Products Pacific Scientific s obligation hereunder is limited solely to repairing or replacing at its option at its factory any Products or parts there
47. TPSR resides within the fast RAM range When the Trip and Output instruction is executed the port parameter is sent out to the bi directional ports The position parameter nextpos sets the next trip point position The Q command always shows the next trip point Trip and Output instructions must be embedded within the TPSR in contiguous locations At end of sequence a new Trip Point can be specified nextpos port None 6440 User Manual Rev 2 MA6440 7 51 Programming The following example activates ports P1 P2 P3 P4 in sequence guidelines as successive positions are traversed The O command sets the initial trip point to position 1000 and vector address to 128 When this position is encountered execution vectors to location 128 The Trip and Output instruction at location 128 writes a 1 to the bi directional ports and sets the next trip point to position 5000 and the vector address 133 Subsequent execution continues in a similar manner Note Only the E command at the conclusion of editing is necessary to end the trip point service routine Program line Explanation E0 0 Z zero position 1 01000 128 trip at pos 1000 6 50000 index 11 WO till done 14 W 100 wait 1 sec 17 GO loop E 128 128 50001 133 10000 2 138 150004 143 20000 8 148 25000 4 153 30000 2 158 350001 E 7 52 MA6440 6440 User Manual Rev 2 Limit Switch Polarity polarity Immediate Purpose Sets the limit switch polarit
48. a brief description and the operating modes where they apply Detailed descriptions of each command are given on the page indicated in Chapter 7 Command Description Mode Page steps Incremental move Immediate E xecution 7 40 steps Incremental move Immediate E xecution 7 42 axis Selective Termination Immediate 7 54 lt addr data Write Non volatile Immediate 7 49 Memory polarity Limit Polarity Immediate 7 53 gt addr size Read Non volatile Memory Immediate 7 48 position Absolute move Immediate E xecution 7 38 step size Stepsize V elScale Immediate E xecution 7 44 R ead M oving Status Immediate 7 50 speed Set J og Speed Immediate E xecution 7 37 aC Software R eset Immediate 7 47 nextpos port Special Trip Execution 7 51 A opcode Clear and R estore Immediate 7 2 B addr cntr Jump inner loop Execution 7 13 C arg Read Position Counter Immediate 7 4 E addr Program M ode Immediate 7 5 ESC A bort or Terminate Immediate 7 46 F vel Initial V elocity Immediate E xecution 7 6 G addr trace Go Immediate E xecution 7 8 H speed dir Home Immediate 7 10 E xecution 6440 User Manual Rev 2 MA6440 Table cont d Command Description Mode Page mode Resolution M ode Immediate 7 12 J addr cntr Jump outer loop Execution 7 13 K Read Input Por
49. ands used since each command is composed of 1 to 5 bytes In general programs can be entered into the entire 1792 byte range of User Programs memory however certain commands when utilized require specific areas of memory to be reserved for their use In addition there is a 64 byte segment extending between locations 128 to 191 marked as Fast Ram This area is fast static RAM inside the microprocessor used when a specific command the Trip and Output requires it and when higher response or looping speed is necessary in an application As the name implies this area is NOT saved when the unit is powered down To save the program s in this area to non volatile memory you must issue the P command Upon power up the contents will be restored automatically MA6440 6440 User Manual Rev 2 Memory Map Details Address Description 0 255 User Programs Location 0 is the starting location when the REMOTE START input is activated Locations 128 192 are FAST RAM locations and are not saved when the unit is powered down until P Store parameters is issued 256 511 U ser programs and G 2048 Indexed jump 512 767 U ser Programs 768 1023 U ser Programs 1024 1279 U ser Programs 1280 1535 U ser Programs 1536 1791 U ser Programs Location 1600 is starting address for AUTOSTART 1792 1893 RESERVED Variable resolution fraction lookup table 1894 2047
50. arry out the motion in the background If a second motion command is sent to the 6440 while another is in progress the lt CR gt lt LF gt response will be delayed until the original command is complete 6440 User Manual Rev 2 MA6440 5 1 Programs can be entered into non volatile memory while in Immediate Mode Either a terminal emulator program or the Pacific Scientific 6420 Dialogue can be used to facilitate program development The E address command allows you to edit a program starting at the location specified by address The starting address is echoed indicating where the command will go in memory Y ou can continue to enter successive commands line by line If an entry error occurs before lt CR gt the backspace or delete key can be used to correct the error If the error is noticed sometime later leave the edit mode by entering E lt CR gt and start editing at the line where the error was made by entering E error address followed by lt CR gt If you want to selectively change only the line where the error was made enter the new command followed by lt CR gt as you normally would do but leave the edit mode by pressing the ESC key instead of E lt CR gt If you inadvertently enter the E lt CR gt combination the next command in the program will be over written with an invisible program termination code and you will have to go back and selectively replace this line If you want to continue editing the program from
51. beginning of line M ove cursor to the end of line Previous Page M ove to top of screen M ove to bottom of screen M ove to beginning of file M ove to end of file Tab MA6440 6440 User Manual Rev 2 ALT M ALT C ALT X ALT P ALT S 6 3 6 Init Serial Port Begin marking a block of text use cursor arrows to mark rest of block Copy marked block to scrap Cut marked block to scrap Paste scrap at cursor position Search for pattern target starts search cancels search After selecting this utility the serial port parameters can be initialized or changed If the parameters do not need to be changed then type lt Esc gt Typing lt Esc gt at any point in the Init Serial Port menu will exit without saving any changes to the parameters The parameters are selected by using the up or down arrow keys As each parameter is highlighted its sub menu displays the list of each parameter s values The choices can be selected with the lt Up gt and lt Down gt keys A parameter and its value are entered with a lt Enter gt To exit the Init Serial Port menu after making changes to any parameters type lt Enter gt after the last parameter in the menu Any changes made to the parameters are saved to a disk file in the current directory after exiting the I nit Serial Port menu and thus are used as the default settings upon the next invocation of 6420 Dialogue These default settings are stored in a binary
52. d Settings Indexer The Indexer has thirteen plug on jumpers E 1 through E 13 controlling RS Communications Synchronous or Alternating Operation and I O Configuration J umper location E E JE E E E E E JE E E 3141516171819 11112113 10 6440 User Manual Rev 2 MA6440 3 5 3 2 1 J umper Settings El and E2 Note These jumpers should NOT be modified by user Configuration E1 E2 IN OUT E11 E11 RS Communication Configuration IN R 5 485 Communications OUT R S 232 R S 422 Communications Note The factory default is Jumper OUT enabling RS 232 and RS 422 communications E12 and E13 E12 E13 Synchronous or Alternating Operation Configuration IN OUT Alternating O peration OUT IN Synchronous Operation Note Factory default setting is E 12 OUT E13 IN E3 to E10 Jumpers E3 to E10 control discrete I O bit directions E3 to E10 1 0 Configuration IN Output OUT Input Note Factory default settings are all jumpers OUT configuring all lines as INPUTS 3 6 MA6440 6440 User Manual Rev 2 3 3 Setting AC Switch on Power Board Introduction The AC Switch SW 1 on the 6440 power board allows the user to select 120 OR 240 V ac Warning PN Connecting 240 230 Vac with switch in 120 115 Vac position will permanently damage the drive Location of AC Switch Transformer
53. data file named PORT CFG 3 fe 6440 User Manual Rev 2 MA6440 6 13 6 4 Indexer Language for the 6440 Series Introduction Pacific Scientific Indexer Language is a modified form of the program language of the Pacific Scientific M odel 5240 Stepping M otor Indexer D rive The language for the 6440 has been modified so that symbolic labels can be used as the operand for branch to address commands for example J the UMP command Syntax checking is done on the Indexer Language and labels are translated to their target address by the Syntax Checker before a program is downloaded When a program is uploaded labels are generated for the operands of branch to address commands 6 4 1 Use of Symbolic Labels in Programming A line of program code has this format lt LABEL gt COMMAND OPERAND1 OPERAND2 where LABEL is optional and OPERAND2 exists for some commands One or more blanks must be used between a label and a command or between operands but blanks are not necessary between the command and OPERAND1 Tabs may be used in place of blanks The branch to address commands G GOTO J JUMP and U LOOP may have a label or an address for OPERAND1 The label reference in OPERAND1 must have a matching label somewhere in the program or a syntax error is generated Duplicate label names are not allowed and will cause a syntax error to be generated The format for a label is lt STR
