User Manual
Contents
1. 8 Which Software Version do I Have 9 Command Buttons 10 Download Upload amp Execute 10 Save Open Print amp Quit 11 Defining Your Hardware 12 Reaction to a Limit 13 Entering Your Program 14 Animation 16 Editing Tips2. 16 The Instructions 17 MMI Prompt 18 How to display a message on the MMI 19 How to pause until the user presses ENTER 19 How to let the user make a decision MMI branching 20 How to ask the user for a move distance 20 How to get a speed from the user 21 How to get a repeat count from the user 21 How to create an MMI Menu
3. 41 If Input Go To 42 If Moving 44 Change Current 45 Comment 46 Call and Return 47 SiNet Hub Programmer Software Manual 4 SiNet Hub Programmer Software Manual 5 Getting Started Thank you for purchasing the Applied Motion Products SiNet Hub the industry s first motion control network hub We hope you will find that the performance price and ease of programming make our products the best value for your application The SiNet Hub Programmer software allows you to quickly and easily program your hub for the control of up to 8 Si drives 4 drives with the Hub 4
4. 22 What is the String Pool 22 Feed to Length 23 Feed amp Set Output 25 Feed amp Return 26 Feed to Sensor 27 Feed to Sensor amp Return 29 Feed to Position 30 Set Abs Position 31 Save Abs P
5. t do anything until you tell it to We ll put a Wait for MMI Enter instruction on the first line SiNet Hub Programmer Software Manual 15 Next to the large number 1 in the Program Window is a button showing the nothing icon That indicates that there is no instruction for that line Anytime the Si Indexer encounters a nothing program line it simply moves on to the next line as the icon implies with a downward pointing arrow After the SiNet hub executes the instruction on line 200 it automatically jumps to line 1 unless the instruction on line 200 makes it jump somewhere else To enter an instruction on program line 1 click once on the program icon You should now see the Program Line dialog box shown here Click on the button marked MMI Prompt The MMI Prompt dialog box will appear Choose the option Dis play text and wait for enter Enter the phrase Press enter to move in the text box on the right The click OK The first line of your program should now display the MMI Prompt icon and the description MMI wait for enter Click on the icon button for program line 2 This time when you see the Program Line box click on Feed to Length In the Feed to Length box enter the distance as 1 rev then slide the speed bar to around 5 rev sec Click OK The second program line should now show the motor icon and the caption Axis 1 CW 1 rev 5 rps Next click on
6. Feed amp Set Output The Feed and Set Output instruction is provided for two reasons First it allows you to combine a Feed to Length instruction with a Set Output instruction making your program shorter Feed to Length and Set Output are frequently used in combination because you want your Si product to signal another device when it finishes a move The second reason the SiNet Hub Programmer has a Feed amp Set Output feature is for manufacturing throughput The Si indexer may be advancing a part which will then be processed by another device for example feeding material to be cut off by blade If the blade requires a little time to approach the material you d like to trigger the blade before you re done advancing the material That way you can process more pieces in the same amount of time Feed amp Set Output allows you to set an output high or low at any point during the move The output must be on the same drive as the motor SiNet Hub Programmer Software Manual 26 Feed amp Return The Feed amp Return instruction is used for point to point moves where you want to return to the starting point For example if the motor was driving a cutoff knife you would want to retract the knife after cutting Feed amp Return requires many of the same parameters as Feed to Length distance speed accel decel and direction For explanations of these please refer to the Feed to Length section of the manual You ll al
7. 5 of your program and you d like an identical Set Output on line 11 Position the mouse over the Set Output icon on line 5 then click and hold the mouse button Move the mouse until the icon is over the line 11 icon Let go of the button and the instruction with all of its parameters will be copied to line 11 Inserting New Program Lines the time will no doubt come when you ve entered many program lines only to realize that you need to add an instruction right in the middle We could be cruel and tell you that you ll have to reenter most of the instructions to make room for the new one But in the spirit of making the Si Indexer easy to use we ve included a command to insert a new instruction anywhere in your program It s easy to do just click on the program icon where you want the new instruction to go You ll get the Program Line dialog as usual Instead of choosing one of the 20 instructions click on the command button marked Insert The instructions are reordered and the line you need for your new program line is available You can then click on the new line and select an instruction as you normally would Deleting Program Lines in addition to inserting a line in your program you can delete one to make room for others farther down You may for example have some available space in the middle of the program but want to add an instruction near the end Click on a program line that you don t need When the Pro
8. as Feed to Sensor but two new ones are added the return speed and the return delay One useful application of Feed to Sensor amp Return is a variable distance application If we were building a machine to cut fabric of different sizes and the Si Indexer was driving the cutoff knife we might want to set a sensor at the end of the cut off stroke That way we can manually adjust for the width of material we happen to be using on a particular day without having to reprogram the Si Indexer Each time it s triggered the indexer drive would feed until the knife trips the sensor then return to the starting point You should beware of one thing the maximum distance for any move is 16 000 000 steps That s the longest distance an Si Indexer can track If you move more than 16 million steps before you hit the sensor the Si Indexer will not return to the correct position If this is a problem for you consider selecting a lower microstep resolution At 50 000 steps rev you would exceed the 16 million step limit after 320 revolutions At 2000 steps rev you can go 8000 revs before exceeding the limit SiNet Hub Programmer Software Manual 30 Feed to Position This instruction moves the motor and load from wherever they are to an absolute position For example if the load is at the 4 inch position and the program executes a Feed to Position 6 inches the motor will move two inches clockwise If the load was at the 10 inch positi
9. be installed automatically The hardware manuals for your hub and Si drives will also be automatically installed The Si Programmer and SCL Setup Utility will also be installed By choosing Custom Setup you can choose exactly which software program and manuals are in stalled If you encounter errors during installation it is usually due to lack of memory or conflicts with other programs that are already running on your PC If you experience an error while installing the programming software quit all other Windows applications and try again Holding down the ALT key and pressing TAB will show you all the programs currently running on your PC Laptop computers generally present the biggest challenge to installa tion as they often come preloaded with programs that automatically execute on start up such as Microsoft Office and battery managers Furthermore laptops usually have the least memory The programming software will install more easily and run much faster if you have more memory We recom mend at least 16 megabytes of RAM Several example programs are installed with your programming software It s a good idea to load some of the examples and look at them they may help you with your own application Display Settings The SiNet Hub Programmer works well with any display resolution At 640 x 480 the SiNet Hub Program mer will exactly fill your screen At higher resolutions like 800 x 600 or 1024 x 768 there will be room
10. double click on the icon and the program begins to load you ll see a picture of an ocean wave In case you re interested we chose the wave for our splash screen for several reasons Nothing splashes quite like a wave and waves invoke images of motion Also Applied Motion is located on the California coast The software version is displayed with the splash screen After the program is loaded you can click on the Applied Motion Products logo to see the software ver sion along with our phone and fax numbers our internet address and information about the drive products that can be used with the hub A second software program resides in a chip inside the SiNet Hub Since software in a chip is usually called firmware we will refer to it as firmware for the rest of this manual It is the SiNet Hub firmware that executes the program you ve downloaded When you connect your hub to the PC and turn on drive 1 the hub firmware version is displayed near the top of the screen If you call your distributor or Applied Motion Products for support we will want to know the versions of both the SiNet Hub Programmer and the hub firmware so please write them down before calling There are also firmware programs in each of the Si drives that are used with the hub If you want to check the firmware version of your drives connect the hub to the PC connect the drives to the hub and power every thing up at once Then click on