54. ding to the controller at a convenient time Also programs can be read from the hardware using the U pload Utility and be modified using the E ditor 6 Init Serial Port e Thelnit Serial Port option allows the user to select a COM Port for serial communication 6420 Dialogue is contained on a single 3 1 2 inch diskette 3 Q 6440 User Manual Rev 2 MA6440 6 7 6 2 Getting Started 6420 Dialogue can be executed directly from the 6420 Dialogue disk supplied or it can be installed on the PC s hard disk If 6420 Dialogue is to be executed directly off the disk supplied it is recommended that a backup copy be made and stored in a safe place 6 2 1 Using the 6420 Dialogue Floppy Disk Follow the steps below to use the 6420 Dialogue floppy disk 1 Boot up the PC 2 Set the PC to directory A 3 Insert the 6420 Dialogue floppy disk into drive A 4 Type 6420 lt enter gt 6420 Dialogue will be loaded and the M ain M enu screen will appear 6420 Dialogue is now running and you can select the tool desired 6 2 2 Installing 6420 Dialogue on a Hard Drive The 6420 Dialogue disk is supplied with an installation program This program will create a sub directory named 6420 on the hard drive and copy the 6420 Dialogue files from the floppy disk into the sub directory The installation program assumes that the hard drive is designated C To install 6420 Dialogue on the PC s hard drive follow the
55. econd wait in parallel to R 0 146 U 14614 loop till optics deactivated 150 G 128 back to beginning c i i oa lt 6440 User Manual Rev 2 MA6440 E 7 Input Port Polling Some applications may require estimates of branching times Times The program below in FAST memory takes between 200 us to 1 ms to respond to an input line The same program in SLOW memory requires approximately 1 ms to 12 ms to respond to an input line change 128 U 14014 132 G 128 140 W 100 143 G 128 Using the Input An external thumbwheel switch can be used to select 1 of 16 Port to Select 1 of different motion profiles There are several different 16 Different approaches to implementing this capability but the easiest Profiles approach uses the G instruction to execute an indexed jump based upon the state of the lower 4 input port lines This example initiates the indexed jump when the R emote Start input is activated low Each jump executes a particular motion and then terminates returning the 6440 to immediate mode waiting for the next R emote Start activation At the end of motion either a termination byte put there by the E command or a branch to another location G instruction must occur Remember that only 16 locations are available for instructions including the program termination character or G instruction E 8 MA6440 6440 User Manual Rev 2 Example E 0 0 Any initialization code G 2048 execute
56. elated Commands Programming guidelines Sets the final velocity of an amp absolute position or incremental move to vel pulses sec In Fixed R esolution M ode the actual speed is determined by the current StepSize So if vel 1000 and the step resolution is set for Full Steps 200 pulses rev then the shaft spins at 1000 full steps sec or 300 RPM If vel 1000 and the step resolution is set for 1 8 Steps 1600 pulses rev then the shaft spins at 125 full steps sec 37 5 RPM In Variable R esolution M ode the speed is determined by the VelScale factor So if VelScale has been set by issuing 0 the nominal value and vel 1000 then the shaft spins at 1000 full steps sec or 300 RPM If VelScale has been set by issuing 2 and vel 1000 then the shaft spins at 250 full steps sec or 75 RPM This parameter does not affect the velocity supplied in the R Run at constant V elocity or that programmed for Jog or Home operations V vel 0 lt vel lt 19 000 F Set Initial V elocity Program line E xplanation V 1000 set final velocity for and indexes 6440 User Manual Rev 2 MA6440 7 31 W Wait W period Immediate Execution Purpose Syntax Arguments Related Commands Programming guidelines Waits for a specified period of time The argument period specifies the wait in terms of 10 millisecond periods hence the actual wait time is the period multiplied by 10 milliseconds Specify
57. ents Programming guidelines 6440 User Manual Rev 2 MA6440 7 Stores parameters to non volatile memory Values are restored to working memory upon power up and by issuing the A 0 command none Type P lt Enter gt All parameters and fast memory locations 128 191 will be saved to non volatile memory in addition to the following parameters Initial Velocity F Final Velocity V Ramp slope M Jog Speed Trip Point 0 Resolution M ode Limit Switch Polarity RS 485 Node Address User Programs The default mode after memory initialization is Variable Resolution M ode at Full Speed Note Whenever a change in any of these parameters or code in Fast RAM locations 128 191 is to be saved during power cycling the P command must be executed 21 Q Examine Parameters Q Immediate Purpose Displays current parameters and system settings Returns a variable number of lines depending on mode of operation Only in Single U ser M ode Syntax Q Programming Type Q lt Enter gt The screen should show the following guidelines parameter information M accel decel VR or FR na axis name O trip pos trip addr F initial vel vel stepsize V final vel vel stepsize rl accel length The initial vel and final vel are the programmed initial and final velocity values set by the F and V commands The actual velocities also depend on the selected StepSize and Resolution Mode For instance in Fixed R
58. esolution M ode with Half Step Size 1 F 400 V 1000 the second line would appear as F 400 400 2 V 1001 1001 2 rl 2 Notice that the displayed velocities may not be exactly those that where specified This is a result of truncation and roundoff errors during integer division calculations The values within the parentheses 400 2 and 1001 2 indicate the actual velocity values are 200 and 500 5 full steps second because of the half step size selected 7 22 MA6440 6440 User Manual Rev 2 Programming In Variable R esolution M ode Full Step Size 0 F 400 and guidelines V 1000 the second line would appear as F 400 12800 32 V 1001 16168 16 rl 2 The values 12800 32 and 16168 16 indicate the actual velocity values are 400 and 1000 full steps second and the automatically chosen step sizes are fine as 1 32 step The I command scales velocity and the chosen automatic step sizes producing the expressions 12800 64 and 16168 32 resulting in actual velocity values of 200 and 500 full steps second 6440 User Manual Rev 2 MA6440 7 23 R Run at Constant Velocity R vel Immediate Execution Purpose Syntax Arguments Related Commands The Run instruction ramps up or down to the specified vel expressed in pulses second In Fixed Resolution M ode the actual speed in steps per second is determined by the current StepSize So if vel 1000 and the step resolution is set for Full S
59. etermined by the M slope command The M value sets the number of pulses at each velocity For example M5 F 300 V 3000 The start stop velocity and table velocities are 155 562 820 1036 1227 1407 1581 1742 1905 2058 2190 2340 2472 2620 2736 2864 3004 Five pulses will be generated at each of these rates as set by the M 5 commana The total ramp time from initial to final velocity is given by the sum of the times at each velocity during ramp up 6440 User Manual Rev 2 MA6440 D 1 Divide command V Last table entry before final velocity Ramp time M V start stop velocity For example ramp time for the above is Ramp time 5 1 1 1 1 1 1 1 1 300 562 820 1036 1227 1407 1581 1742 1 1 1 1 1 1 1 1 1905 2058 2190 2340 2472 2620 2736 2864 The divide command n can be used to modify the ramp profile The divide command allows you to add more points to the velocity ramp resulting in smaller velocity increments and smoother ramping All commanded velocities are divided by the In command W hen using the 12 command with the previous example the actual output pulse rate would be divided by 2 The initial velocity Fnn will be 150 pulses per second and the final velocity Vnn will be 1500 pulses per second The new modified ramp time will be R amp time 5 2 To run between the sa
60. gative Incremental Move Steps Immediate Execution Purpose Syntax Arguments M oves the motor a total of steps in the CCW direction with a trapezoidal velocity profile shown below In Fixed R esolution mode the steps specifies 8 388 607 pulses So if steps 200 and StepSize is set for Full steps the shaft spins 1 revolution If steps 1600 and StepSize is set for 1 8 step 1600 pulses rev then the shaft also spins 1 revolution In Variable R esolution M ode the steps specifies 8 388 607 99 Full steps with 0 01 step size resolution 20 000 pulses rev If steps 200 00 then the shaft spins 1 revolution Final Vel Initial Vel steps 0 lt steps lt 8 388 607 Fixed R esolution 0 00 lt steps lt 8 388 607 99 V ariable R esolution MA6440 6440 User Manual Rev 2 Related M set accel decel Commands F set initial velocity V set final velocity I set resolution mode set StepSize Programming Program line E xplanation guidelines M 1010 set accel decel factors F 300 set initial velocity V 1000 set final velocity 1000 index 1000 steps at current resolution 6440 User Manual Rev 2 MA6440 7 43 E MMMM StepSize VelScale arg Immediate Execution Purpose In Fixed Resolution M ode sets the StepSize In Variable R esolution M ode determines V elScale to scale actual shaft speed Syntax arg The resolution settings also depend on the drive settings