11. is in its internal memory starting on line 1 After hitting the Execute button you ll see a box appear with a status display and five program control buttons Pressing STOP will interrupt the hub at any point in the program and close the execute panel You will find this feature useful if the drive starts doing things you didn t intend for it to do Pause halts the program but does not close the execute box While the program is paused the display of inputs is continuously updated so you can adjust sensors and switches and see the result in real time Step executes the next line of the program then automatically pauses it again Pressing Run makes the program run again from where you paused it Reset sends program execution back to line 1 SiNet Hub Programmer Software Manual 11 Save Open Print amp Quit In addition to exchanging programs with the SiNet hub the programming software can also save amp load programs using your hard drive and can print hard copies of programs using your printer The Save button lets you save a program to the hard drive A file dialog box will ask you to pick a name for the program You can use the same types of file names i e long file names that you would use for other Windows 95 compatible applications The Open button provides you with a dialog box showing all the compatible files on your drive Click to select one then click OK to load it You can open hub progra
12. re not using If you already have the drives powered up and wired to the hub there s a quicker way to get started Just click on the Scan Drives button You ll see a picture of the hub with descriptions of each of your drives If your drives are connected correctly and were powered up at the same time as your hub then this information should be accurate You can copy the data to the Configure Drives dialog by clicking on the Copy to Drive Model button Then select OK to make the picture of the hub go away The SiNet Programmer software initially calls the axes Axis 1 Axis 2 etc But you can type in names of your own if you prefer In the example above we named our three axes X Y and Z Next choose the number of steps rev for each drive This may affect the way your unit definition works out For example if you have a linear motion system and want to work in inches you ll need to state how many motor steps are in one inch If you have 5 turn inch screws and set the steps rev at 20 000 then you ll set the steps inch as 100 000 If you want to program the same system in millimeters the steps mm would be 5 20 000 25 4 3937 008 But that s not a round number and would result in conversion errors If you choose 25400 steps rev then you d have 5 25400 25 4 5000 steps mm Much better Hint if you have a rotary system and want to work in degrees try 36 000 steps
13. rev If you select the BL7080i servo drive the list of predefined step resolutions will be replaced by a text box For accurate move distances you must enter the encoder counts rev here When you set up the motor with the Quick Tuner software remember that value that was in the Encoder counts rev box That s the same number you need here Next you ll need to enter the rated motor current for each axis This setting may depend on how you have connected your motors to the drives series or parallel for example Please refer to the Hardware Manuals SiNet Hub Programmer Software Manual 13 that came with your drives for more information about motor connections and current settings Finally we need to discuss limit sensors Many linear motion systems employ limit sensors so that the load does not travel beyond it s intended limits and cause damage You have three choices here Closed Open and Not Used Closed means that the limit switch or sensor is closed at the end of travel limit and is normally open Not Used indicates that you have no limit sensors and would like inputs 7 and 8 to be available for other purposes such as triggering branching or other types of sensing Some users prefer sensors that open at the limit because if a wire breaks or the sensors fails you ll find out right away because a limit condition will be reported If you are not using limit sensors choose not used That frees up the lim
14. the line 3 icon Choose Go To In the Go To dialog the line number will probably already read 1 That s what we want Click OK We re ready to download and run I m assuming that you already did your hardware set up If not please go back and review that section We can t run your program unless the hub has accurate information about your drivers and the motors that are connected to them If your system is properly defined and powered up press the Download button Your program and your drive configuration will be transferred into the hub where it will remain until you down load another program At this point you may be wondering why we asked you to put an MMI Prompt in your program when your PC is hog ging the hub s MMI port Perhaps you don t even have an MMI Fear not to simplify your pro gramming process we ve included a virtual MMI in the SiNet software Click on the Execute button and you should see it If you click on the fake MMI s ENTER key the motor on axis 1 should make a short move That s about it for the basics The next few pages will give you more techniques for editing your program Then your job will be to learn all the instructions and figure out how to apply them to your application SiNet Hub Programmer Software Manual 16 Animation When your program executes while the hub is connecting to your PC the Hub Programmer animates the execution on your screen The progra
15. while it s running the MMI Prompt If you purchase our optional MMI 01 terminal you can set up a program that will allow a machine operator to set move distances and speeds to make yes or no decisions effecting program flow or to choose program options from a menu The MMI Prompt also lets you display messages telling the operator what the system is doing Wait Input gives you the ability to have your program wait for an outside event and Set Output lets your pro gram turn other devices on or off or send signals to another intelligent device like a PLC Idle Current Reduction All Si drives are equipped with a feature that automatically reduces the motor current anytime the motor is not moving This reduces motor and drive heating The idle current of any Si drive used with the SiNet hub is 50 of the current you set in the Configure Drives dialog If you need different idle current values you can use Change Current instructions in your program to change the current of any drive anytime The Si 100 indexer doesn t have a drive built into it So the current idle current and step resolution of any axis that uses an Si 100 will be controlled by the drive that s connected to the Si 100 SiNet Hub Programmer Software Manual 9 Which Software Version do I Have There are actually two software programs associated with the SiNet Hub The first is the SiNet Hub Programmer Windows program that you installed on your PC After you
16. you get to the really fun part building the program steps That takes place on the right hand part of the screen Your program consists of a series of lines Each line defines a specific event that you want to take place like moving a motor activating a programmable output or asking the operator to enter information on a terminal You define these events by putting instructions on each line of your program There are 23 different instruc tions to choose from on each of the 200 lines Of course you don t have to use all the instructions or all 200 lines Many users find that the instructions are so powerful that their program only requires a few lines Since the primary mission of the SiNet Hub is motion control you won t be surprised to learn that 7 of the instructions make the motor move You can choose from fixed distance moves like Feed to Length or Feed and Return You can make the motor run until the load trips a sensor Feed to Sensor Feed to Sensor amp Return and Seek Home are used for that Feed to Position moves to an absolute position Feed and Set Output allows you to move the motor a fixed distance and activate an output during the move Other instructions control the flow of your program helping to determine the order in which instructions take place Some examples are Go To If Input Go To Repeat Call and Return There is one very powerful yet easy to use instruction that lets an operator interact with your program
17. you to try out the MMI before buying one SiNet Hub Programmer Software Manual 19 How to display a message on the MMI 1 Type the message that you want to display in the text box Example Machine Running Status OK in the text box 2 Select the Display Text Only option button 3 Click the OK button Note The message will stay on the LCD until another instruction uses the MMI This is useful when you want set a Repeat instruction to display the loop count on the MMI How to pause until the user presses ENTER 1 Enter your message in the text box Example Please reload labels then press ENTER 2 Select the Display text amp wait for enter option button 3 If you want the user to be able to jog a motor using the MMI left and right arrow keys check the box marked Allow jogging on left right arrow keys then select a drive from the list You ll also need to set the jog speed and jog accel decel rate 4 If you want the user to be able to jog a motor using the MMI up and down arrow keys check the box marked Allow jogging on up down arrow keys then select a drive from the list Set the jog speed and jog accel decel rate for this axis 5 Click OK Note If you want to let the operator position a load precisely but also traverse large distances you can do it with two MMI Prompts Set the jog speed fairly high on the first one rapid traverse and low on the second fine tuning SiNet Hub Progra
18. 44 Not only can you control all the motors the hub also has access to the inputs and outputs of all the drives providing your program with up to 64 inputs and 24 outputs The Hub 444 also includes on board four programmable inputs and four programmable outputs You can also use our MMI 01 man machine interface terminal to interact with a machine operator There are many Si drives that you can use with the hub allowing you to optimize the motor type and power evel of each axis This manual explains how to install the SiNet Hub Programmer Windows application and how to program your SiNet hub For information regarding your specific Si hardware such as wiring and mounting please read the hardware manual that came with that product The SiNet Hub Programmer features include Powerful flexible easy to use indexer Nonvolatile program storage up to 200 program lines 50 MMI variables and 1500 MMI text characters Automatic stand alone execution of stored program Connection by a simple cable to your PC for programming cable included Microsoft Windows based software for easy set up and programming requires Windows 95 98 or NT Programmable inputs for interacting with the user and other equipment 8 inputs per drive Programmable outputs for coordinating external equipment 3 outputs per drive Instructions for motion triggering branching loops time delays and more Ability to work in u
19. 9 18 02 SiNet Hub Programmer Software Manual S O F T W A R E V E R S I O N 1 21 Copyright 2000 SiNet Hub Programmer Software Manual 2 SiNet Hub Programmer Software Manual 3 Contents Getting Started 5 Installing the Programming Software 6 Display Settings 6 Connecting to your PC 7 Applying Power 7 Programming 8 Introduction 8 Idle Current Reduction
20. If Input instruction you should use a Reset Repeat Loop in struction to reset the loop Otherwise the loop count resumes where it left off SiNet Hub Programmer Software Manual 40 Reset Repeat Loop Forces a Repeat Loop to reset its counter if it s been terminated by an If Input or Feed to Sensor with Safety Distance instruction Sometimes it is necessary to leave a repeat loop before it is completed Say for example you have a repeat loop that is set up to fill 100 bottles with fluid If the reservoir runs dry you want to leave the loop You can do this by putting an If Input instruction inside the loop triggered by a fluid sensor The If Input would branch outside the loop perhaps to an MMI Prompt telling the machine operator to refill the reservoir Now suppose that 60 bottles have been filled with 40 remaining If you want the loop to pick up where it left off then simply branch back to the beginning of the loop to the Repeat instruction after the operator finishes refilling and the loop will automatically fill the remaining 40 bottles On the other hand what if you are drilling holes in parts and each part gets five holes The step motor is used to advance the part by 1 inch for each hole So you have a repeat loop with a count of 5 Along comes a bad part detected after the 3rd hole is drilled You exit the loop with 2 counts remaining If you simply reenter the loop again the next part will only get two holes d
21. again You can also use the optional Man Machine Interface MMI as a decision making input by using the branch on YES option of an MMI Prompt instruction If the operator presses the YES button the drive will jump to the line you ve specified in the line number box If the operator presses NO the program moves on to the next line Note If you use an If Input instruction to exit a Repeat Loop the loop does not automatically reset the next time you enter it If you exit a loop by using an If Input instruction you should use a Reset Repeat Loop in struction to reset the loop Otherwise the loop count resumes where it left off SiNet Hub Programmer Software Manual 44 If Moving Because the hub can command a motor to move and then proceed with the program it is possible to encounter a move again before the first move is complete This will only happen if you have selected the start move and immediately proceed to the next instruction option in your moves Even then it will not occur unless you ve provided a means for your program to get to another move on the same axis Un checking the Wait for all move to finish option in a Repeat Goto or If Input instruction will do the job The If Moving instruction allows your program to detect that a move is not done and skip over it This can provide more independence between the axes In the sample program IfMoving which is installed to the same folder as the Hub Prog
22. ant to build a machine that feeds out material and then cuts it off the operator can specify how long the resulting material will be 5 The user can be asked for a move speed This option allows the operator to adjust a feed rate flow rate or other motor speed related setting 6 The user can be asked for a repeat count You can let the user set the number of parts that are processed You can also combine a repeat loop with a Wait Time instruction to adjust dwell time 7 You can display a menu wait for the user to press a numeral key then branch to a corresponding program line Any or all of the keys 1 8 can be used each with it s own branch address If you are thinking ahead at this point you might ask If the MMI plugs into the same port as the PC how can I run a program from the PC that uses the MMI Like most features of the Si software it s simple If you press the Execute button and the program in your drive contains any MMI instructions you will see a different control box on your screen The MMI control box looks and acts like the real MMI it will display messages and you can click on the buttons to enter data Like the other execute box there is a display showing the status of inputs and outputs and a control panel that allows you to interrupt single step or restart your program at any time We provided the emulated MMI to save you the expense of a second RS232 port on your SiNet Hub It also allows
23. could end up with undesired motion Low Wait until specified input is at a low voltage state This happens when the input is conducting current If you use a momentary contact switch normally open type this condition will occur when you press the button Rising Edge Wait until the signal goes from low to high This is similar to the high condition but the differ ence is important Let s say that your signal into the drive is one that will go high when you want motion to occur However the signal remains high after the motion is complete going low sometime later If you choose high as your input condition the program will complete the motion and start again because the input signal is still high when it finishes the first move If you choose rising edge the SiNet Hub will wait for the input voltage to go low then high before moving Falling Edge The opposite of rising edge Hub waits for input voltage to go high then low If you select Multiple Inputs the Wait Input instruction will scan up to eight inputs at once to determine if the program should move on to the next instruction The inputs can be configured as a binary sum Wait for input 1 low or 3 high or as a product Wait for input 1 low and 3 high When scanning multiple inputs all of the inputs must be on the same drive The internal inputs of the Hub 444 can be used with the Wait Input instruction SiNet Hub Programmer Software Manual 37 Go T
24. e program for yourself Whether you save your program to disk or just download it to the drive the comments stay with it They do not affect the way your program runs when the SiNet hub executes a program it skips over the comments We suggest that you place a comment on the first line of your program to let future programmers know who wrote the program when it was written and what it does You can also put in comments at other places in your program Perhaps just before a Feed to Length move you would want to add the comment Rotate the part 1 4 turn A little time spent now commenting your program might save you a great deal more time later on when you ve forgotten that Wait for Input 1 low means wait photosensor to detect part There is no limit to the number of comments your program can have except that your program cannot exceed 200 lines SiNet Hub Programmer Software Manual 47 Call and Return Call and Return instructions are used for subroutines Subroutines are useful in many ways You may find yourself putting the same sequence of instructions in various parts of your program You could instead put those lines in just one place maybe at the end of the program and replace their original locations with Call instructions That makes a long program shorter It also makes the program easier for someone else to understand If you use the same MMI Prompt in more than one place you can save space in th