61. gital Electronic Damping patented circuit eliminates torque and or motor stalling through mid speed region that is inherent in all open loop stepper applications Short circuit protection circuitry disables the drive if a short circuit occurs on the motor outputs The drive must be power cycled to clear fault Fault protection Line to line and line to neutral shorts Internal power supply under voltage Bus overvoltage Fixed Resolution microstepping Binary Steps Full 1 2 1 4 1 8 1 16 1 32 1 64 1 128 1 256 Variable Resolution microstepping Decimal step resolution 0 01 steps at effective full step speeds of 20 19 000 steps second Optical isolation Indexer optically isolated from drive 6440 User Manual Rev 2 MA6440 1 3 Power supply features Indexer features UL Recognized 508C Type R PENDING File E 137798 This also complies with CSA Standard for Process Control Equipment C22 2 No 142 M 1987 Vibration PENDING IEC Standard 68 2 6 66 Vdc Output three pin pluggable connector J 6 designed to supply 66 V dc to power an additional drive The total power available for both the internal and external drives is 66 V dc 4 6A or 300W 10 Simple mnemonic command set may be executed from internal NVRAM or from a more powerful host Serial port communications supporting R S 232 R S 422 and R 5 485 multi drop M ulti axis Single 6440 can control two independent or synchron
62. he keyboard each character should be echoed back to the screen If not check your cabling and connectors and refer to your host reference guide 4 6 MA6440 6440 User Manual Rev 2 If the 6440 is defective Return procedure If you cannot correct the drive problem or if it is defective return it to Pacific Scientific for repair or replacement 1 Call Pacific Scientific at 815 226 3100 from 8 am to 6 pm Eastern Standard Time to get a R eturned M aterials Authorization Number RMA Note Do not attempt to return the 6440 or any other equipment without a valid RMA Returns received without a valid RMA will not be accepted and will be returned to the sender 2 Pack the drive in its original shipping carton Pacific Scientific is not responsible or liable for damage resulting from improper packaging or shipment 3 Ship the drive to Pacific Scientific 110 Fordham R oad Wilmington MA 01887 Attn Repair Department RMA Note Do not ship Pacific Scientific motors to the above address The correct address for motors is Pacific Scientific 4301 K ishwaukee Street Rockford IL 61105 Attn Stepper Repair Department RMA Shipment of your drive or motor to Pacific Scientific constitutes authorization to repair the unit R efer to Pacific Scientific s repair policy for standard repair charges Y our repaired unit will be shipped via UPS Ground delivery If another means of shipping is desired
63. ications A 3 step resolution 7 44 Connections 7 50 66 V dc output 2 23 speed 7 37 diagram 2 5 SE 7 47 motor 2 7 nextpos port 7 51 power 2 6 serial 2 13 signal 2 12 A testing 3 8 A opcode 7 2 Connectors A 4 AC Switch 1 5 3 1 3 4 location 3 7 D Alternating Operation 2 25 3 6 Damage 2 1 Application Examples 1 6 E 1 Dedicated Inp Out 2 19 ASCII Codes F 1 Pin Designations 2 20 AUTOSTART 5 3 Port Designations 2 18 D efault settings 3 2 Digital Electronic B mom 1 3 1 5 PANEN Ta Dimensions 2 2 A 4 Baud rate 2 14 i i Dip Switch S1 1 5 3 1 Bipolar chopper drive 1 3 j Block diagram 1 2 oration ae settings 3 2 Discrete Input Voltage A 1 6440 User Manual Rev 2 MA6440 1 Discrete Output Voltage A 1 I Drive definiti 1 1 mode 7 12 ENG i Idle current reduction 1 5 3 4 features 1 3 indexer settings 2 20 features 1 4 settings 3 5 E Input Interface 2 19 Input Power A 3 Kg E2 Inspection 2 1 E3 to E10 36 Installation 2 2 E11 36 Instruction O verview 5 3 E12 and E13 2 25 3 6 Enabling the drive 3 9 J Environmental A 4 I addr entr 7 13 Humidity A 4 1 1 Power 2 6 Operating temperature A 4 connector 2 6 Storage temperature A 4 diagram 2 7 Bae 208 J3 Motor 2 7 connector 2 10 F al en NOR 2 11 Fast RAM 5 4 de Scientific TET Features 1 3 table 2 10 F vel 7 6 J 4 Serial 2 13 Fixed resolution mode 1 2 A 1 connector 2 13 Fuse Selection A 1 RS 232 Connection 2 15 R S 422 Connection 2 15 G R S 485 Connection
64. ill exist only in the original file on the PC To avoid confusion when developing 6440 programs it is recommended that the labeling scheme used by the U pload Utility be followed That is when writing a 6440 program on the PC use labels of the form L xxx starting with L 000 and progressing sequentially through the program By following this practice a program will not change labels when downloaded and then uploaded 6 16 MA6440 6440 User Manual Rev 2 7 6420 Programming Instructions i 8 wf y is Ao D U 5 In this chapter This chapter contains detailed descriptions of the 6420 commands The command and the mode of operation where it can be used is listed at the top of the page Commands are then described using the following format Purpose purpose of the instruction Syntax exact format of the command Programming guidelines pertinent information about using the command Example showing use of the instruction in a program segment 6440 User Manual Rev 2 MA6440 7 1 A Clear and Restore A opcode Immediate Purpose This command is used to initialize a portion of non volatile memory Non volatile memory is segmented into 8 pages The specified opcode determines precisely the page to be erased reloaded or initialized Syntax A opcode Arguments AO R eloads the last saved parameters from NVRAM Alto A7 Erase the corresponding page in NVRAM A8 Completely in
65. indexed jump E End of program here This is the first profile to HOME the unit where P 4 1 Logic 1 1 1 1 E 256 256 H 2001 This is the 2nd profile where P 4 1 Logic 1 1 1 0 E 272 272 M 40 40 800 This is the 3rd profile where P 4 1 Logic 1 1 0 1 E 288 288 M 100 40 200 6440 User Manual Rev 2 MA6440 c o i 2 lt Here s another example where an AUTOSTART program waits for Port 8 to activate the program E 1600 1600 i Any initialization code LoopU Loop 14 don t continue until Port 8 inactive Port 8 must now be inactive high WlowU Wlow 14 don t continue until Port 8 active low G 2048 execute indexed jump E End of program here This is the first profile to HOME the unit where P 4 1 Logic 1 1 1 1 E 256 256 H 2001 W 0 G Loop E This is the 2nd profile where P 4 1 Logic 1 1 1 0 E 272 272 M 40 40 800 W 0 G Loop 10 MA6440 6440 User Manual Rev 2 This is the 3rd profile where P 4 1 Logic 1 1 0 1 E 288 288 M 100 40 200 wo G Loop E Note Since the jump table is encoded as straight binary rather than grey coded the 4 lower bits should be set first followed by a separate activation signal as is done above Otherwise if you attempt to set up a continuous loop where the 4 input lines may change state while the G instruction is executing the program may not jump to the desired profile e O i 2 lt
66. ing period to be 0 is a special case that delays completion of the wait instruction until the end of the current motion command such as an absolute or incremental index W period 0 lt period lt 65 535 and indexes Note A non zero wait period executed after issuing a motion command such as absolute or incremental index will immediately start counting down in parallel to the motion command Therefore if the wait period is desired after the motion is completed use a W 0 followed by the actual wait command Program line Explanation W 100 wait 1 second 100000 W 0 wait till index complete MA6440 6440 User Manual Rev 2 X Read Limits X arg Immediate Purpose Syntax Arguments This command returns the status of the limit home and jog switches and the Drive Fault status The value of arg specifies whether limit switch or input line information is returned X arg Specifying arg 0 returns 1 for Limit active 2 for Limit active and 3 for both active Bit 7 is active high if the drive has faulted Specifying arg 1 returns a binary weighted value corresponding to the level of these signals 1 gt Home Input 32 gt Jog Input 64 gt Jog Input 128 gt Drive Fault 6440 User Manual Rev 2 MA6440 7 33 Y Write Output Port Y port Immediate Execution Purpose Syntax Arguments Related Commands Programming guidelines Writes to user defined I O ports where
67. ing procedure as needed will minimize problems due to dust and dirt build up Procedure R emove superficial dust and dirt from the package using clean dry low pressure air 4 2 Troubleshooting the 6440 Introduction U se the following tables to diagnose and correct most problems If you are unable to achieve satisfactory operation contact your local Pacific Scientific distributor or Applications Engineering D epartment 6440 User Manual Rev 2 MA6440 4 1 4 2 1 Troubleshooting the Power Board Corrective action Use the following table to trouble shoot the 6440 s power table supply SYMPTOM POSSIBLE CAUSE ACTION M otor does not turn LEDS ON green and or red 120 240 V ac switch in 240 position input from 120 Vac Turn power off correct switch position AC Input line low Increase Input AC to spec Dead short or overload across external 66 V dc output connector J 6 Remove short or reduce load Over temperature Check ambient temperature or internal fan malfunction blockage Bad load connection Check load connection Check J 6 Vdc output with a voltmeter and ensure output voltage is 66V 3 1 If output voltage gt 70 Vdc and lt 78 Vdc add a load and ensure V dc is 66V dc 2 If output voltage gt 78 Vdc return 6440 to factory for service Drive board fault See Section 4 2 2 MA6440 6440 User Manual Rev 2