25. e string pool by putting the MMI Prompt into a subroutine For more information about the string pool see page 22 Subroutines can also save you time when developing your program If you decide to make a change in one of those instructions that you keep repeating if it s in a subroutine you only have to change one line To make a subroutine just place some instructions in your program then follow them with a Return instruction To call your sub just place a Call instruction and enter the line number of the subroutine Note inserting and deleting lines in your program causes some lines to be renumbered You should check your subroutine calls after you do an insert or delete to make sure everything still makes sense Examples of a subroutine and how to call it are shown below
26. es to a new position it should tell the dispenser that it s arrived We ll do this with a high pulse but your choice would depend on the kind of signal the dispenser wants to see in order to be activated After adding a Set Output instruction after each Feed to Length we have the program shown on the left There may be occasions where you want a long pulse This can be done by combining two Set Output commands with a Wait Time The instructions on the left will produce a high pulse of 5 seconds on Output 3 The internal outputs of the Hub 444 can be used with the Set Output instruction SiNet Hub Programmer Software Manual 42 If Input Go To This instruction allows your program to make decisions based on input signals You can choose Single Input or Multiple Inputs The internal inputs of the Hub 444 can be used with the If Input instruction You ll need to choose an input terminal and a drive for the instruc tion to check You also need to specify what signal condition to look for Finally you must set the line number that the instruction will jump to if the input condition occurs We included the If Input instruction for three reasons 1 It allows you to skip part of your program based on an external condition For example let s say you are building a bottling ma chine One axis is dedicated to the conveyor and another to the fill pump and a third axis to a labeling motor On some days the machine
27. et Hub was shipped with a 7 foot telephone line cord Plug one end into the adapter we just at tached to your PC and the other end into the PC MMI jack on your SiNet Hub Never connect any Si device to a telephone circuit They use the same connectors and cords as telephones and modems but the voltages are not compatible You may also need to set the COM port in the Windows software When the software is loaded it looks for an available COM port but doesn t always find the one you ve plugged into You can choose the port yourself by clicking on one of the COM port option buttons If the port exists and is not already in use the programming software will use it to commu nicate with the Si Indexer Applying Power When the SiNet Hub wakes up it automatically checks to see if the SiNet Programmer software is running on your PC If it finds it the firmware version number is displayed on the main screen and the hub enters devel opment mode When you re done programming the hub you ll probably want it to wake up and run your program automatically That s easy just turn off the hub and disconnect it from your PC The next time power is applied the hub will run your program on it s own Thus when you want to operate the hub in development mode you must connect it to the PC and launch the SiNet Hub Programmer software before applying power to the hub In addition to the hub detecting your PC the drives m
28. gram you ll need a Feed instruction Feed to Length Feed amp Return etc that uses the Speed1 variable for speed How to get a repeat count from the user 1 Type How many parts should we run in the text box 2 Select the option button Display text and get repeat count 3 Enter upper and lower limits in this example we want to allow the operator to enter a number between 1 and 500 4 Select an MMI variable to store the count in we chose Count1 5 Later in your program you ll need a Repeat instruction that uses the Count1 variable for the repeat count SiNet Hub Programmer Software Manual 22 How to create an MMI Menu Select an MMI Prompt instruction Select the option button MMI Menu Type your menu text in the text box you can enter up to four lines Check the boxes indicating which numeral keys you want to use in this example we used 1 2 3 and 4 Assign a program line number to each key we used 10 20 30 and 40 Later in your program you ll need to put instructions at each of the lines you ve specified These are the instructions that will execute if the user presses the appropriate key on the MMI For example when the user presses 1 the program will branch to line 10 Note if you add extra spaces to your display text to get the look just right watch out sometimes the SiNet Hub Programmer removes those spaces when you reopen the instruction dialog It i
29. gram Line dialog comes up select Delete The line you selected for deletion will be gone and all the other lines will move up one position leaving a blank spot at the end of the program By combining insertions and deletions you can place your program lines wherever and whenever you need to SiNet Hub Programmer Software Manual 17 The Instructions The next pages describe each of the 22 instructions that you can use to build your SiNet program Before you proceed we need to discuss the order in which the instructions execute If you ve used the single axis Si products before you re probably used to the program running instructions one at a time with no instruction executing before the previous one has finished Because a SiNet system has a processor in the hub plus processors in each drive it s natural for more than one thing to happen at once At the very least you might want to move two axes at the same time Or maybe when your machine is first powered up you want all the drives to home themselves while the operator answers a series of MMI Prompts Both of those things and more are possible You just need to be aware of which instructions can execute at the same time as others The motion instructions Seek Home Feed to Length Feed amp Return Feed to Position Feed to Sensor and Feed to Sensor amp Return each give you three options If you choose Wait for End of This Move before Executing the Next Instruc
30. hub is connected to the PC for the purposes of writing and testing your program we call this development mode then you will see a message telling you what happened You ll also have the option of resetting the hub SiNet Hub Programmer Software Manual 14 Entering Your Program If you installed the software back in the section entitled Installing the Programming Software then you re ready to go If not please go back and review that section It is also safe to assume that you ve read the sections Defining Your Hardware and Reacting to a Limit You wouldn t dare skip ahead to the good stuff would you We are now ready to put some instructions in our program and try it out To activate the software click on the Start button then Programs Si Programmer Choose SiNet Programmer The main programming window will soon appear as shown above The title bar will display the SiNet Hub Programmer software version If you have a SiNet Hub connected to the PC turn it on now The hub get it s power from drive 1 so turn on that drive After you do your computer should beep The Version box will display the version number of the Si firmware that s in your hub If you don t have any Si hardware connected to your PC you can still write programs Let s try a simple program Many programs will begin with the instruction MMI Prompt That way when you first turn on the system it doesn
31. iNet Hub Programmer Software Manual 28 Falling Edge the opposite of rising edge Si Indexer waits for an input voltage to go high then low If you are concerned about your load never reaching the sensor for example if your sensor may fail or the load might jam up check the box marked If distance exceeds safety limit You can then enter a safe distance and specify a line number to which the program will branch if it can t find the sensor For example if you are sensing labels on a roll and they are supposed to be about 1 inch apart enter a safety distance of 3 inches Then enter 20 as the branch line On line 20 you will put some kind of error recovery routine like an MMI Prompt telling the operator to check the label stock Note the SiNet Hub Programmer software will not let you enter a move distance that is less than the mini mum deceleration distance for your chosen speed and decel rate However if speed or distance is set by an MMI variable no such error checking is performed It is your responsibility to choose an upper limit of speed and lower limit of distance so that an operator cannot enter an incorrect value Failure to do this may result in unexpectedly long moves SiNet Hub Programmer Software Manual 29 Feed to Sensor amp Return The Feed to Sensor amp Return instruction is just like Feed to Sensor but after the move the motor returns to the starting point Most of the parameters are the same
32. ication you could create a program that uses the Wait Input or Hand Wheel com mands to allow the operator to move your load into position The operator would then press an ENTER button to exit the Wait Input or Hand Wheel instruction If the next instruction is Save Abs Position the load position that the operator carefully obtained is recorded in nonvolatile memory Elsewhere in your program you can use a Feed to Position instruction to return the load there Since the SiNet Hub supports up to 50 MMI variables you can save as many as 50 different positions The sample program LPdemo demonstrates the learning of two positions Even though the positions that the indexer has learned will still be remembered the next day because they are stored in nonvolatile memory you will need to home the system each time it s powered up Otherwise the absolute positions that you ve saved don t make any sense SiNet Hub Programmer Software Manual 33 Seek Home The Seek Home instruction allows you to move the motor until a home sensor is found The home sensor can be wired to any of the general purpose inputs Some applications require the motor to start from a certain position each time you turn on the power but can t guarantee where it was left at the last power down The solution is to wire a sensor to one of the Si Indexer inputs and place a Seek Home command at or near the beginning of the program Seek Home
33. is required to put labels on the bottles but other times the empty bottles already have labels on them The except at the left shows how to use an If Input instruction to skip over the Labeler move when the switch is closed 2 The second reason for including the If Input instruction is to allow you to change a param eter such as distance or speed based on an input Consider that last example If the machine is designed to fill water bottles and shampoo bottles then the speed of the pump may need to vary depending on the viscosity thickness of the fluid In the example below we use a viscosity switch wired to input 2 of the pump motor to decide which pump speed to use If the viscosity switch is high the program executes the move on line 8 filling the bottle at 2 ounces per second If the switch is low line 8 is skipped over and line 11 runs The bottle is filled at 6 ounces sec 3 The final reason we ve given you the power of If Input is so you can have multiple programs within your 200 line program space Perhaps what you want your system to do is two completely different things depending on an input Lets say that each of these tasks requires 4 instructions The next page show what to do SiNet Hub Programmer Software Manual 43 Depending on the state of Input 2 the program will either execute lines 4 9 or lines 11 15 Either way the program ultimately returns to line 3 to check the condition of the switch
34. it sensor inputs on the drive for other uses There are two options available for setting the limit sensors If you choose All axes same the default value then one setting applies to all the drives in your system If you choose All different then you can set each axis individually When you ve got the drives fully configured click on the OK button This is a good time to save your program to disk If you click on the Save button you ll see the standard Windows file dialog Reaction to a Limit Since we finished the last section by talking about limits this seems like a good time to discuss what happens when your program is running and one of the motors run into an end of travel limit You have three choices which you choose from a list in the lower left corner of the main screen No matter which option you choose the motor that hit the limit is stopped immediately Branch to a line number gives you a chance take action in your program when something goes awry You might for example want to branch to an MMI Prompt telling the operator to investigate the problem Continue program stops the motor that tried to go too far but continues running your program as if nothing happened This option is useful when you are first testing your program but is not likely to be used in the field Halt program will freeze the execution of your program and flash the COMM light on the front of the hub If the
35. left over on the screen for other applications or to expand the SiNet Hub Programmer window so you can see more program lines We recommend a display color setting of 65 535 colors sometimes called 16 bits or High Color Information in the program window will not display correctly if your display is set for Large Fonts Please use the Small Fonts setting when running the SiNet Hub Programmer software The display settings are found under Start Control Panels Programming Note Always apply power to Si hardware after the SiNet Hub Programmer software is running on your PC SiNet Hub Programmer Software Manual 7 Connecting to your PC Locate your computer within 6 feet of the SiNet hub The hub can be farther away up to 50 feet if you replace the cable that we supply with a longer one The Si drives that you purchased for use with your SiNet hub come with a black adapter plug It has a telephone style jack at one end and a larger 9 pin connector at the other Plug the large end into the COM1 serial port of your PC Secure the adapter with the screws on the sides If the COM1 port on your PC is already used by something else you may use the COM2 port for the Si Indexer On some PCs COM2 will have a 25 pin connector that does not fit the black adapter plug If this is the case and you must use COM2 you will have to purchase a 25 to 9 pin serial adapter at your local computer store Your SiN
36. m lines turn yellow as they execute and the inputs and output are dis played in simulated LEDs Since a hub based system can do more than one thing at a time you will sometimes see more than one yellow line at a time Because this can be confusing when debugging your program yes you too will sometimes create a program that does not work as expected we also display a yellow arrow The yellow arrow is the program counter That s the line that the hub is executing Any other yellow lines are being handled by the individual drives If your program is hung up at a particular spot look at the instruction below the yellow arrow That instruction needs something in order to proceed an input to match a condition an MMI entry or a move to be completed Editing Tips Changing an Instruction if you need to edit an instruction that s already in your program and wish to go directly to the appropriate dialog box hold down the shift key while you click on the instruction icon Copying Instructions there may be occasions where you want to make an exact copy of an instruction or perhaps a copy with only one or two parameter changes The fastest way to copy an instruction from one line to another is to point the mouse at the instruction icon that you want to copy and drag the icon onto another one elsewhere in the program This is referred to as Drag and Drop For example say you ve entered a Set Output instruction on line
37. mmer Software Manual 20 How to let the user make a decision MMI branching 1 Type your message into the text box Example Change setup parameters press yes or no 2 Select the option button Display text wait for yes no amp branch on yes 3 Which program line to you want to branch to if the operator presses YES Put that number In the line box 4 Click OK How to ask the user for a move distance 1 Type Enter part length in inches in the text box 2 Select the option button Display text and get distance 3 Which axis will you use this distance for Select it from the list 4 Enter upper and lower limits in this example we only want to allow the operator to enter distances between 0 5 and 12 inches 5 Select an MMI variable to store the distance in we chose Dist1 this time but any of the 50 MMI variables is acceptable for storing any type of data 6 Later in your program you ll need a motion instruction Feed to Length Feed amp Return etc that uses the Dist1 variable for distance SiNet Hub Programmer Software Manual 21 How to get a speed from the user 1 Type Enter the feed rate in inches sec in the text box 2 Select the option button Display text and get speed 3 Enter upper and lower limits in this example we want to allow the operator to enter flow rates between 1 and 5 inch sec 4 Select an MMI variable to store the speed in we chose Speed1 5 Later in your pro