68. itializes NVRAM to default values A9 Initializes variable resolution fraction lookup table to default values List of 100 eight bit values starting at location 1792 in NVRAM 7 2 MA6440 6440 User Manual Rev 2 _ E ERrv7v2v2vuuuvuv2v2202020202222222E Programming Memory Map Details guidelines Erase Cmmd Address Notes A1 0 255 User programs Location 0 for REMOTE START input Locations 128 192 are Fast RAM locations A2 256 511 U ser programs and G 2048 Indexed jump A3 512 767 U ser programs A4 768 1023 U ser programs A5 1024 1279 U ser programs A6 1280 1535 U ser programs A7 1536 1791 U ser programs Location 1600 for AUTOSTART XX 1792 1893 RESERVED Variable resolution fraction look up table XX 1894 2047 RESERVED Motion parameter storage can be read by the R ead M emory command 6440 User Manual Rev 2 MA6440 7 3 C Read Position Counter C arg Immediate Purpose Displays current position counter value In Fixed R esolution M ode the value is an integer In Variable R esolution M ode a mixed integer fractional value in range of 8 388 607 99 to steps Specifying arg 1 enables continuous echoing of position via the serial interface only in single unit mode Syntax C arg Arguments arg is 0 1 Programming This command is normally used when the 6440 is controlled by a guidelines host computer or with
69. k I mn T O 1 A Orange 0 7 mm 2 Drive S B Red Motor 7 mm G 3 B Yellow mm D 4 7 Motor Case Sep mm Gnd Green In addition make the following connections at the motor annoys hy Org nt Blk Wht Wire Nuts A OIE K Yel Wht Red Wht 2 18 MA6440 6440 User Manual Rev 2 2 5 2 1 8 Lead Motor Parallel Connected Introduction For an 8 lead motor to be wired in parallel build and install the cable as follows Building 8 lead The connector assembly using standard Pacific Scientific parallel motor cablestepper motor color coding is shown below Cabling diagram SPLASHPROOF MOTOR MOTOR TERMINALS 3 4 4 2 we I am i 3 3 mm DRIVE T mim 7 l 4 4 27 in 8 8 7 mm 27 in 7 mm 2 5 3 J 4 Serial Port Connection Introduction for the user interface of your unit Mating connector LEADED MOTOR s 8 amp 8 0 Es A BLACK ORG WHT A ORANGE BLK WHT B RED YEL WHT B YELLOW RED WHT GND GREEN TO MOTOR The serial port transmits and receives R S 232 communication The J 4 serial port mating connector supplied with the unit is an ITT Cannon DE 9S 9 pin plug in female D connector 6440 User Manual Rev 2 MA6440 Baud rate The 6440 supports single unit R S 232 R S 422 and multi unit R 5 485 communication protocols running at 9600
70. le master indexing 1000 index 1000 steps at current resolution W 0 wait till done TO enable slave indexing 2000 index at current resolution W 0 wait till done ere To be meaningful both units must be in Fixed R esolution mode 7 28 MA6440 6440 User Manual Rev 2 U Loop on Port U addr cond Immediate Execution Purpose This command tests a single I O port bit P1 to P8 and jumps to the specified address addr if cond is true Syntax U addr cond Arguments 0 lt addr lt 1791 The cond codes are 0 gt Jump if Port 1 high 1 gt Jump if Port 1 low 2 gt Jump if Port 2 high 3 gt Jump if Port 2 low 4 gt Jump if Port 3 high 5 gt Jump if Port 3 low 6 gt Jump if Port 4 high 7 gt Jump if Port 4 low 8 gt Jump if Port 5 high 9 gt Jump if Port 5 low 10 gt Jump if Port 6 high 11 gt Jump if Port 6 low 12 gt Jump if Port 7 high 13 gt Jump if Port 7 low 14 gt Jump if Port 8 high 15 gt Jump if Port 8 low 6440 User Manual Rev 2 MA6440 7 29 EE Programming guidelines Program line Explanation E0 0 M 1010 3 F 300 6 V 1000 9 U 401 jump if Port 1 Low 13 U 1003 jump if Port 2 Low 17 G9 E E40 40 1000 CW 1000 steps 45 WO till done 48 U 481 wait for release E E100 100 1000 105 WO 108 U 1083 E 7 30 MA6440 6440 User Manual Rev 2 V Final Velocity V vel Immediate Execution Purpose Syntax Arguments R
71. les S 8 amp 8 7 Es 1 Remove the 6440 from the shipping carton M ake sure all packing materials are removed from the unit 2 Check the items against the packing list A label located on the unit identifies the unit by model number serial number and date code Inspect the unit for any physical damage that may have been sustained during shipment If you find damage either concealed or obvious promptly contact your buyer to make a claim with the shipper Do this within 10 days of receipt of the unit After inspection store the controller in a clean dry place The storage temperature must be between 40 degrees C and 70 degrees C To prevent damage during storage replace the unit in the original shipping carton 6440 User Manual Rev 2 MA6440 2 7 2 2 Installing and Using the 6440 Unit Safely Your responsibility AN Safety guidelines As the user or person applying this unit you are responsible for determining the suitability of this product for any application you intend In no event will Pacific Scientific Company be responsible or liable for indirect or consequential damage resulting from the misuse of this product Note Read this manual completely to effectively and safely operate the 6440 unit Warning The circuits in the 6440 drive are a potential source of severe electrical shock Follow the safety guidelines to avoid shock To avoid possible personal injury whenever you are working wi
72. lugged into the drive M otor rotates in Check polarity of the DIRECTION input the wrong direction Reverse the A and A motor phases M otor does not Check that the step size setting of the drive is set correctly reach expected position Verify that the motor does not stall If it does 1 Usea finer step size to avoid low speed resonance problems 2 Enable Digital Electronic Damping S1 position 4 OFF 4 4 MA6440 6440 User Manual Rev 2 gt EET 4 2 3 Troubleshooting the Indexer Board ere action Use the following table to troubleshoot the indexer board table SYMPTOM CORRECTIVE ACTION M otor doesn t spin Verify that the motor is properly connected with no open wires or shorts With the 6440 energized try twisting the motor shaft If you re able to easily spin the shaft especially at the higher motor current levels chances are the motor is disabled 5 7 ENABLE should be wired to J 5 5 GND Verify that some motor problem has not created a Fault condition A FAULT has occurred if J 5 pin 12 is low or the Read HW status command returns with Bit 7 high If so correct the condition that created the fault If you issued the T command with Indexer jumpers E12 and E 13 set for alternating operation you may have disabled step pulses to the motor Double check your jumper configuration and usage of the T command Motor spins but Experiment with the M command by is
73. me start and final velocities as the original example 300 to 3000 with 12 command the program parameters will be 2 M5 F 600 V 6000 MA6440 6440 User Manual Rev 2 Velocities are found from the lookup table 155 562 820 1036 1227 1407 1581 1742 1905 2058 2190 2340 2472 2620 2736 2864 3004 3126 3225 3348 3461 3582 3690 3804 3925 4028 4137 4251 4342 4468 4568 4672 4744 4856 4974 5056 5141 5273 5365 5461 5560 5610 5715 5823 5936 5994 The velocity ramp now consists of 46 points compared to the initial 14 without the 2 command 1 1 1 1 300 721 1054 5994 Ramp time s Note If the final velocity is below 721 sps the second speed in the lookup table there will be NO ramping associated with that move Instead the move is completed in one step Example If Initial Velocity were specified at 100 steps sec F inal Velocity at 1000 steps sec acceleration factor 120 deceleration factor 20 referring to the Profile Generator Table shown on the following page the intermediate velocity points would be 155 562 and 820 steps sec During acceleration 120 steps at 100 steps sec followed by 120 steps each at 155 steps sec 562 steps sec 820 steps sec concluding with the Final V elocity at 1000 steps sec for the duration of the index until deceleration commences One exception to this
74. mine speed in pulses second Acceleration is ramped Deceleration is normally not ramped except in the case of activating both JOG inputs and releasing one Jog inputs are active in idle mode that is when not in middle in entering a command and while not running a program Syntax speed Arguments 0 lt speed lt 255 6440 User Manual Rev 2 MA6440 7 37 Absolute Move position Immediate Execution Purpose Indexes the motor to an absolute position given by the internal position counter In Fixed Resolution mode the position specifies 8 388 607 pulses So if position 200 and StepSize is set for Full steps the shaft spins 1 revolution If position 1600 and StepSize is set for 1 8 step 1600 pulses rev then the shaft also spins 1 revolution In Variable R esolution M ode the position specifies 8 388 607 99 Full steps with 0 01 step size resolution 20 000 pulses rev If position 200 00 then the shaft spins 1 revolution Syntax position Arguments 8 388 607 lt position lt 8 388 607 In Fixed Resolution 8 388 607 99 lt position lt 8 388 607 99 In Variable Resolution Related M set acceleration deceleration profile Commands F set initial velocity V set final velocity set Resolution M ode set StepSize Z Zero Position Counter 7 38 MA6440 6440 User Manual Rev 2 Programming Program line guidelines M 1010 F 300 V 1000 Z 2000 wo W 150 Y1 0 W