38. ms and programs de signed for or saved by the single axis Si Programmer software Several example programs are installed with your programming software It s a good idea to load some of the examples and look at them they may help you with your own application Print lets you make a hard copy of your program on any printer that s attached to your com puter and installed in Windows Print uses the standard Windows printer dialog allowing you to specify which printer to use if you have more than one If you call for help we may ask you to print your program and fax it to us If you have a fax modem that acts as a printer you can use it to fax the program directly to us from the programming software You ll have to enter our fax number at some point which is 831 761 6544 The Quit button exits the SiNet Hub Programmer and returns you to the Windows desktop SiNet Hub Programmer Software Manual 12 Defining Your Hardware The best place to start preparing your SiNet program is by defining your hardware The hub needs to know a few things like which drives you ll be using and how much current the motors require That information is summarized on the left side of the screen under the heading Drives If you click on the Change button you ll see the Configure Drives dialog The first thing you should do is to select the drive models you plan to use for each axis Select none for the axes you
39. o The Go To instruction is used to make the indexer drive jump to another line in the program At the least you ll need to have a Go To at the end of your program to jump back to the beginning There is only one parameter to enter in a Go To instruction the line number you want to jump to Click on the spin button to increase or decrease the line number SiNet Hub Programmer Software Manual 38 Repeat End Repeat Sometimes you need to do the same thing several times and you know in advance how many times that is Re peat loops allow you to repeat the instructions inside the loop up to 65 535 times For example let s say we are dispensing fluids into an array of containers There are five rows and five col umns of containers each 1 inch away from the next Each time we receive a trigger command we want to move to the next position Let s also assume that the system is homed to the first position with the home sensors connected in input 1 on each drive We ll use a repeat loop to advance the X axis by 1 inch each time we receive a trigger pulse on input 2 of the X axis drive After every fifth container is full we must return the X axis to the first 4 inches back then advance the Y axis one inch We ll use a second repeat loop outside fo the first one for that After all 25 containers are full we ll home the system again Sometimes you may need to repeat something more than 65 535 times Let s say y
40. object were passing over a grinding wheel while the spindle rotates continuously Set up shows how an operator can use the MMI to adjust the spindle speed stroke length and number of strokes The Start Stop instruction can also stop all motion on all axes This when combined with the If Input instruc tion can provide a means of interrupting a program and stopping all motion However this is not a fail safe mechanism It is not a suitable means of preventing injury to people or equipment When you configure a Start Stop instruction to start a move you specify the speed and acceleration rate That same accel rate will be used by the Start Stop instruction that stops the motor If you use Start Stop to interrupt any of the other move instructions like Feed to Length the deceleration rate will be high and the motor will stop abrupty SiNet Hub Programmer Software Manual 35 Wait Time This is the simplest instruction Just enter an amount of time and the SiNet Hub will pause for that time before proceeding to the next line in the program The range is 0 01 to 300 seconds What you want to pause for more than 300 seconds Did I hear you say 30 minutes Okay we can do that That s the beauty of multiple line programs with a wide range of instructions you re only limited by your cre ativity You can make the Wait Time instruction last longer by placing a repeat loop around it Now I know we haven t talked abou
41. on and you did a Feed to Position 6 inches the move would be 4 inches counter clockwise Feed to Position requires the usual move parameters speed accel amp decel rates Like other move instruc tions speed can be recalled from an MMI variable allowing it to be entered by the operator on the MMI panel Position can be a positive or negative number and can be entered on the MMI Please note that the MMI has no minus key so you can t enter a negative number on the MMI You can avoid using negative absolute positions by using the Set Position instruction SiNet Hub Programmer Software Manual 31 Set Abs Position This instruction allows you to define the present motor position as any absolute position you like The Seek Home instruction automatically clears the absolute position counter when it s finished defining the home position as 0 But you may want something else Perhaps you want to think of the home sensor as being the 8 inch position or 90 degrees or whatever Simply put a Set Position instruction after the Seek Home instruc tion or anywhere else in your program where you want to define the absolute position SiNet Hub Programmer Software Manual 32 Save Abs Position This instruction allows save the present absolute position to an MMI variable This is useful is you want an operator to visually position your load and then be able to return to that position later in your program For a material handling appl
42. osition 32 Seek Home 33 Start Stop Motion 34 Wait Time 35 Wait Input 36 Go To 37 Repeat End Repeat 38 Reset Repeat Loop 40 Set Output
43. our task is to feed material into a cut off knife and you want to run 100 000 pieces The best solution is to set up 2 loops one inside the other The total number of cycles will be the number of repeats in the two loops multiplied together 100 000 is 10 000 x 10 so we could set one loop for 10 and the other for 10 000 home X Y 1 in 1 in SiNet Hub Programmer Software Manual 39 The Repeat instruction can also use data that was gathered and stored by an MMI Prompt instruction as the loop count Just check the box marked Get repeat count from MMI and select a variable from the list For example you could put an MMI Prompt in your program to ask for the number of parts to be processed and save that data as Count1 You would then set up the Repeat instruction to get the repeat count from the MMI variable Count1 You can also display the loop count on the MMI as your program runs You can count up displaying the num ber of parts that have been processed for example or you can count down showing the number of parts remaining When the Repeat instruction displays the loop count on the MMI it uses line 4 You may want to put an MMI Prompt to display text only just before the Repeat instruction telling the operator what the count means as shown below Note If you use an If Input instruction to exit a Repeat Loop the loop does not automatically reset the next time you enter it If you exit a loop by using an
44. rammer software we allow two drives to work independently yet share a single MMI Each drive executes a move when it s Input 1 is closed The Hub sits in a loop waiting for input 1 of either drive to go low For each axis the hub skips over the move instruction if the input is not low The If Moving instruction makes it skip over the move if it is already in progress SiNet Hub Programmer Software Manual 45 Change Current Motor current is normally set on the main screen of the SiNet Hub Programmer and applies to all program instructions But what if you want to change the current on command For example you may want to tempo rarily turn off the motor current while the operator makes manual adjustments to a mechanism or loads a new roll of labels Overcoming the holding torque of a step motor by hand can be difficult so it s sometimes best to shut off the current completely In other cases you may want to temporarily increase the motor current to achieve more torque but are unable to leave it that way all the time without overheating The Change Current instruction allows you to turn off the current to resume the normal current setting or to specify a new current setting SiNet Hub Programmer Software Manual 46 Comment The Comment lets you leave notes in your program That way if someone else needs to modify your program in the future they ll understand what you ve done The comments can also help you organize th
45. rilled into it What you really want is for the loop to reset itself For this you must use the Reset Repeat Loop instruction as shown below SiNet Hub Programmer Software Manual 41 Set Output Earlier we discussed the Wait Input instruction as a way to make your program wait for external events to happen before proceeding Sometimes you want the opposite the SiNet Hub should tell other equipment when to proceed The Set Output command lets you pick one of the three outputs and put a voltage signal on it For a detailed description of the circuitry and connections see the section Wiring Inputs and Outputs in your drive s hardware manual There are four choices of output condi tions High Makes the photo transistor open In circuits where the output pin is grounded and the pin is pulled up this causes a high voltage to appear on the pin Low Makes the photo transistor close In circuits where the output pin is grounded this causes a low voltage to appear on the pin High Pulse Makes the photo transis tor open for a specified amount of time 2 to 500 milliseconds Low Pulse Makes the photo transis tor close for a specified amount of time 2 to 500 milliseconds At power up all 3 programmable outputs are high open circuit For an example of using the Set Output in struction in your program let s consider the example of filling containers Each time the motor mov