75. must be installed at the 6410 as close to the 6410 as possible if the cable length is over 3 feet DO NOT exceed 1000 wf total on J6 external connector MA6440 6440 User Manual Rev 2 See 2 6 Using the 6440 to Control a 6410 Drive Introduction A single 6440 can be used to control two axes in either synchronous or alternating fashion The 6440 Indexer D rive must be in Fixed Resolution mode The slave 6410 drive is usually set for the same step resolution but doesn t necessarily have to be Jumpers E12 and E 13 are used to configure these modes 2 6 1 Synchronous Operation E12 OUT E13 IN S 8 amp 8 0 Es The T command with enb 1 enables step pulses to both master and slave Issuing T with enb 0 disables step pulses to both master and slave 2 6 2 Alternating Operation E12 IN E13 OUT The T command with enb 1 enables step pulses to the master and disables the slave Issuing T with enb 0 disables the master and enables slave Note Do not insert both E12 and E13 at the same time 6440 Indexer Drive Note All slave 6410 jumpers and DIP switches must be properly set 6440 User Manual Rev 2 MA6440 2 31 3 Powering up the 6440 In this chapter Introduction Drive Indexer Power AN This chapter explains how to power up the 6440 after installation Topics covered are e Setting up functions using switch S1 e Setting up functions using jumpers E 1 E13 e AC Switch
76. n entering a choice with the lt Enter gt key Typing the lt Esc gt key will abort the current operation and return to the previous menu or exit the program The lt Esc gt key is also used to exit from the Editor To exit froma Terminal Emulator session type lt Ctrl gt lt E gt The keyboard command definitions are displayed in appropriate places on the screen to assist the user 6 3 1 Terminal Emulator The PC can be used as a dumb terminal to communicate with the selected controller The PC s serial port is initialized when 6420 Dialogue is started The parameters can be changed with the Init Serial Port utility 3 Q 6440 User Manual Rev 2 MA6440 6 9 To exit the Terminal Emulator at any time type lt Ctrl gt lt E gt which returns to the M ain M enu 6 3 2 Upload Utility After selecting this utility the user is prompted for what filename to name the uploaded file By default the uploaded file will be created in the current directory If the user selects a filename that already exists then it will be overwritten thus it is good practice to use a different extension or filename for the uploaded file In particular the filename ext of the source file that was downloaded should not have the same filename ext as the uploaded file or the source file contents will be replaced with the uploaded file When choosing extensions for filenames the use of LST should be avoided The LST e
77. n lt _ Moving Fault of BO Motor 120 240 Vac 60 50 Hz Off line O A 0 Motor E 2 MA6440 6440 User Manual Rev 2 gt E 3 Host Operation Multiple Units This configuration allows up to 32 independent axes to be controlled in immediate mode from a host computer or PLC Normally all the units operate in immediate mode but can also execute from on board non volatile memory Remember the R S 485 implementation is designed as a bus for the host computer to send commands to individual 6440s The host can issue commands to read ports on individual units but individual 6440s cannot initiate transfers back to the host Only the host is the bus master Asin other configurations an individual 6440 can also control a slave 6410 RS 485 Upto 32 Independent Axis Host PC or PLC J 6 6 6 4 4 4 va AN 4 0 0 0 120 240 Vac 60 50 Hz Off line amp q OAO Motor 6440 User Manual Rev 2 MA6440 E 3 E 4 PLC Based Control This configuration is similar to the others described above with the PLC acting as the host computer The PLC can interface to the parallel port lines via a RS 232 RS 422 or RS 485 interface RS 232 RS 422 RS 485 User Discrete I O Step Direction
78. nds 6 3 W period 7 32 Serial Port Connections 6 3 W arranty 1 6 Symbolic Labels 6 8 Weight A 4 Syntax Checker 6 5 6 9 Terminal E mulator 6 3 X U pload U tility 6 4 6 10 Specifications A 1 X arg 7 33 Speed A ccuracy D 4 Storage temperature A 4 Y Storing unit 2 1 Switch Settings 3 2 poe ian Synchronous Operation 2 25 3 6 System components 1 6 2 3 Z Z 7 36 T T enb 7 27 Testing the Installation 3 8 Troubleshooting 4 1 communications 4 6 drive board 4 4 indexer board 4 5 power board 4 2 4 MA6440 6440 User Manual Rev 2
79. not refer to Troubleshooting section Switch power OFF Connect the J 3 motor connector Switch power ON again Connect the J 4 R S 232 connector Cycle power to the controller If using a PC use the 6440 Dialogue disk to set up your PC as a dumb terminal as described in Section 6 Type ESC and then a single space character The controller should respond with a predefined sign on message 5134 PACIFIC SCIENTIFIC 1994 v1 10 Enable the 6440 by connecting J 5 7 Enable to J 5 5 GNDA Verify that the motor has holding torque by attempting to rotate the motor shaft The energized shaft is either immovable or very resistant to rotation when the drive is enabled From the terminal or computer type R100 lt enter gt This will move the motor at a velocity of 100 steps per second clockwise Type R 100 lt enter gt This will change the direction of the motor rotation Type S lt enter gt The motor should stop rotating If the controller passes all of the above then you may start exercising the unit on your own If the 6440 does not pass all of the above steps refer to Section 4 2 Troubleshooting 6440 User Manual Rev 2 MA6440 3 9 4 Maintaining Troubleshooting In this chapter This chapter covers maintenance and troubleshooting of the 6440 4 1 Maintaining the 6440 Introduction The 6440 package is designed for minimum maintenance The following clean
80. ns 256 to 496 G addr trace 0 lt addr lt 1791 or 2048 for indexed jump on inputs trace Oor 1 Program line E xplanation E0 0 M1010 3 F300 6 G 2048 execute Indexed J ump MA6440 6440 User Manual Rev 2 Jump Table The following jump table is used for an indexed jump which might be used for a rotary switch used to select 1 of 16 different operations Jump Loc P4 P3 P2 P1 256 1 1 1 1 272 1 1 1 0 288 1 1 0 il 304 1 1 0 0 320 1 0 1 1 336 1 0 1 0 352 1 0 0 1 368 1 0 0 0 384 0 1 1 1 400 0 1 1 0 416 0 1 0 1 432 0 1 0 0 448 0 0 1 1 464 0 0 1 0 480 0 0 0 1 496 0 0 0 0 6440 User Manual Rev 2 MA6440 7 9 H Home H speed dir Immediate Execution Purpose Syntax Arguments Related Commands The Home instruction initiates a search for the home position Home is executed with dir set for motion that will move the assembly towards the home switch at speed steps second When the home position is reached and the home input switch is activated the motor will reverse direction and move at a speed equal to the Initial Velocity parameter until the home switch is deactivated The activated level should be a logic 0 and the deactivated level a logic 1 H speed dir 20 lt speed lt 19 000 steps second dir must be 1 for CCW or 0 for CW F set Initial V elocity MA6440 6440 User Manual Rev 2 Programming
81. nts 1 lt accel lt 255 1 lt decel lt 255 Related F Set Initial V elocity Commands V Set Final Velocity 6440 User Manual Rev 2 MA6440 7 17 Eee Programming guidelines Program line Explanation M 100 50 accel factor 100 decel factor 50 7 18 MA6440 6440 User Manual Rev 2 O Trip Point O position vaddr Execution Purpose Syntax Arguments Related Commands Allows program to vector to the location specified by vaddr when the position counter equals the specified position value The vaddr must be in the range of 0 to 255 and position in range of 8 388 607 The position must be a whole integer value in both Fixed and Variable R esolution modes Trip Point service routines generally contain I O instructions and new trip point specifications and should not contain index wait or other time consuming instructions A position 0 disables this function For the trip to occur the main program must be still actively running and not in idle mode O position vaddr 8 388 607 lt position lt 8 388 607 0 lt vaddr lt 255 T Set Trip Point 6440 User Manual Rev 2 MA6440 7 19 Programming Program line E xplanation guidelines 3 E 0 Z 1 05000 128 Trip at position 5000 to location 128 6 18000 11 WO 14 G0 Program still running E E128 128 Y1 Activate PI LOW 130 E 7 20 MA6440 6440 User Manual Rev 2 P Store Parameters P Immediate Purpose Syntax Argum
82. nual Rev 2 Cable diagram J 3 motor EF K 7mm 5 r o 1 A Orange amp Ti mm O T ol SAL f Drive A B Red Motor ls 7mm O B Yellow 7mm D 4 vi Motor Case So 5 7 mm Gnd Green OA Note The colors in the diagram follow the Pacific Scientific stepper motor cable color code Procedure 1 Strip the wires to 0 27 inch 7 mm 2 Attach the wire to the connector as indicated in the diagram Note M ake sure the screws on the PCD connector are tightened down firmly to the wiring Caution AN Do not pre tin solder the tops of the cables going into the PCD connector This can result in a loose connection 6440 User Manual Rev 2 MA6440 2 17 Procedure 3 Remove power from the 6440 cont d Warning Always remove power before making or removing connections to A N the unit The motor terminals have high voltage present when the 6440 is On 4 Plug the mating connector firmly into the 6440 5 Connect the cable shield to 6440 ground if applicable 6 Plug the other mating connector into the motor 7 Switch On the 6440 2 5 2 2 8 Lead Motor Series Connected Introduction For an 8 lead motor to be wired in series build and install the cable as follows Building 8 lead The connector assembly using standard Pacific Scientific series motor cable stepper motor color coding is shown below Cabling diagram 7 A Blac
83. oed if the unit recognizes the address 4 Type a simple motion command R 500 followed by a lt LF gt line feed terminating character press lt Ctrl gt lt J gt The motor should now run Note Units configured for single unit RS 232 or RS 422 always have the serial drive lines enabled Therefore avoid connecting one of these units into a chain of RS 485 configured units 22 MA6440 6440 User Manual Rev 2 2 5 4 J 5 Discrete Inputs Outputs Connection Introduction The 6440 features 8 user programmable discrete input output lines Input output selection for Port 1 to 8 is configured by jumpers E 3 to E10 respectively To enable a port as an input remove the respective jumper To enable as an output install the jumper Always remove the external cabling when making I O configuration changes to ensure that an external low impedance input is not driving an I O Port configured as an output The block diagram of a single I O bit is shown below Block diagram 22K 5 7V i 5 Vde re oF INDEXER DIRECTION e oe 100K CONTROL PROCESSOR 74HC14 aa Ge Se rf JUMPER 39V ULN2003 Note Inputs accept 0 30 VDC max where V lt 8V isa logic low and V 3 7V isa logic high All outputs are Open Collector 30 VDC 70 ma sink V lt 1 0V All I O signals are active low Note If a bit is desired to be an input the jumper must be out and an inactive level low written to the bit using the Y command Otherwise as
84. of which prove to Pacific Scientific s satisfaction to be defective as a result of defective materials or workmanship in accordance with Pacific Scientific s stated warranty provided however that written notice of claimed defects shall have been given to Pacific Scientific within two 2 years after the date of the product date code that is affixed to the product and within thirty 30 days from the date any such defect is first discovered The products or parts claimed to be defective must be returned to Pacific Scientific transportation prepaid by Customer with written specifications of the claimed defect Evidence acceptable to Pacific Scientific must be furnished that the claimed defects were not caused by misuse abuse or neglect by anyone other than Pacific Scientific Pacific Scientific also warrants that each of the Pacific Scientific M otion Control Software Programs Program s will when delivered conform to the specifications therefore set forth in Pacific Scientific s specifications manual Customer however acknowledges that these Programs are of such complexity and that the Programs are used in such diverse equipment and operating environments that defects unknown to Pacific Scientific may be discovered only after the Programs have been used by Customer Customer agrees that as Pacific Scientific s sole liability and as Customer s sole remedy Pacific Scientific will correct documented failures of the Programs to
85. ons 6 25 x 2 25 x 12 50 Weight 6 Ib nominal Connectors Discrete I O 25 pin male D connector Serial Port 9 pin male D connector AC Power 3 pin PCD ELFP03210 66 Vdc Output 3 pin PCD ELV P03100 Motor 5 pin PCD ELVP05100 A 4 MA6440 6440 User Manual Rev 2 Appendix B Ordering Information Background This appendix lists 6440 part numbers and gives information on ordering 6440 part number table Pacific Scientific Part Order Comment Stepper Drive 6440 Connector Kit CK 6440 25 pin D connector 9 pin D connector SPC xxx 6410 K N 5 pin PCD 3 pin PCD 3 pin PCD 6420 Dialogue 904 008101 00 3 1 2 inch User Manual M A6440 Motor Cable SPC xxx 6410 xxx represents length in feet for example SPC 005 is a cable 5 feet long For lengths over 50 feet contact Pacific Scientific The connectors are M S on the motor end and PCD on the drive end to connect to Pacific Scientific motors Note Cables for K and N series stepper motors 6440 User Manual Rev 2 MA6440 How to order Contact Pacific Scientific to order these parts Call 815 226 3100 from 8am to 6pm E astern Standard Time Write Pacific Scientific 4301 K ishwaukee Street Rockford IL 61105 Fax 815 226 3048 B 2 MA6440 6440 User Manual Rev 2 Appendix C Quick Reference In this chapter This section contains an alphabetized list of 6440 programming commands including
86. oop stepping commands T H FE Incremental Indexing Table E 6 MA6440 6440 User Manual Rev 2 KE E 7 Miscellaneous Application Notes Start Stop The following is a start stop motion program example The Program program starting at location 128 in FAST memory spins the motor until an optic sensor wired to Port 8 goes HIGH Once this stop point is detected the motor decelerates until coming to astop The program is written such that the wait command executes in parallel with the deceleration If the deceleration factor is set for maximum deceleration rate 0 motion stops very quickly and dead time will be about 1 second If deceleration is set for the minimum rate 255 depending on the velocities involved the stopping time may be several seconds possibly over shooting the stopping point substantially and eliminating the 1 second wait command The optic design be it a reflecting or slotted type may require some moving distance to disengage or deactivate its output The program below runs at a constant slower speed until the sensor is cleared and then loops back to the beginning This continuous running program can easily be modified to start up with an external input applied to an 1 0 port 128 R 1200 spin the motor 131 U 14014 jump to location 140 when stop point is detected by the optic sensor 135 G 131 continue polling Port 8 140 RO decelerate to 0 143 W 100 1 s
87. ous axes with an additional drive and no glue logic Input O utput ports E ight general purpose bi directional user programmable input output ports Internal Memory Approximately 1792 bytes of non volatile memory is available for user programs MA6440 6440 User Manual Rev 2 User adjustments using DIP switch S1 using plug on jumpers using AC Switch SW1 M otor current sets the motor phase current to 5 0 4 375 3 75 3 125 2 5 1 875 1 25 or 0 625 A rms Digital Electronic Damping control enables this patented feature which eliminates loss of torque and possible motor stalling conditions when operating at mid range speeds This instability is a phenomenon of the electronic magnetic and mechanical characteristics of a stepping motor system The compensation circuit damps mid range oscillations by advancing or delaying switching of the output current relative to the incoming pulse train Idle current reduction ICR enables or disables idle current reduction which reduces motor winding current by 50 of its rated value during motor dwell periods ICR begins 0 1 second after the last input step pulse occurs Note The current will return to 100 at the next step pulse RS Communication Configuration allows the user to select R S 232 R S 422 communication or R S 485 communication 1 0 Configuration Allows the user to configure lines as inputs or outputs Synchronous or Alternating Operation allow
88. ovides direction to slave drive CCW isa logic low CW isa logic high Only in Fixed Resolution M ode 5 7V J5 13 This output provides power for slave STEP and DIR when used with a 6410 drive FAULT J5 12 The output is an active low fault indicator It must be cleared by powering down MOVING J 5 24 This output is an active low motion indicator GND J 5 20 Indexer ground isolated from drive ground 2 26 MA6440 6440 User Manual Rev 2 SS eae 2 5 4 3 Input Interface Suggestions These are examples of driving regular inputs and I O pins configured as inputs The input lines pull down to ground and the internal 22k ohm resistor through a 1N 914 diode pulls up to 5 7 Vdc The input is designed such that the user can actively drive the inputs with a low impedance source from 0 to 30 V de User Interface 6440 Input O Stage S 8 amp 8 0 Es Normally Open Switch Input Sinking Stage Transistor Opto Isolator Input Stage _ 6440 User Manual Rev 2 MA6440 2 27 SSF 2 5 4 4 Output Interface Suggestions The output stage is a Darlington sink to ground The user generally supplies the V power H owever the 6440 can provide up to 200 mA from the 5 7 V dc intended for the slave 6410 interface for applications such as driving 5 Volt nominal Opto 22 devices 6440 User Interface Relay Open Collector 30 VDC Max Vsat lt 1 0V 70