46. s safer to format your text using other characters like period or _ underscore What is the String Pool In addition to storing your 200 program lines and up to 50 MMI variables the SiNet hub must store the mes sages that you want it to display on the MMI That area of memory is called the string pool and it can hold up to 1500 characters If you use a lot of MMI Prompts in your program and if the messages you want to display are long you could actually run out of space in the string pool To let you know how much space you ve used the MMI Prompt dialog includes a string pool meter When the meter is green you re in good shape It turns yellow when the pool is 90 full If you see the meter turn red you have less than 80 characters of space left About 50 Full Less than 80 chars left 80 Full SiNet Hub Programmer Software Manual 23 Feed to Length The Feed to Length instruction is used for point to point moves If you just want to move the motor a fixed number of steps this is the instruction to use You can also use speed or distance data that was previously gathered by an MMI Prompt instruction When you click on the Feed to Length button in the Program Line dialog box you ll see the Feed to Length dialog box appear This is where you enter the parameters for the move Distance this is the distance you want to move The maximum distance is 16 000 000 steps but you ll enter the di
47. ser defined units such as inches degrees gallons etc Optional man machine interface MMI allows operator to enter distances speeds loop counts and more To operate your SiNet Hub you must do the following Connect at least one Si drive Connect a motor to your drive for the Si 100 you ll need a motor and a pulse amp direction drive Connect power to the drive s Connect any inputs or outputs that you require Plug into your personal computer for programming Install our software program on your PC Have Fun Remember if you have trouble getting your SiNet Hub to meet your expectations or if you want to suggest improvements to the product or this manual give us a call at 800 525 1609 Or you can fax us at 831 761 6544 If you are not calling from North America dial 831 761 6555 Note Many of the Si drive models that work with this hub are the same popular drives that we ve been manufacturing and selling for years However to make them work with the Hub and the multi axis motion control programs that you re about to create the drives need firmware version 1 75 or later Call the distributor in your area if you need to upgrade the firmware in your drives SiNet Hub Programmer Software Manual 6 Installing the Programming Software The SiNet Hub Programmer software comes on a CD Before you can use the software you must install it onto your hard drive If your comp
48. so need to set the return speed In the case of the cutoff knife you might want to feed slowly as the knife is cutting then retract quickly Thus you would set the return speed higher than the forward speed Return delay determines how long the Si Indexer waits between the end of the feed move and the start of the return This could for example give the machine time to remove a part before retracting Since a motor and load need time to settle out after moving you should not set return speed to less than 0 2 seconds unless you are certain that your motor and load settle more quickly than normal SiNet Hub Programmer Software Manual 27 Feed to Sensor The Feed to Sensor instruction allows you to move the motor until an external event changes the state of an input One useful application for Feed to Sensor is when your motion distance varies Let s say you are using a step motor to dispense labels that come on a roll You can t guarantee that the spacing of the labels is exact so you don t want to simply feed out the same number of steps each time Instead you can put a sensor on the feed mechanism that sees the edge of each label and signals one of the Si Indexer inputs to stop motion Feed to Sensor will ask for many of the same parameters as the other feed programs Speed accel decel and direction You also need to specify a distance That s because the Si Indexer must have enough space to decelerate to a s
49. stance in the units you defined when you configured your drives If you select the check box marked Get distance from MMI you can choose one of the 50 MMI variables as the distance Please note that checking Get distance from MMI does not automatically make the Si Indexer stop and ask the user for an entry You ll need an MMI Prompt instruction somewhere else in your program for that Speed this is the maximum speed you want the motor to go You can set the speed anywhere between 025 and 50 rev sec in increments of 025 rev sec The speeds you see will be in the units you defined in the Con figure Drives dialog If you select the check box marked Get speed from MMI you can choose one of the 50 MMI variables as the speed You can also reduce speed during the move by checking the box marked Reduce speed during move This is useful for applications where a tool may need to approach a work piece quickly but slow down just before making contact SiNet Hub Programmer Software Manual 24 Direction you can choose cw or ccw as the direction for the move Just dot the appropriate circle by clicking on it Analysis Click on this tab to see a speed vs time graph of your move It also provides some useful statistics about the move such as the duration of the move and the portion of time spent accelerating and decelerating You can also select a plot of speed vs distance SiNet Hub Programmer Software Manual 25
50. t repeat loops yet so we re going to skip ahead a little here The first trick is to factor your 3 minute delay into two parts 30 minutes is 1800 seconds right The most we can delay in one Wait Time instruction is 300 seconds Okay what if we delay for 300 seconds 6 times Your program would look like this What s the limit Well a repeat loop can go 65535 times so the maximum time you can delay is 65535 x 300 19 66 million seconds or 5461 hours Not long enough Try two repeat loops one inside the other Now we re pausing for up to 40000 years Wow SiNet Hub Programmer Software Manual 36 Wait Input Rarely does a motion controller operate completely on its own with no input from the outside world In most cases you ll need your program to wait for something to happen before it goes into motion The Wait Input command is used for that The Wait Input command is also the only instruction that allows you to jog the motor using the JOG CW and JOG CCW inputs The Wait Input instruction has two modes of operation single input where it only looks at one input and multiple inputs where it can examine up to 8 inputs at once In Single Input mode you must specify the input and the voltage condition to expect The choices are High Wait until the specified input is at a high voltage state This is the state an input will be in if nothing is connected to it so be careful if you use this condition If a wire comes loose you
51. the Change button under the Drive information display You will see the Hardware Setup dialog Near the bottom of the hardware dialog is a button marked Scan Drives Clicking on this button will show you a picture of the hub with information about each of the drives that are connected to it as shown below SiNet Hub Programmer Software Manual 10 Command Buttons Download Upload amp Execute The SiNet Hub was designed to operate without a host computer once your program is finished and tested At first though you ll probably find yourself running it from the PC much of the time That way you can quickly make changes in your program to fix errors or conduct experiments The SiNet Hub Programmer software provides four command buttons for interacting with the indexer drive Download transfers the program from the Windows software to the SiNet Hub that s plugged into your serial port The transfer takes a few seconds You must download the program before you can execute it If you press the Execute button before downloading the program that was previously in your hub will execute and the results may not match what is shown on your screen Upload lets you extract whatever program is in the SiNet Hub and display it on the screen If you want to modify a program already in your SiNet Hub you can use the Upload com mand to bring it back to the PC Execute tells the SiNet Hub to begin running the program that
52. tion the hub will not execute the next line of your pro gram until the move is complete If you choose Wait for End of All Moves before Executing the Next Instruction the Hub will not execute the next program line until all motors are stopped If you choose Start move and immediately proceed to the next instruction then the move and the instruction on the next line can take place simulta neously If the next line is another move on a different axis of course and it is also designated as start and proceed then a third line of your program can execute with the two moves In fact you can run all axes at the same time All simultaneous moves start within 1 2 millisecond of each other You may be wondering what happens to your program if all the moves are the start and proceed type That depends on the instructions that follow the moves Some instructions pass through automatically Wait Time Set Output and MMI Prompt as pass through instructions They execute regardless of any ongoing motion When they are done the next line in your program executes Some of the other instructions can pass through if you want them to For example if you follow two concurrent moves with a Go To the Go To will not take place until both moves are finished if you check the box wait for all moves to finish If you do not check this box the hub will execute the GoTo instruction during the moves These features give you the opportunit
53. top once the sensor is tripped The higher the speed the longer it will take to stop If the decel rate is increased then the motor can stop in fewer steps The Minimum Distance box tells you how many steps you must allow based on the speed and decel rate that you ve set You can t set the distance to less than this minimum You ll also need to tell the Si Indexer which input the sensor is wired to and what input condition to look for The input must be on the same drive as the motor The four input conditions are High move until the specified input reaches a high signal state This is the default state of an input if nothing is connected to it Low move until specified input is at a low signal state Rising Edge move until the signal goes from low to high This is similar to the high condition but the differ ence is important Let s say that you have a sensor wired to the Si Indexer that will go high when you want motion to stop However the sensor signal stays high after motion is complete going low sometime later This often happens in labeling applications where there isn t much space on the roll between labels If you choose high as your input condition the Si Indexer will complete the motion then refuse to start again because the input signal is still high If you choose rising edge the Si Indexer would proceed with the input voltage high and stop when the sensor signal goes from low to high again S
54. ust detect the hub That s because they too can run stand alone in a single axis mode In fact there s quite a few things that the Si drives can do based on what they are connected to when power is applied If you want your Si drives to work reliably with the SiNet hub power must first be applied to drive 1 The other drives can be powered up at the same time as drive 1 which is what most people do But if you have a large number of drives on one system the combined power up surge maybe be too much for your power system to handle You could trip a breaker or blow a fuse If you want to power up the drives in an orderly sequence apply power to drive 1 first Then apply power to the other drives within 1 2 second SiNet Hub Programmer Software Manual 8 Programming Introduction Building a motion control program for your SiNet Hub consists of three parts First you need to tell the hub some things about the drives and motors you are using This information is summarized on the left side of the screen under the heading Drives Clicking on the Change button brings up a dialog box that lets you define which drive models you have how much current each motor needs and more That s all covered in detail in the section Defining Your Hardware Next you ll need to tell the hub what to do if one of the drives hits a limit sensor Refer to the Limit Sensors sections for more information about that Finally
55. uter doesn t have a CDROM drive you can call the factory at 831 761 6555 and ask for a set of diskettes You can also download the files for the three disks from our website www applied motion com The diskette files are also included on the CD so that you can use another PC to make installation diskettes To run the SiNet Hub Programmer software you must have a computer with the following requirements IBM compatible 486 Pentium or better CPU Pentium recommended for best performance Microsoft Windows 95 Windows 98 or Windows NT This software does not work with Windows 3 1 At least 8 MB memory 16 MB or more will make the software run much faster 10 MB available hard drive space VGA monitor or better 16 bit color setting recommended 65 535 colors sometimes called High Color Mouse or other input device CDROM drive You can use a 3 5 floppy disk drive instead if you request the optional diskettes A nine pin serial port must be available preferably COM1 The software installation is highly automated like most Windows programs so the process is simple Put the CD into your CDROM drive and wait After a few seconds the installation program will start automatically and guide you through the rest of the installation The rest of this manual will be installed to the same hard disk folder as the software To read the rest of this manual you need Adobe Acrobat Reader which will also
56. wer right hand corner of the Seek Home dialog box This tells you how many steps the Si Indexer needs to decelerate to a stop The Required Clearance box tells you how much distance you must allow between the limit sensors and any hard stop based on the speed and decel rate that you ve set If you don t allow enough clearance the load may crash into something as it decelerates past a limit while seeking home The higher the speed the longer it will take to stop If the decel rate is increased then the motor can stop in fewer steps SiNet Hub Programmer Software Manual 34 Start Stop Motion Some applications require a spindle that rotates at a constant speed while one or more other axes position a load Grinding and routing are examples of x y spindle applications The Start Stop Motion instruction allows the hub to launch an axis into continuous motion It can also stop a an axis On some drives most notably the servos and the 3540i you can use the Start Stop instruction to change the speed of a motor on the fly The example program grinder which is installed to the same folder as the Hub Programmer software demon strates the use of the Start Stop instruction for a spindle application The MMI offers menu that includes start the grinding wheel stop the wheel set up and move workpiece Move workpiece demonstrates the ability to move one axis back and forth as if an
57. will ask for many of the same parameters as the other feed programs Speed accel decel and direction You ll also need to tell the Si Indexer which input the sensor is wired to and what input condition to look for The four input conditions are High move until the specified input reaches a high voltage state This is the default state of an input if nothing is connected to it Low move until the specified input is at a low voltage state Rising Edge move until the signal goes from low to high This is similar to the high condition but the differ ence is important If you execute a Seek Home command to a high input and the load is already on the home sensor causing the input to be high then the load will not move If you choose rising edge instead the Si Indexer will move the load to the edge of the home sensor If you need the load to be at the exact same position after each Seek Home command choose Rising Edge or Falling Edge Falling Edge the opposite of rising edge Si Indexer waits for an input voltage to go high then low The Si Indexer begins a Seek Home command by moving the motor in the direction you have specified If the home sensor is found the motor decelerates to a stop then backs up to the sensor If a limit is encoun tered before the home sensor is found the Si Indexer reverses the direction of motion and keeps looking for the home sensor You may have noticed a box in the lo
58. y to Run one or more motors while setting or pulsing an output Run the motors while interacting with the user via the MMI Start one move wait a certain amount of time then start a move on another axis Cycle one motor back and forth while another runs continuously Operate two drives independently while sharing an MMI Now that we ve got that straight let s learn about the instructions SiNet Hub Programmer Software Manual 18 MMI Prompt The Si Indexer is available with an optional MMI Man Machine Interface sometimes called an operator panel The MMI attaches to the same RS232 port that you use to connect to your PC using the same cable The MMI has a four line liquid crystal display LCD and 20 keys for entering data There are seven things you can do with the MMI 1 You can display a message on the LCD You might want to identify your machine ABC Bottle Filling Co Model 20 or display a status message Machine Running Status OK 2 You can pause your program until the user presses ENTER For example if you were applying preprinted labels eventually you ll want to halt the process until the operator loads a new roll of labels 3 The MMI can ask the user to make a decision For example you might want to offer the user an option like changing set up parameters that can be responded to by pressing the yes or no keys 4 The user can be asked to enter a move distance If you w
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