89. peration M ultiple 6440 units may be connected to a single R S 485 bus for multi axis operation Another alternative is to use the Step and Direction outputs to control additional drives such as 6410s The 6440 is designed to directly drive another 6410 drive with no glue logic However if desired the user can implement external logic controlled by any number of the user bi directional I O lines to control more than one drive The 6440 is programmed with a simple mnemonic programming language The unit operates in Immediate and Execution Modes In Immediate command line entry mode the user can interactively specify motor commands read back status information or enter programs with an ASCII terminal or terminal emulator The host can also read back the status of both dedicated and user defined I O lines connected to external switches and sensors In Execution M ode previously entered programs may be executed on the 6440 to control the motor On board non volatile memory offers approximately 1792 bytes for user programs Program mnemonics vary from 1 to 5 bytes in length Within the 1792 range there exists a 64 byte region from 128 to 191 designated as FAST memory for time critical code sections 6440 User Manual Rev 2 MA6440 A 3 8 2 v Environmental Requirements Storage 40 C to 70 C temperature Operating 0 to 50 C ambient air temperature Humidity Range 10 to 90 non condensing Mechanical Dimensi
90. rogram indexes the master axis a total of 4 times and for each of these indexes the slave axis 8 times Program line Explanation E0 0 F 100 3 T1 Outer loop begins use J 5 1000 10 WO 13 TO enable slave axis Inner loop begins use B 15 1500 index 1500 steps along slave axis 20 WO till complete 23 W 100 wait 1 second 26 B157 R epeat slave axis motion 8 iterations End of inner loop 30 J 33 for every master index repeated 4 times End of outer loop 7 14 MA6440 6440 User Manual Rev 2 K Read Input Port K Immediate Purpose Reads user defined I O ports The bits are active low so a logic 0 applied to the input port reads back as a 1 Syntax K Arguments None The bit weightings are Portl 1 Port 5 16 Port 2 2 Port 6 32 Port 3 4 Port 7 64 Port 4 8 Port 8 128 Related Y Write Port Commands Programming To program an I O port bit as an input the respective I O guidelines configuration jumper must be removed Ports 1 through Port 8 are configured by jumpers E3 to E10 respectively Remember asa consequence of the internal processor wired AND design of the I O port a logic 1 inadvertently written to an I O port configured as an input will override the actual input state and hence will always be read back as a logic 1 Therefore an inactive level logic 0 must be written to input bits Type K lt Enter gt The value of
91. s the user to select synchronous or alternating operation of slave drives Off line 120 240 Vac switch selects AC input DO NOT apply 240 Vac with AC Switch in 120 V ac position 6440 User Manual Rev 2 MA6440 1 5 Typical Typical applications for the 6440 include applications e Clutch Brake R eplacement e Labeling Machines e Packaging Specialty M achinery e Semiconductor Wafer Polishing e Constant Speed Applications 1 2 Other System Components Overview The other components that along with the drive comprise a complete motor control system are e Motor Installation guidelines for these components are described in Chapter 2 Installing the 6440 1 3 Warranty The Pacific Scientific 6440 Indexer D rive has a two year warranty against defects in material and assembly Products that have been modified by the customer physically mishandled or otherwise abused through miswiring incorrect switch settings and so on are exempt from the warranty plan 1 6 MA6440 6440 User Manual Rev 2 2 Installing the 6440 In this chapter 2 1 Unpacking and Inspecting the 6440 Unpacking procedure Inspection procedure Storing the unit This chapter explains how to install the 6440 Indexer D rive Topics covered are e Unpacking and inspecting the 6440 e Installing and using the 6440 unit safely e Selecting other system components e Mounting the 6440 in your installation e Connecting input output cab
92. st be used if a single 6440 indexer controls its own drive and a slave s 6410 drive Step Size Minimum Speed RPM Maximum Speed RPM Resolution full steps sec full steps sec Pulses revolution Binary Steps Full 6 20 5700 19 000 200 1 2 3 10 3000 10 000 400 1 4 1 5 5 1500 5000 800 1 8 75 2 5 750 2500 1 600 1 16 37 1 25 375 1250 3 200 1 32 9 625 188 635 6 400 1 64 09 312 93 75 312 12 800 1 128 05 156 46 87 156 25 600 1 256 02 078 23 43 78 51 200 Variable The indexer varies the step size from Full to 1 256 as a Resolution function of the specified velocity position profile All indexing Mode is specified in terms of a mixed integer fractional number with the integer portion specifying the full number of steps and the fractional portion specifying 0 01 to 0 99 decimal step resolution carried out to within 8 binary bits of precision Step Size Minimum Speed Minimum Speed Resolution RPM full steps sec RPM full steps sec Pulses revolution Variable automatically 02 078 5 700 19 000 20 000 chosen User specifies position to within 1 100 of a step A 2 MA6440 6440 User Manual Rev 2 Communications R S 232 or RS 422 R S 485 at 9600 bits per second 1 stop bit Multi axis capability Programming and no parity The RS 485 mode supports both single axis and multi drop multi axis o
93. suing M 255 255 tends to stall which results in the slowest possible acceleration and deceleration Possibly your motor cannot generate enough torque for your application Try resizing Unit will not If the power supply is not adequate for the load a respond to momentary drop in power may reset the unit and require commands that the sign on procedure be repeated It is possible a maximum velocity value well above the specified range may have been executed Try cycling power and resetting any erroneous parameters before issuing another motion command If the error occurs in an AUTOSTART program try ESCaping as soon as possible before the maximum velocity is attained Cycle power 6440 User Manual Rev 2 MA6440 4 5 HE 4 2 4 Troubleshooting Communications Interface COENE action Use the following table to troubleshoot the communications table SYMPTOM CORRECTIVE ACTION No RS 232 Verify that the 6440 E 11 jumper is OUT placing the 6440 Communication into single unit R S 232 R S 422 mode Verify that the transmit of the host terminal is wired to the 6440 receive and vice versa Normally DTE Data Terminal Equipment devices transmit data on pin 2 and receive data on pin 3 Verify the serial port settings to be 9600 N 1 M ake sure your host is working properly Disconnect the D 9 connector from the 6440 unit Wire pins 2 and 3 of this connector together Try typing characters on t
94. t expecting valid number or label 3 Q 10 illegal for this command to have a label reference 11 invalid number input number is out of range 6440 User Manual Rev 2 MA6440 6 15 Messages 12 invalid operand character not allowed after cont d command 13 invalid operand reference to nonexistent label 14 invalid label duplicate label name exists Note The end of line character EOL which is defined as the linefeed character is expected at the end of each line of code 6 6 Download Utility Address Translation of Labels Before a 6440 program is downloaded it is automatically syntax checked If there are no syntax errors the Syntax Checker takes out all labels from the program and translates the label references to address The program thus contains only commands and numeric operands and is downloaded to the controller 6 7 Upload Utility Label Generation for Addresses When a 6440 program is uploaded labels are generated for the operands of branch to address commands The labels are then inserted in the appropriate places in the program The labels generated have the form L xxx where the labels are sequentially generated starting with L 000 Note If a 6440 program is written off line on the PC with labels and then downloaded when the program is uploaded the labels will take the form described above The labels used in the program prior to downloading w
95. t Immediate 7 15 L addr List program Immediate 7 16 M accel decel Ramp Slope Immediate E xecution 7 17 O position vaddr Trip Point Execution 7 19 P Store Parameters Immediate 7 21 Q Examine Parameters Immediate 7 22 R vel Run at constant velocity Immediate E xecution 7 24 S arg Stop Immediate E xecution 7 26 T enb M aster Slave Control Immediate E xecution 7 27 U addr cnd Loop on Port Immediate E xecution 7 29 V vel Final Velocity Immediate E xecution 7 31 W period Wait Immediate E xecution 7 32 X arg Read Limits Immediate 7 33 Y port Write Output Port Immediate E xecution 7 34 Z Zero Origin Immediate E xecution 7 36 C 2 MA6440 6440 User Manual Rev 2 Appendix D Ramp Algorithm amp Lookup Table Introduction The 6440 Indexer D rive uses a lookup table to determine the number of steps in the velocity ramp that occur from the initial start stop speed velocity to the final velocity The lookup table contents are included at the end of this appendix The velocity profile is a quantized linear ramp with discrete velocities stored in a lookup table The velocity commands are in pulses per second The algorithm begins at the exact start stop velocity entered then runs at the next highest velocity in the lookup table The velocity increments until it reaches the value immediately before the final velocity entered The next velocity will be the final velocity The number of pulses output at each velocity is d
96. teps 200 pulses rev then the shaft spins at 1000 full steps sec or 300 RPM If vel 1000 and the step resolution is set for 1 8 Steps 1600 pulses rev then the shaft spins at 125 full steps sec 37 5 RPM In Variable R esolution M ode the speed is determined by the VelScale factor So if VelScale has been set by issuing 0 the nominal value and vel 1000 then the shaft spins at 1000 full steps sec or 300 RPM If VelScale has been set by issuing 2 and vel 1000 then the shaft spins at 250 full steps sec or 75 RPM Note In Variable Resolution Mode direction is determined by the sign of velocity R vel 20 lt vel lt 19 000 M set acceleration deceleration factors MA6440 6440 User Manual Rev 2 Programming guidelines Program line M 1010 F 300 R 100 W 1000 R 100 W 1000 RO 6440 User Manual Rev 2 E xplanation set accel decel factors set initial velocity accelerate to 100 steps sec CW wait for 10 seconds accelerate to 100 steps sec CCW wait for 10 seconds ramp down to 0 steps sec MA6440 25 S Stop S arg Immediate Execution Purpose Syntax Arguments Programming guidelines Stops motion with ramping deceleration specified by the M instruction If the Indexer is currently running a program in execution mode or a motion command motion will cease with ramping deceleration If embedded in a program an optional argument can be supplied to abort the current
97. th the 6440 unit e Do not operate the drive without the motor case tied to earth ground Note This is normally done by connecting the motor s case to J 3 5 of the 6440 and connecting J 1 3 of the 6440 to earth ground These pins are marked bya 757 symbol on the silk screen and are shown on the diagram on page 2 5 e Do not make any connections to the internal circuitry The input and output signals are the only safe connection points e Always remove power before making or removing connections from the unit e Becareful of the J3 motor terminals when disconnected from the motor With the motor disconnected and power applied to the drive these terminals have high voltage present even with the motor disconnected e Do not use the ENABLE input asa safety shutdown Always remove power to the drive for a safety shutdown MA6440 6440 User Manual Rev 2 LE 2 3 Selecting Other System Components Selecting The 6440 is designed for use with Pacific Scientific s line of a motor hybrid stepper motors or most other 2 phase stepper motors The drive works with either the standard line or the enhanced high performance line of stepper motors The motor winding current rating must be compatible with the output current of the drive package R efer to the Torque Speed Curves in the Pacific Scientific Motion Control Solutions Catalog or contact your local Pacific Scientific distributor for sizing and motor compatibility assistance
98. the port specifies a binary weighted port selection bit The port bits are active LOW e g Y 1 activates Port 1 Y port 0 lt port lt 255 Y 0 deactivates all bits producing Logic HIGHs Y 255 activates all bits producing Logic LOWs K Read Input Port To program an I O bit as an output the respective jumper must be inserted Portsl to Port 8 are configured by jumpers E3 to E10 respectively The bit weightings are as follows Port 1 1 Port 5 16 Port 2 2 Port 6 32 Port 3 4 Port 7 64 Port 4 8 Port 8 128 Note Avoid driving a port configured as an output by a low impedance input MA6440 6440 User Manual Rev 2 Program line E xplanation Y 0 Port 1 to 8 outputs off open pulled up Y 2 Port 2 output ON sinking to ground 6440 User Manual Rev 2 MA6440 7 35 Hem EMEKNKTTIOHOqm FIRST Z Zero Origin Z Immediate Execution Purpose Zeros position counter This is normally done before a sequence of absolute moves and or trip sequences Syntax Z Arguments None Related Absolute Indexes Commands Programming guidelines Program line Explanation 0 Zz zero origin 1 200 index 1 revolution 6 WO wait till done 9 W 100 wait 1 second 2 0 index back to position 0 17 WO 20 GO loop 7 36 MA6440 6440 User Manual Rev 2 HE ses sed SetJog Speed speed Immediate Execution Purpose Sets jog speed This value is multiplied by 30 to deter
99. this point on continue to do so and conclude editing with E lt CR gt You can test the program by using the G address command to execute the code The program will continue to execute until it completes or you press the ESC key If the 6440 is configured for multi unit R S 485 communication no sign on message will appear Commands are sent to individual units based on a pre assigned node address assigned in single unit mode as described in the Serial Communications Port J 4 section followed by the command terminated by a line feed lt LF gt character Once a unit recognizes it s single letter node address that address character and commands entered up to the lt LF gt will be echoed back to the user MA6440 6440 User Manual Rev 2 5 1 2 Execution Mode Once the program starts it will continue to execute until it is done aborted with the S0 command embedded in the program is aborted by the ESC or S keys or bythe REMOTE STOP line 5 1 3 The AUTOSTART Program During power up if a program is found at location 1600 in non volatile memory that program the AUTOSTART program will be executed This program can be aborted by pressing the ESC or S keys both forcing the unit back to the power up state waiting for the ESC and space character sign on sequence 5 2 Instruction Overview Introduction The 6440 offers a variety of instructions for motion and program control in addition to several utility instructions
100. ut Immediate command line instructions can read back and write all eight bits Fixed resolution The unit operates in one of two modes either Fixed mode Resolution M ode or Variable Resolution Mode In Fixed Resolution M ode the resolution can be set from 200 steps rev to 51 200 steps rev The minimum and maximum step rate range in value from 0 08 to 19 000 steps sec and vary depending on the resolution Of course the finer step sizes result in high shaft resolution at the expense of shaft speed The motion profile is trapezoidal with programmable initial and final speeds The acceleration and deceleration rates are specified by a single command in terms of acceleration and deceleration factors ranging in value from 1 to 255 1 2 MA6440 6440 User Manual Rev 2 Variable resolutionV ariable R esolution M ode is the recommended alternative mode Drive features where micro stepping is desired without compromising speed This mode allows for positioning at a resolution of 20 000 steps revolution and a top speed of 5700 RPM Bipolar chopper drive patented 4 phase PWM pulse width modulation chopping electronically controls the motor winding currents at 20 KHz frequency This combines the best of recirculating and non recirculating current regulation producing high back EMF rejection with low chopping ripple current Benefits include reduced heat dissipation low electric noise and improved current control during motor braking Di
101. xtension is used by the 6420 Dialogue program for the listing files created by the Syntax Checker Note The Upload Utility will not function properly if voids empty addresses exist between sections of code in the memory Contact the factory for additional information After a file has been successfully uploaded the message Upload completed is displayed If the lt Path gt filename ext is unacceptable then the message Couldn t open file is displayed When uploading a file labels will be generated for any branch to address command Note that for a program that has been downloaded the symbolic labels and references are stripped out and replaced with numeric addresses At uploading these have been replaced with numeric sequential labels It is good practice to use a different extension or filename for uploaded files Label generation for Pacific Scientific Indexer Language is covered in Section 6 7 U pload U tility 6 3 3 Download Utility After selecting this utility the user is prompted for a lt Path gt filename ext which can be typed in or selected from the current directory list If the download is successful the message Download completed is displayed 6 10 MA6440 6440 User Manual Rev 2 a 6 3 4 Syntax Checker By using the Syntax Checker programs can be checked for syntax validity prior to downloading or running Syntax Checker creates a listing file with the extension L ST
102. y The default limit input upon power up is active LOW Syntax polarity Arguments 1 Active Low 0 Active High 6440 User Manual Rev 2 MA6440 7 53 Hmmm skumt Selective Termination AXIS Immediate Purpose A borts operations on a particular axis when configured for R S 485 communications mode Syntax axis Arguments Where axis is the single letter axis designation 7 54 MA6440 6440 User Manual Rev 2 Appendix A Specifications Electrical Input voltage 120 240 Vac 10 15 60 50 Hz Rated drive Setting current motor phase current Fuse Drive circuit Chopper frequency Discrete Input Voltage Discrete Output Voltage 5A 5A 0 25A 4 375 4 375 0 2A 3 75 3 75 02A 3 125 3 125 0 15 A 2 5 2 5 0 15 A 1 875 1 875 0 125 1 25 1 25 0 125 0 625 0 625 0 1 A 5 A Slo Blo 250 Vac Two phase bipolar chopper current regulated 20 KHz nominal n237V isa 0 30 V dc max V lt 0 8 V is a logic low and V logic high Open collector Darlington 0 30 Vdc max 70 mA sink V lt 1 0V dc 6440 User Manual Rev 2 MA6440 A 8 E 2 v Electrical isolation Fixed Resolution Mode Indexer option power and interface signals to 6410 completely isolated All other external inputs and outputs referenced to Indexer ground unless otherwise specified All indexing is specified in terms of an integer number of step pulses at the specified resolution This mode mu

MA6440 - Kollmorgen

Contents

Download Pdf Manuals

Related Search

Related Contents